Merge branch 'main' into houliston/traveltasks

.github/workflows/macos.yaml

@@ -38,6 +38,8 @@ jobs:
           ninjaVersion: 1.11.1
 
       - name: Configure CMake
+        env:
+          CXXFLAGS: -DNUCLEAR_TEST_TIME_UNIT_DEN=10
         run: |
           cmake -E make_directory build
           cmake -S . -B build \

src/extension/network/NUClearNetwork.hpp

@@ -93,8 +93,8 @@ namespace extension {
                 inline void measure_round_trip(std::chrono::steady_clock::duration time) {
 
                     // Make our measurement into a float seconds type
-                    const std::chrono::duration<float, std::ratio<1>> m =
-                        std::chrono::duration_cast<std::chrono::duration<float, std::ratio<1>>>(time);
+                    const std::chrono::duration<float> m =
+                        std::chrono::duration_cast<std::chrono::duration<float>>(time);
 
                     // Alias variables
                     const auto& Q = round_trip_kf.process_noise;
@@ -111,7 +111,7 @@ namespace extension {
 
                     // Put result into our variable
                     round_trip_time = std::chrono::duration_cast<std::chrono::steady_clock::duration>(
-                        std::chrono::duration<float, std::ratio<1>>(X));
+                        std::chrono::duration<float>(X));
                 }
             };
 
@@ -130,7 +130,10 @@ namespace extension {
              * @param target        who we are sending to (blank means everyone)
              * @param reliable      if the delivery of the data should be ensured
              */
-            void send(const uint64_t& hash, const std::vector<uint8_t>& payload, const std::string& target, bool reliable);
+            void send(const uint64_t& hash,
+                      const std::vector<uint8_t>& payload,
+                      const std::string& target,
+                      bool reliable);
 
             /**
              * @brief Set the callback to use when a data packet is completed

tests/dsl/emit/Delay.cpp

@@ -23,16 +23,17 @@
 #include <catch.hpp>
 #include <nuclear>
 
-#include "../../test_util/TestBase.hpp"
+#include "test_util/TestBase.hpp"
+#include "test_util/TimeUnit.hpp"
 
 // Anonymous namespace to keep everything file local
 namespace {
 
+using TimeUnit = test_util::TimeUnit;
+
 /// @brief Events that occur during the test
 std::vector<std::string> events;  // NOLINT(cppcoreguidelines-avoid-non-const-global-variables)
 
-/// @brief Test units are the time units the test is performed in
-using TestUnits = std::chrono::duration<int64_t, std::ratio<1, 20>>;
 /// @brief Perform this many different time points for the test
 constexpr int test_loops = 5;
 
@@ -50,23 +51,23 @@ struct TargetTimeMessage {
 
 struct FinishTest {};
 
-class TestReactor : public test_util::TestBase<TestReactor> {
+class TestReactor : public test_util::TestBase<TestReactor, 2000> {
 public:
     TestReactor(std::unique_ptr<NUClear::Environment> environment) : TestBase(std::move(environment), false) {
 
         // Measure when messages were sent and received and print those values
         on<Trigger<DelayedMessage>>().then([](const DelayedMessage& m) {
-            auto true_delta = std::chrono::duration_cast<TestUnits>(NUClear::clock::now() - m.time);
-            auto delta      = std::chrono::duration_cast<TestUnits>(m.delay);
+            auto true_delta = test_util::round_to_test_units(NUClear::clock::now() - m.time);
+            auto delta      = test_util::round_to_test_units(m.delay);
 
             // Print the debug message
             events.push_back("delayed " + std::to_string(true_delta.count()) + " received "
                              + std::to_string(delta.count()));
         });
 
         on<Trigger<TargetTimeMessage>>().then([](const TargetTimeMessage& m) {
-            auto true_delta = std::chrono::duration_cast<TestUnits>(NUClear::clock::now() - m.time);
-            auto delta      = std::chrono::duration_cast<TestUnits>(m.target - m.time);
+            auto true_delta = test_util::round_to_test_units(NUClear::clock::now() - m.time);
+            auto delta      = test_util::round_to_test_units(m.target - m.time);
 
             // Print the debug message
             events.push_back("at_time " + std::to_string(true_delta.count()) + " received "
@@ -78,25 +79,20 @@ class TestReactor : public test_util::TestBase<TestReactor> {
             powerplant.shutdown();
         });
 
