From fc84b5c2b7223a31e0dce7664bc1e017f862d89e Mon Sep 17 00:00:00 2001
From: Matthew Harrigan <betterthanbossfiredog5@gmail.com>
Date: Sat, 29 May 2021 13:17:51 -0700
Subject: [PATCH] added SLEEP tests and support for python expressions in the
 SLEEP statement

---
 shepherd/Tester.py                            |  4 +--
 shepherd/tests/TESTING_DOCS.md                |  4 +--
 .../tests/testing_tests/sleep_test.shepherd   | 25 +++++++++++++++++++
 3 files changed, 29 insertions(+), 4 deletions(-)
 create mode 100644 shepherd/tests/testing_tests/sleep_test.shepherd

diff --git a/shepherd/Tester.py b/shepherd/Tester.py
index 30eedfde..590df029 100644
--- a/shepherd/Tester.py
+++ b/shepherd/Tester.py
@@ -374,10 +374,10 @@ def sleep_function(expression):
     if expression == '':
         raise Exception('expected a time afer after SLEEP')
     try:
-        amount = float(expression)
+        amount = float(evaluate_python(expression))
     except ValueError as e:
         raise Exception(f'expected a time afer after SLEEP, but got {expression}')
-    time.Sleep(amount)
+    time.sleep(amount)
 
 def read_function(line):
     """
diff --git a/shepherd/tests/TESTING_DOCS.md b/shepherd/tests/TESTING_DOCS.md
index 549b1293..8a053eb5 100644
--- a/shepherd/tests/TESTING_DOCS.md
+++ b/shepherd/tests/TESTING_DOCS.md
@@ -62,9 +62,9 @@ Usage: `PRINTP <python expression>`
 
 The SLEEP statement is used in order to pause the execution of the .shepherd interpreter for a specified amount of time. Any LCM messages received
 while the interpreter is paused will still be recorded and may be processed by the next WAIT statement that the interpreter encounters. The sleep
-time may be a decimal, and is in terms of seconds.
+time may be a decimal, and is in terms of seconds. SLEEP may take a python expression as an argument, so long as it evaluates to a float.
 
-Usage: `SLEEP <time>`
+Usage: `SLEEP <time / python expression>`
 
 ### IF
 
diff --git a/shepherd/tests/testing_tests/sleep_test.shepherd b/shepherd/tests/testing_tests/sleep_test.shepherd
new file mode 100644
index 00000000..38caef89
--- /dev/null
+++ b/shepherd/tests/testing_tests/sleep_test.shepherd
@@ -0,0 +1,25 @@
+## small wait test
+RUN import time
+RUN start = time.time()
+SLEEP .1
+RUN end = time.time()
+RUN delta = end - start
+RUN epsilon = abs(delta - .1)
+PRINTP epsilon
+FAIL epsilon > .001
+## large wait test
+RUN start = time.time()
+SLEEP 10
+RUN end = time.time()
+RUN delta = end - start
+RUN epsilon = abs(delta - 10)
+PRINTP epsilon
+FAIL epsilon > .02
+## very large wait test
+RUN start = time.time()
+SLEEP 100
+RUN end = time.time()
+RUN delta = end - start
+RUN epsilon = abs(delta - 100)
+PRINTP epsilon
+ASSERT epsilon < .15