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Test sending sensor data asynchronously

This commit is contained in:
nsubiron 2018-02-13 10:26:57 +01:00
parent a54dff076f
commit cb43190184
1 changed files with 15 additions and 5 deletions
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20
Util/CarlaServer/source/test/Test_CarlaServer.cpp
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@ -104,15 +104,14 @@ TEST(CarlaServerAPI, SimBlocking) {
std::array<carla_agent, 10u> agents_data; std::array<carla_agent, 10u> agents_data;
std::atomic_bool done{false}; std::atomic_bool done{false};
auto agent_thread_result = std::async(std::launch::async, [&](){
// Simulate game thread.
auto game_thread_result = std::async(std::launch::async, [&](){
while (!done) { while (!done) {
{ {
carla_measurements measurements; carla_measurements measurements;
measurements.non_player_agents = agents_data.data(); measurements.non_player_agents = agents_data.data();
measurements.number_of_non_player_agents = agents_data.size(); measurements.number_of_non_player_agents = agents_data.size();
for (auto &sensor : sensors) {
carla_write_sensor_data(CarlaServer, sensor.MakeRandomData());
}
auto ec = carla_write_measurements(CarlaServer, measurements); auto ec = carla_write_measurements(CarlaServer, measurements);
if (ec != S) if (ec != S)
break; break;
@ -128,6 +127,16 @@ TEST(CarlaServerAPI, SimBlocking) {
} }
}); });
// Simulate render thread.
auto render_thread_result = std::async(std::launch::async, [&](){
while (!done) {
for (auto &sensor : sensors) {
carla_write_sensor_data(CarlaServer, sensor.MakeRandomData());
std::this_thread::sleep_for(std::chrono::microseconds(150));
}
};
});
for (;;) { for (;;) {
carla_request_new_episode new_episode; carla_request_new_episode new_episode;
auto ec = carla_read_request_new_episode(CarlaServer, new_episode, 0); auto ec = carla_read_request_new_episode(CarlaServer, new_episode, 0);
@ -141,7 +150,8 @@ TEST(CarlaServerAPI, SimBlocking) {
} }
test_log("waiting for async's future"); test_log("waiting for async's future");
agent_thread_result.get(); game_thread_result.get();
render_thread_result.get();
} }
test_log("###### End Test ######"); test_log("###### End Test ######");
} }