add different sleeps for better statistics testing

ros-controls · Feb 2, 2025 · db01902 · db01902
1 parent 11cada5
commit db01902
Show file tree

Hide file tree

Showing 3 changed files with 12 additions and 10 deletions.
diff --git a/hardware_interface_testing/test/test_components/test_actuator.cpp b/hardware_interface_testing/test/test_components/test_actuator.cpp
@@ -143,7 +143,7 @@ class TestActuator : public ActuatorInterface
     if (get_hardware_info().is_async)
     {
       std::this_thread::sleep_for(
-        std::chrono::milliseconds(1000 / (3 * get_hardware_info().rw_rate)));
+        std::chrono::milliseconds(1000 / (6 * get_hardware_info().rw_rate)));
     }
     // simulate error on write
     if (velocity_command_ == test_constants::WRITE_FAIL_VALUE)

diff --git a/hardware_interface_testing/test/test_components/test_system.cpp b/hardware_interface_testing/test/test_components/test_system.cpp
@@ -132,7 +132,7 @@ class TestSystem : public SystemInterface
     if (get_hardware_info().is_async)
     {
       std::this_thread::sleep_for(
-        std::chrono::milliseconds(1000 / (3 * get_hardware_info().rw_rate)));
+        std::chrono::milliseconds(1000 / (6 * get_hardware_info().rw_rate)));
     }
     // simulate error on write
     if (velocity_command_[0] == test_constants::WRITE_FAIL_VALUE)

diff --git a/hardware_interface_testing/test/test_resource_manager.cpp b/hardware_interface_testing/test/test_resource_manager.cpp
@@ -1887,10 +1887,11 @@ class ResourceManagerTestReadWriteDifferentReadWriteRate : public ResourceManage
         {
           if (i > (cm_update_rate_ / rate))
           {
-            const double expec_execution_time = (1.e6 / (3 * rate)) + 200.0;
+            const double expec_read_execution_time = (1.e6 / (3 * rate)) + 200.0;
+            const double expec_write_execution_time = (1.e6 / (6 * rate)) + 200.0;
             EXPECT_LT(
               status_map[component_name].read_statistics->execution_time.get_statistics().average,
-              expec_execution_time);
+              expec_read_execution_time);
             EXPECT_LT(
               status_map[component_name].read_statistics->periodicity.get_statistics().average,
               1.2 * rate);
@@ -1903,7 +1904,7 @@ class ResourceManagerTestReadWriteDifferentReadWriteRate : public ResourceManage
 
             EXPECT_LT(
               status_map[component_name].write_statistics->execution_time.get_statistics().average,
-              expec_execution_time);
+              expec_write_execution_time);
             EXPECT_LT(
               status_map[component_name].write_statistics->periodicity.get_statistics().average,
               1.2 * rate);
@@ -2292,29 +2293,30 @@ class ResourceManagerTestAsyncReadWrite : public ResourceManagerTest
     if (check_for_updated_values)
     {
       const unsigned int rw_rate = 100u;
-      const double expec_execution_time = (1.e6 / (3 * rw_rate)) + 200.0;
+      const double expec_read_execution_time = (1.e6 / (3 * rw_rate)) + 200.0;
+      const double expec_write_execution_time = (1.e6 / (6 * rw_rate)) + 200.0;
       check_periodicity(TEST_ACTUATOR_HARDWARE_NAME, rw_rate);
       check_periodicity(TEST_SYSTEM_HARDWARE_NAME, rw_rate);
       EXPECT_LT(
         status_map[TEST_ACTUATOR_HARDWARE_NAME]
           .read_statistics->execution_time.get_statistics()
           .average,
-        expec_execution_time);
+        expec_read_execution_time);
       EXPECT_LT(
         status_map[TEST_ACTUATOR_HARDWARE_NAME]
           .write_statistics->execution_time.get_statistics()
           .average,
-        expec_execution_time);
+        expec_write_execution_time);
       EXPECT_LT(
         status_map[TEST_SYSTEM_HARDWARE_NAME]
           .read_statistics->execution_time.get_statistics()
           .average,
-        expec_execution_time);
+        expec_read_execution_time);
       EXPECT_LT(
         status_map[TEST_SYSTEM_HARDWARE_NAME]
           .write_statistics->execution_time.get_statistics()
           .average,
-        expec_execution_time);
+        expec_write_execution_time);
     }
   }