-
-        on<Startup>().then([this] {
-            // Get our jump size in milliseconds
-            const int jump_unit = (TestUnits::period::num * 1000) / TestUnits::period::den;
-            // Delay with consistent jumps
+        on<Trigger<Step<1>>>().then([this] {
+            // Interleave absolute and relative events
             for (int i = 0; i < test_loops; ++i) {
-                auto delay = std::chrono::milliseconds(jump_unit * i);
+                auto delay = TimeUnit(i * 2);
                 emit<Scope::DELAY>(std::make_unique<DelayedMessage>(delay), delay);
-            }
-
-            // Target time with consistent jumps that interleave the first set
-            for (int i = 0; i < test_loops; ++i) {
-                auto target = NUClear::clock::now() + std::chrono::milliseconds(jump_unit / 2 + jump_unit * i);
+                auto target = NUClear::clock::now() + TimeUnit((i * 2) + 1);
                 emit<Scope::DELAY>(std::make_unique<TargetTimeMessage>(target), target);
             }
 
             // Emit a shutdown one time unit after
-            emit<Scope::DELAY>(std::make_unique<FinishTest>(), std::chrono::milliseconds(jump_unit * (test_loops + 1)));
+            emit<Scope::DELAY>(std::make_unique<FinishTest>(), TimeUnit((test_loops + 1) * 2));
         });
+
+        on<Startup>().then([this] { emit(std::make_unique<Step<1>>()); });
     }
 };
 }  // namespace
@@ -110,15 +106,15 @@ TEST_CASE("Testing the delay emit", "[api][emit][delay]") {
 
     const std::vector<std::string> expected = {
         "delayed 0 received 0",
-        "at_time 0 received 0",
-        "delayed 1 received 1",
         "at_time 1 received 1",
         "delayed 2 received 2",
-        "at_time 2 received 2",
-        "delayed 3 received 3",
         "at_time 3 received 3",
         "delayed 4 received 4",
-        "at_time 4 received 4",
+        "at_time 5 received 5",
+        "delayed 6 received 6",
+        "at_time 7 received 7",
+        "delayed 8 received 8",
+        "at_time 9 received 9",
         "Finished",
     };
 

tests/individual/TimeTravel.cpp

@@ -3,10 +3,12 @@
 #include <nuclear>
 
 #include "test_util/TestBase.hpp"
+#include "test_util/TimeUnit.hpp"
 
 namespace {
 
-using TestUnits                = std::chrono::duration<int64_t, std::ratio<1, 25>>;
+using TimeUnit = test_util::TimeUnit;
+
 constexpr int64_t EVENT_1_TIME = 4;
 constexpr int64_t EVENT_2_TIME = 8;
 
@@ -36,7 +38,7 @@ class TestReactor : public test_util::TestBase<TestReactor, 5000> {
                     results.events[0] = Results::TimePair{NUClear::clock::now(), std::chrono::steady_clock::now()};
                     return false;
                 },
-                NUClear::clock::time_point(TestUnits(EVENT_1_TIME)),
+                NUClear::clock::time_point(TimeUnit(EVENT_1_TIME)),
                 1));
 
             // Emit a chrono task to run at time EVENT_2_TIME, and shutdown
@@ -46,7 +48,7 @@ class TestReactor : public test_util::TestBase<TestReactor, 5000> {
                     powerplant.shutdown();
                     return false;
                 },
-                NUClear::clock::time_point(TestUnits(EVENT_2_TIME)),
+                NUClear::clock::time_point(TimeUnit(EVENT_2_TIME)),
                 2));
 
             // Time travel!
@@ -86,7 +88,7 @@ TEST_CASE("Test time travel correctly changes the time for non zero rtf", "[time
     const double rtf         = GENERATE(0.5, 1.0, 2.0);
     CAPTURE(action, adjustment, rtf);
     reactor.action     = action;
-    reactor.adjustment = TestUnits(adjustment);
+    reactor.adjustment = TimeUnit(adjustment);
     reactor.rtf        = rtf;
 
     // Start the powerplant
@@ -110,32 +112,26 @@ TEST_CASE("Test time travel correctly changes the time for non zero rtf", "[time
         default: throw std::runtime_error("Unknown action");
     }
 
-    std::array<TestUnits, 2> expected_nuclear = {TestUnits(expected[0]), TestUnits(expected[1])};
-    std::array<TestUnits, 2> expected_steady  = {TestUnits(std::lround(double(expected[0]) / rtf)),
-                                                 TestUnits(std::lround(double(expected[1]) / rtf))};
+    std::array<TimeUnit, 2> expected_nuclear = {TimeUnit(expected[0]), TimeUnit(expected[1])};
+    std::array<TimeUnit, 2> expected_steady  = {TimeUnit(std::lround(double(expected[0]) / rtf)),
+                                                TimeUnit(std::lround(double(expected[1]) / rtf))};
 
     const auto& r       = reactor.results;
     const auto& n_start = reactor.results.start.nuclear;
     const auto& s_start = reactor.results.start.steady;
 
