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-rw-r--r--rtic-time/tests/delay_precision_subtick.rs313
-rw-r--r--rtic-time/tests/timer_queue.rs18
2 files changed, 323 insertions, 8 deletions
diff --git a/rtic-time/tests/delay_precision_subtick.rs b/rtic-time/tests/delay_precision_subtick.rs
new file mode 100644
index 0000000..4db889c
--- /dev/null
+++ b/rtic-time/tests/delay_precision_subtick.rs
@@ -0,0 +1,313 @@
+//! A test that verifies the sub-tick correctness of the [`TimerQueue`]'s `delay` functionality.
+//!
+//! To run this test, you need to activate the `critical-section/std` feature.
+
+use std::{
+ fmt::Debug,
+ future::Future,
+ pin::Pin,
+ sync::{
+ atomic::{AtomicBool, AtomicU64, AtomicUsize, Ordering},
+ Arc,
+ },
+ task::Context,
+ thread::sleep,
+ time::Duration,
+};
+
+use ::fugit::ExtU64Ceil;
+use cooked_waker::{IntoWaker, WakeRef};
+use parking_lot::Mutex;
+use rtic_time::{Monotonic, TimeoutError, TimerQueue};
+
+const SUBTICKS_PER_TICK: u32 = 10;
+struct SubtickTestTimer;
+static TIMER_QUEUE: TimerQueue<SubtickTestTimer> = TimerQueue::new();
+static NOW_SUBTICKS: AtomicU64 = AtomicU64::new(0);
+static COMPARE_TICKS: Mutex<Option<u64>> = Mutex::new(None);
+
+impl Monotonic for SubtickTestTimer {
+ const ZERO: Self::Instant = Self::Instant::from_ticks(0);
+ const TICK_PERIOD: Self::Duration = Self::Duration::from_ticks(1);
+
+ type Instant = fugit::Instant<u64, SUBTICKS_PER_TICK, 1000>;
+ type Duration = fugit::Duration<u64, SUBTICKS_PER_TICK, 1000>;
+
+ fn now() -> Self::Instant {
+ Self::Instant::from_ticks(
+ NOW_SUBTICKS.load(Ordering::Relaxed) / u64::from(SUBTICKS_PER_TICK),
+ )
+ }
+
+ fn set_compare(instant: Self::Instant) {
+ *COMPARE_TICKS.lock() = Some(instant.ticks());
+ }
+
+ fn clear_compare_flag() {}
+
+ fn pend_interrupt() {
+ unsafe {
+ Self::__tq().on_monotonic_interrupt();
+ }
+ }
+}
+
+impl SubtickTestTimer {
+ pub fn init() {
+ Self::__tq().initialize(Self)
+ }
+
+ pub fn tick() -> u64 {
+ let now = NOW_SUBTICKS.fetch_add(1, Ordering::Relaxed) + 1;
+ let ticks = now / u64::from(SUBTICKS_PER_TICK);
+ let subticks = now % u64::from(SUBTICKS_PER_TICK);
+
+ let compare = COMPARE_TICKS.lock();
+
+ // println!(
+ // "ticks: {ticks}, subticks: {subticks}, compare: {:?}",
+ // *compare
+ // );
+ if subticks == 0 && Some(ticks) == *compare {
+ unsafe {
+ Self::__tq().on_monotonic_interrupt();
+ }
+ }
+
+ subticks
+ }
+
+ pub fn forward_to_subtick(subtick: u64) {
+ assert!(subtick < u64::from(SUBTICKS_PER_TICK));
+ while Self::tick() != subtick {}
+ }
+
+ pub fn now_subticks() -> u64 {
+ NOW_SUBTICKS.load(Ordering::Relaxed)
+ }
+
+ fn __tq() -> &'static TimerQueue<Self> {
+ &TIMER_QUEUE
+ }
+
+ /// Delay for some duration of time.
+ #[inline]
+ pub async fn delay(duration: <Self as Monotonic>::Duration) {
+ Self::__tq().delay(duration).await;
+ }
+
+ /// Timeout after a specific duration.
+ #[inline]
+ pub async fn timeout_after<F: core::future::Future>(
+ duration: <Self as Monotonic>::Duration,
+ future: F,
+ ) -> Result<F::Output, TimeoutError> {
+ Self::__tq().timeout_after(duration, future).await
+ }
+}
+
+rtic_time::embedded_hal_delay_impl_fugit64!(SubtickTestTimer);
+rtic_time::embedded_hal_async_delay_impl_fugit64!(SubtickTestTimer);
+
+// A simple struct that counts the number of times it is awoken. Can't
+// be awoken by value (because that would discard the counter), so we
+// must instead wrap it in an Arc.
