fix: set_spin_duration_based_on_params

Signed-off-by: atsushi421 <atsushi.yano.2@tier4.jp>
tier4 · Feb 27, 2025 · 8994515 · 8994515
1 parent 15a7533
commit 8994515
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Showing 2 changed files with 13 additions and 7 deletions.
diff --git a/src/agnocastlib/test/integration/test_agnocast_multi_threaded_executor.cpp b/src/agnocastlib/test/integration/test_agnocast_multi_threaded_executor.cpp
@@ -10,11 +10,14 @@ class MultiThreadedAgnocastExecutorNoStarvationTest
 private:
   void set_spin_duration_based_on_params(const int agnocast_next_exec_timeout_ms)
   {
-    std::chrono::seconds buffer = std::chrono::seconds(3);  // Rough value
+    std::chrono::seconds buffer = std::chrono::seconds(1);  // Rough value
     spin_duration_ =
-      std::chrono::seconds(
-        agnocast_next_exec_timeout_ms * (NUM_AGNOCAST_SUB_CBS + NUM_AGNOCAST_CBS_TO_BE_ADDED) /
-        1000 / NUMBER_OF_AGNOCAST_THREADS) +
+      std::max(
+        std::chrono::seconds(
+          agnocast_next_exec_timeout_ms * (NUM_AGNOCAST_SUB_CBS + NUM_AGNOCAST_CBS_TO_BE_ADDED) /
+          1000 / NUMBER_OF_AGNOCAST_THREADS),
+        std::chrono::duration_cast<std::chrono::seconds>(
+          PUB_PERIOD * NUM_AGNOCAST_CBS_TO_BE_ADDED)) +
       buffer;
   }
 

diff --git a/src/agnocastlib/test/integration/test_agnocast_single_threaded_executor.cpp b/src/agnocastlib/test/integration/test_agnocast_single_threaded_executor.cpp
@@ -9,10 +9,13 @@ class SingleThreadedAgnocastExecutorNoStarvationTest : public ::testing::TestWit
 private:
   void set_spin_duration_based_on_params(const int next_exec_timeout_ms)
   {
-    std::chrono::seconds buffer = std::chrono::seconds(3);  // Rough value
+    std::chrono::seconds buffer = std::chrono::seconds(1);  // Rough value
     spin_duration_ =
-      std::chrono::seconds(
-        next_exec_timeout_ms * (NUM_AGNOCAST_SUB_CBS + NUM_AGNOCAST_CBS_TO_BE_ADDED) / 1000) +
+      std::max(
+        std::chrono::seconds(
+          next_exec_timeout_ms * (NUM_AGNOCAST_SUB_CBS + NUM_AGNOCAST_CBS_TO_BE_ADDED) / 1000),
+        std::chrono::duration_cast<std::chrono::seconds>(
+          PUB_PERIOD * NUM_AGNOCAST_CBS_TO_BE_ADDED)) +
       buffer;
   }