-    auto round_to_test_units = [](const auto& duration) {
-        const double d = std::chrono::duration_cast<std::chrono::duration<double>>(duration).count();
-        const double t = (TestUnits::period::den * d) / TestUnits::period::num;
-        return TestUnits(std::lround(t));
-    };
-
-    std::array<TestUnits, 2> actual_nuclear = {
-        round_to_test_units(r.events[0].nuclear - n_start),
-        round_to_test_units(r.events[1].nuclear - n_start),
+    std::array<TimeUnit, 2> actual_nuclear = {
+        test_util::round_to_test_units(r.events[0].nuclear - n_start),
+        test_util::round_to_test_units(r.events[1].nuclear - n_start),
     };
-    std::array<TestUnits, 2> actual_steady = {
-        round_to_test_units(r.events[0].steady - s_start),
-        round_to_test_units(r.events[1].steady - s_start),
+    std::array<TimeUnit, 2> actual_steady = {
+        test_util::round_to_test_units(r.events[0].steady - s_start),
+        test_util::round_to_test_units(r.events[1].steady - s_start),
     };
 
-    const TestUnits actual_adjustment(round_to_test_units(r.start.nuclear - r.zero.nuclear));
-    const TestUnits expected_adjustment(std::min(adjustment, action == Action::NEAREST ? EVENT_1_TIME : adjustment));
-    CHECK(round_to_test_units(r.zero.nuclear.time_since_epoch()) == TestUnits(0));
+    const TimeUnit actual_adjustment(test_util::round_to_test_units(r.start.nuclear - r.zero.nuclear));
+    const TimeUnit expected_adjustment(std::min(adjustment, action == Action::NEAREST ? EVENT_1_TIME : adjustment));
+    CHECK(test_util::round_to_test_units(r.zero.nuclear.time_since_epoch()) == TimeUnit(0));
     CHECK(expected_nuclear[0] == actual_nuclear[0]);
     CHECK(expected_nuclear[1] == actual_nuclear[1]);
     CHECK(expected_steady[0] == actual_steady[0]);

tests/test_util/TimeUnit.hpp

@@ -0,0 +1,65 @@
+/*
+ * MIT License
+ *
+ * Copyright (c) 2023 NUClear Contributors
+ *
+ * This file is part of the NUClear codebase.
+ * See https://github.com/Fastcode/NUClear for further info.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated
+ * documentation files (the "Software"), to deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or substantial portions of the
+ * Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE
+ * WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
+ * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#ifndef TEST_UTIL_TIME_UNIT_HPP
+#define TEST_UTIL_TIME_UNIT_HPP
+
+#ifndef NUCLEAR_TEST_TIME_UNIT_NUM
+    // NOLINTNEXTLINE(cppcoreguidelines-macro-usage)
+    #define NUCLEAR_TEST_TIME_UNIT_NUM 1
+#endif
+#ifndef NUCLEAR_TEST_TIME_UNIT_DEN
+    // NOLINTNEXTLINE(cppcoreguidelines-macro-usage)
+    #define NUCLEAR_TEST_TIME_UNIT_DEN 20
+#endif
+
+#include <chrono>
+
+namespace test_util {
+
+/**
+ * Units that time based tests should use to measure time.
+ * This can be changed so that slower systems (such as CI) can run the tests with a larger time unit since they can be
+ * slow and fail.
+ * To change from the default define NUCLEAR_TEST_TIME_UNIT_NUM and NUCLEAR_TEST_TIME_UNIT_DEN to the desired time unit.
+ */
+using TimeUnit = std::chrono::duration<int64_t, std::ratio<NUCLEAR_TEST_TIME_UNIT_NUM, NUCLEAR_TEST_TIME_UNIT_DEN>>;
+
+/**
+ * Rounds the given duration to the nearest TimeUnit.
+ *
+ * @tparam T The type of the duration.
+ *
+ * @param duration The duration to be rounded.
+ *
+ * @return The rounded duration in TimeUnit.
+ */
+template <typename T>
+TimeUnit round_to_test_units(const T& duration) {
+    const double d = std::chrono::duration_cast<std::chrono::duration<double>>(duration).count();
+    const double t = (TimeUnit::period::den * d) / TimeUnit::period::num;
+    return TimeUnit(std::lround(t));
+}
+
+}  // namespace test_util
+
+#endif  // TEST_UTIL_TIME_UNIT_HPP