+#[derive(Debug, Default)]
+struct WakeCounter {
+ count: AtomicUsize,
+}
+
+impl WakeCounter {
+ fn get(&self) -> usize {
+ self.count.load(Ordering::SeqCst)
+ }
+}
+
+impl WakeRef for WakeCounter {
+ fn wake_by_ref(&self) {
+ let _prev = self.count.fetch_add(1, Ordering::SeqCst);
+ }
+}
+
+struct OnDrop<F: FnOnce()>(Option<F>);
+impl<F: FnOnce()> OnDrop<F> {
+ pub fn new(f: F) -> Self {
+ Self(Some(f))
+ }
+}
+impl<F: FnOnce()> Drop for OnDrop<F> {
+ fn drop(&mut self) {
+ (self.0.take().unwrap())();
+ }
+}
+
+macro_rules! subtick_test {
+ (@run $start:expr, $actual_duration:expr, $delay_fn:expr) => {{
+ // forward clock to $start
+ SubtickTestTimer::forward_to_subtick($start);
+
+ // call wait function
+ let delay_fn = $delay_fn;
+ let mut future = std::pin::pin!(delay_fn);
+
+ let wakecounter = Arc::new(WakeCounter::default());
+ let waker = Arc::clone(&wakecounter).into_waker();
+ let mut context = Context::from_waker(&waker);
+
+ let mut finished_after: Option<u64> = None;
+ for i in 0..10 * u64::from(SUBTICKS_PER_TICK) {
+ if Future::poll(Pin::new(&mut future), &mut context).is_ready() {
+ if finished_after.is_none() {
+ finished_after = Some(i);
+ }
+ break;
+ };
+
+ assert_eq!(wakecounter.get(), 0);
+ SubtickTestTimer::tick();
+ }
+
+ let expected_wakeups = {
+ if $actual_duration == 0 {
+ 0
+ } else {
+ 1
+ }
+ };
+ assert_eq!(wakecounter.get(), expected_wakeups);
+
+ // Tick again to test that we don't get a second wake
+ SubtickTestTimer::tick();
+ assert_eq!(wakecounter.get(), expected_wakeups);
+
+ assert_eq!(
+ Some($actual_duration),
+ finished_after,
+ "Expected to wait {} ticks, but waited {:?} ticks.",
+ $actual_duration,
+ finished_after,
+ );
+ }};
+
+ (@run_blocking $start:expr, $actual_duration:expr, $delay_fn:expr) => {{
+ // forward clock to $start
+ SubtickTestTimer::forward_to_subtick($start);
+
+ let t_start = SubtickTestTimer::now_subticks();
+
+ let finished = AtomicBool::new(false);
+ std::thread::scope(|s|{
+ s.spawn(||{
+ let _finished_guard = OnDrop::new(|| finished.store(true, Ordering::Relaxed));
+ ($delay_fn)();
+ });
+ s.spawn(||{
+ sleep(Duration::from_millis(10));
+ while !finished.load(Ordering::Relaxed) {
+ SubtickTestTimer::tick();
+ sleep(Duration::from_millis(10));
+ }
+ });
+ });
+
+ let t_end = SubtickTestTimer::now_subticks();
+ let measured_duration = t_end - t_start;
+ assert_eq!(
+ $actual_duration,
+ measured_duration,
+ "Expected to wait {} ticks, but waited {:?} ticks.",
+ $actual_duration,
+ measured_duration,
+ );
+ }};
+
+
+
+
+ ($start:expr, $min_duration:expr, $actual_duration:expr) => {{
+ subtick_test!(@run $start, $actual_duration, async {
+ let mut timer = SubtickTestTimer;
+ embedded_hal_async::delay::DelayNs::delay_ms(&mut timer, $min_duration).await;
+ });
+ subtick_test!(@run $start, $actual_duration, async {
+ let mut timer = SubtickTestTimer;
+ embedded_hal_async::delay::DelayNs::delay_us(&mut timer, 1_000 * $min_duration).await;
+ });
+ subtick_test!(@run $start, $actual_duration, async {
+ let mut timer = SubtickTestTimer;
+ embedded_hal_async::delay::DelayNs::delay_ns(&mut timer, 1_000_000 * $min_duration).await;
+ });
+ subtick_test!(@run $start, $actual_duration, async {
+ SubtickTestTimer::delay($min_duration.millis_at_least()).await;
+ });
+ subtick_test!(@run $start, $actual_duration, async {
+ let _ = SubtickTestTimer::timeout_after($min_duration.millis_at_least(), std::future::pending::<()>()).await;
+ });
+
+ // Those are slow and unreliable; enable them when needed.
