[timer] Fix Timeout::wait implementation

Author: salkinium

src/modm/processing/fiber/functions.hpp

@@ -53,7 +53,7 @@ yield();
 modm::fiber::id
 get_id();
 
-/// Yields the current fiber while `bool condition()` returns true.
+/// Yields the current fiber until `bool condition()` returns true.
 /// @warning If `bool condition()` is true on first call, no yield is performed!
 template< class Function >
 requires requires { std::is_invocable_r_v<bool, Function, void>; }

src/modm/processing/timer/timeout_impl.hpp

@@ -130,7 +130,7 @@ template< class Clock, class Duration >
 void
 modm::GenericTimeout<Clock, Duration>::wait()
 {
-	modm::this_fiber::poll([this]{ return not execute(); });
+	modm::this_fiber::poll([this]{ return execute(); });
 }
 
 // ----------------------------------------------------------------------------

test/modm/processing/fiber/fiber_test.cpp

@@ -13,6 +13,7 @@
 #include "fiber_test.hpp"
 #include "shared.hpp"
 
+#include <modm/processing/timer.hpp>
 #include <modm-test/mock/clock.hpp>
 
 using namespace std::chrono_literals;
@@ -261,3 +262,79 @@ FiberTest::testStopToken()
 	});
 	modm::fiber::Scheduler::run();
 }
+
+void
+FiberTest::testTimeoutWait()
+{
+	modm::ShortTimeout timeout(20ms);
+	modm::fiber::Task fiber1(stack1, [&]
+	{
+		TEST_ASSERT_EQUALS(state++, 0u);
+
+		timeout.wait();
+		TEST_ASSERT_EQUALS(state++, 5u);
+
+	});
+	modm::fiber::Task fiber2(stack2, [&]
+	{
+		TEST_ASSERT_EQUALS(state++, 1u);
+		modm::this_fiber::yield();
+		TEST_ASSERT_EQUALS(state++, 2u);
+		test_clock_ms::increment(1);
+		modm::this_fiber::yield();
+		TEST_ASSERT_EQUALS(state++, 3u);
+		test_clock_ms::increment(10);
+		modm::this_fiber::yield();
+		TEST_ASSERT_EQUALS(state++, 4u);
+		test_clock_ms::increment(30);
+		modm::this_fiber::yield(); // goto 3
+
+		TEST_ASSERT_EQUALS(state++, 6u);
+	});
+	modm::fiber::Scheduler::run();
+}
+
+void
+FiberTest::testPeriodicTimerWait()
+{
+	modm::ShortPeriodicTimer timer(20ms);
+	modm::fiber::Task fiber1(stack1, [&]
+	{
+		TEST_ASSERT_EQUALS(state++, 0u);
+
+		TEST_ASSERT_EQUALS(timer.wait(), 1u);
+		TEST_ASSERT_EQUALS(state++, 3u);
+
+		TEST_ASSERT_EQUALS(timer.wait(), 1u); // goto 4
+		TEST_ASSERT_EQUALS(state++, 6u);
+
+		TEST_ASSERT_EQUALS(timer.wait(), 3u); // goto 7
+		TEST_ASSERT_EQUALS(state++, 9u);
+
+	});
+	modm::fiber::Task fiber2(stack2, [&]
+	{
+		TEST_ASSERT_EQUALS(state++, 1u);
+		modm::this_fiber::yield();
+		TEST_ASSERT_EQUALS(state++, 2u);
+		test_clock_ms::increment(30);
+		modm::this_fiber::yield(); // goto 3
+
+		TEST_ASSERT_EQUALS(state++, 4u);
+		test_clock_ms::increment(9);
+		modm::this_fiber::yield();
+		TEST_ASSERT_EQUALS(state++, 5u);
+		test_clock_ms::increment(1);
+		modm::this_fiber::yield(); // goto 6
+
+		TEST_ASSERT_EQUALS(state++, 7u);
+		test_clock_ms::increment(15);
+		modm::this_fiber::yield();
+		TEST_ASSERT_EQUALS(state++, 8u);
+		test_clock_ms::increment(50);
+		modm::this_fiber::yield(); // goto 9
+
+		TEST_ASSERT_EQUALS(state++, 10u);
+	});
+	modm::fiber::Scheduler::run();
+}

test/modm/processing/fiber/fiber_test.hpp

@@ -43,4 +43,10 @@ class FiberTest : public unittest::TestSuite
 
 	void
 	testStopToken();
+
+	void
+	testTimeoutWait();
+
+	void
+	testPeriodicTimerWait();
 };