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(Fixing) Determinism in Robotics Testing

Here at Basis, we’re building a production/testing focused robotics framework. Along those lines, determinism when testing is one of our primary goals. This article is focused on how basis can not only achieve determinism in tests, but use it to run your tests lightning fast.

At a low level, running the same code on the same system will behave differently due to transport layer and scheduling nondeterminism. calls to random() use of the system clock use of networked resources data races compiler flags cosmic rays pointer comparisons The delay will only continue to go up, and the queues backing the pub/sub system generally won’t be configured for infinite space, resulting in dropped messages and incorrect timings.

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