+ const ENABLE_BLOCKING_TESTS: bool = false;
+ if ENABLE_BLOCKING_TESTS {
+ subtick_test!(@run_blocking $start, $actual_duration, || {
+ let mut timer = SubtickTestTimer;
+ embedded_hal::delay::DelayNs::delay_ms(&mut timer, $min_duration);
+ });
+ subtick_test!(@run_blocking $start, $actual_duration, || {
+ let mut timer = SubtickTestTimer;
+ embedded_hal::delay::DelayNs::delay_us(&mut timer, 1_000 * $min_duration);
+ });
+ subtick_test!(@run_blocking $start, $actual_duration, || {
+ let mut timer = SubtickTestTimer;
+ embedded_hal::delay::DelayNs::delay_ns(&mut timer, 1_000_000 * $min_duration);
+ });
+ }
+ }};
+}
+
+#[test]
+fn timer_queue_subtick_precision() {
+ SubtickTestTimer::init();
+
+ // subtick_test!(a, b, c) tests the following thing:
+ //
+ // If we start at subtick a and we need to wait b subticks,
+ // then we will actually wait c subticks.
+ // The important part is that c is never smaller than b,
+ // in all cases, as that would violate the contract of
+ // embedded-hal's DelayUs.
+
+ subtick_test!(0, 0, 0);
+ subtick_test!(0, 1, 20);
+ subtick_test!(0, 10, 20);
+ subtick_test!(0, 11, 30);
+ subtick_test!(0, 12, 30);
+
+ subtick_test!(1, 0, 0);
+ subtick_test!(1, 1, 19);
+ subtick_test!(1, 10, 19);
+ subtick_test!(1, 11, 29);
+ subtick_test!(1, 12, 29);
+
+ subtick_test!(2, 0, 0);
+ subtick_test!(2, 1, 18);
+ subtick_test!(2, 10, 18);
+ subtick_test!(2, 11, 28);
+ subtick_test!(2, 12, 28);
+
+ subtick_test!(3, 0, 0);
+ subtick_test!(3, 1, 17);
+ subtick_test!(3, 10, 17);
+ subtick_test!(3, 11, 27);
+ subtick_test!(3, 12, 27);
+
+ subtick_test!(8, 0, 0);
+ subtick_test!(8, 1, 12);
+ subtick_test!(8, 10, 12);
+ subtick_test!(8, 11, 22);
+ subtick_test!(8, 12, 22);
+
+ subtick_test!(9, 0, 0);
+ subtick_test!(9, 1, 11);
+ subtick_test!(9, 10, 11);
+ subtick_test!(9, 11, 21);
+ subtick_test!(9, 12, 21);
+}
diff --git a/rtic-time/tests/timer_queue.rs b/rtic-time/tests/timer_queue.rs
index 9ad7175..8bae385 100644
--- a/rtic-time/tests/timer_queue.rs
+++ b/rtic-time/tests/timer_queue.rs
@@ -17,7 +17,7 @@ static NOW: Mutex<Option<Instant>> = Mutex::new(None);
pub struct Duration(u64);
impl Duration {
- pub fn from_ticks(millis: u64) -> Self {
+ pub const fn from_ticks(millis: u64) -> Self {
Self(millis)
}
@@ -161,6 +161,7 @@ impl TestMono {
impl Monotonic for TestMono {
const ZERO: Self::Instant = Instant::ZERO;
+ const TICK_PERIOD: Self::Duration = Duration::from_ticks(1);
type Instant = Instant;
@@ -210,7 +211,8 @@ fn timer_queue() {
let elapsed = start.elapsed().as_ticks();
println!("{total_millis} ticks delay reached after {elapsed} ticks");
- if elapsed != total_millis {
+ // Expect a delay of one longer, to compensate for timer uncertainty
+ if elapsed != total_millis + 1 {
panic!(
"{total_millis} ticks delay was not on time ({elapsed} ticks passed instead)"
);
@@ -263,25 +265,25 @@ fn timer_queue() {
if Instant::now() == 0.into() {
// First, we want to be waiting for our 300 tick delay
- assert_eq!(TestMono::compare(), Some(300.into()));
+ assert_eq!(TestMono::compare(), Some(301.into()));
}
if Instant::now() == 100.into() {
// After 100 ticks, we enqueue a new delay that is supposed to last
// until the 200-tick-mark
- assert_eq!(TestMono::compare(), Some(200.into()));
+ assert_eq!(TestMono::compare(), Some(201.into()));
}
- if Instant::now() == 200.into() {
+ if Instant::now() == 201.into() {
// After 200 ticks, we dequeue the 200-tick-mark delay and
// requeue the 300 tick delay
- assert_eq!(TestMono::compare(), Some(300.into()));
+ assert_eq!(TestMono::compare(), Some(301.into()));
}
- if Instant::now() == 300.into() {
+ if Instant::now() == 301.into() {
// After 300 ticks, we dequeue the 300-tick-mark delay and
// go to the 400 tick delay that is already enqueued
- assert_eq!(TestMono::compare(), Some(400.into()));
+ assert_eq!(TestMono::compare(), Some(401.into()));
}
}
generated by cgit v1.2.3 (git 2.25.1) at 2025-12-26 22:51:43 +0000