From 8566e7014358560354ca593b3e90f6ef2409357d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Matou=C5=A1=20Vrba?= <vrbamato@fel.cvut.cz>
Date: Thu, 9 May 2024 13:19:22 +0200
Subject: [PATCH] [TimeoutManager]: minor updates

---
 CMakeLists.txt                          |  5 +++++
 src/timeout_manager/timeout_manager.cpp | 12 ++++++------
 test/timeout_manager/test.cpp           |  7 ++++++-
 3 files changed, 17 insertions(+), 7 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 92dd848c..a902d822 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -16,6 +16,11 @@ add_definitions(-Wall)
 add_definitions(-Wextra)
 add_definitions(-Wpedantic)
 
+# if(CATKIN_ENABLE_TESTING AND MRS_ENABLE_TESTING)
+#   add_definitions(-fsanitize=address -g3 -fno-omit-frame-pointer)
+#   add_link_options(-fsanitize=address)
+# endif()
+
 if(COVERAGE)
   message(WARNING "building with --coverage, the performance might be limited")
   set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} --coverage")
diff --git a/src/timeout_manager/timeout_manager.cpp b/src/timeout_manager/timeout_manager.cpp
index d96a3f1f..98b836a3 100644
--- a/src/timeout_manager/timeout_manager.cpp
+++ b/src/timeout_manager/timeout_manager.cpp
@@ -16,12 +16,12 @@ namespace mrs_lib
     const auto new_id = m_timeouts.size();
     m_timeouts.emplace_back(
       timeout_info_t{
-        .oneshot = oneshot,
-        .started = autostart,
-        .callback = callback,
-        .timeout = timeout,
-        .last_reset = last_reset,
-        .last_callback =  last_reset
+        oneshot,
+        autostart,
+        callback,
+        timeout,
+        last_reset,
+        last_reset
       });
     return new_id;
   }
diff --git a/test/timeout_manager/test.cpp b/test/timeout_manager/test.cpp
index 264c33fe..6eb530f7 100644
--- a/test/timeout_manager/test.cpp
+++ b/test/timeout_manager/test.cpp
@@ -21,6 +21,7 @@ struct obj_t
   // error flags
   std::mutex mtx;
   int n_cbks = 0;
+  int sooner_cbks = 0;
   bool null_cbk = false;
   bool cbk_not_running = false;
   std::atomic_bool cbk_running = false;
@@ -63,7 +64,10 @@ struct obj_t
       const ros::Duration dt = now - last_update;
       const auto dt_err = dt - desired_dt;
       if (dt_err < ros::Duration(0))
-        ROS_ERROR_STREAM("Callback has a larger/smaller delay than expected: " << dt << "s (should be " << desired_dt << "s). Error: " << dt_err << "s (max. expected: " << max_expected_dt_err << "s)!");
+      {
+        ROS_ERROR_STREAM("Callback called sooner than expected: " << dt << "s (should be " << desired_dt << "s). Error: " << dt_err << "s < 0!");
+        sooner_cbks++;
+      }
       if (dt_err > max_expected_dt_err)
         ROS_ERROR_STREAM("Callback has a larger/smaller delay than expected: " << dt << "s (should be " << desired_dt << "s). Error: " << dt_err << "s (max. expected: " << max_expected_dt_err << "s)!");
       if (dt_err > max_dt_err || n_cbks == 1)
@@ -183,6 +187,7 @@ TEST(TESTSuite, timeout_test)
 
       EXPECT_LE(obj.max_dt_err, obj.max_expected_dt_err);
       EXPECT_LE(obj.avg_dt_err, update_period);
+      EXPECT_EQ(obj.sooner_cbks, 0);
       EXPECT_FALSE(callback_while_tm_null);
       EXPECT_FALSE(callback_while_not_running);