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sleep after starting thread to fix flaky tests (backport #235) #237

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merged 1 commit into from
Dec 13, 2024
Merged

sleep after starting thread to fix flaky tests (backport #235) #237

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11 changes: 9 additions & 2 deletions test/test_async_function_handler.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -104,6 +104,7 @@ TEST_F(AsyncFunctionHandlerTest, check_initialization)

// Once initialized, it should not be possible to initialize again
async_class.get_handler().start_thread();
std::this_thread::sleep_for(std::chrono::milliseconds(10));
auto trigger_status = async_class.trigger();
ASSERT_TRUE(trigger_status.first);
ASSERT_EQ(realtime_tools::return_type::OK, trigger_status.second);
Expand All @@ -130,6 +131,7 @@ TEST_F(AsyncFunctionHandlerTest, check_triggering)
// It shouldn't be possible to trigger without starting the thread
ASSERT_THROW(async_class.trigger(), std::runtime_error);
async_class.get_handler().start_thread();
std::this_thread::sleep_for(std::chrono::milliseconds(10));

ASSERT_TRUE(async_class.get_handler().get_thread().joinable());
ASSERT_TRUE(
Expand Down Expand Up @@ -174,6 +176,7 @@ TEST_F(AsyncFunctionHandlerTest, trigger_for_several_cycles)
ASSERT_FALSE(async_class.get_handler().is_running());
ASSERT_FALSE(async_class.get_handler().is_stopped());
async_class.get_handler().start_thread();
std::this_thread::sleep_for(std::chrono::milliseconds(10));

EXPECT_EQ(async_class.get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);

Expand All @@ -193,8 +196,8 @@ TEST_F(AsyncFunctionHandlerTest, trigger_for_several_cycles)
missed_triggers++;
}
}
// Make sure that the failed triggers are less than 0.1%
ASSERT_LT(missed_triggers, static_cast<int>(0.001 * total_cycles))
// Make sure that the failed triggers are less than 0.5%
ASSERT_LT(missed_triggers, static_cast<int>(0.005 * total_cycles))
<< "The missed triggers cannot be more than 0.1%!";
async_class.get_handler().stop_thread();

Expand All @@ -216,6 +219,7 @@ TEST_F(AsyncFunctionHandlerTest, test_with_deactivate_and_activate_cycles)
ASSERT_FALSE(async_class.get_handler().is_running());
ASSERT_FALSE(async_class.get_handler().is_stopped());
async_class.get_handler().start_thread();
std::this_thread::sleep_for(std::chrono::milliseconds(10));
ASSERT_TRUE(async_class.get_handler().is_running());
ASSERT_FALSE(async_class.get_handler().is_stopped());
EXPECT_EQ(async_class.get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE);
Expand Down Expand Up @@ -285,6 +289,7 @@ TEST_F(AsyncFunctionHandlerTest, check_triggering_with_different_return_state_an
ASSERT_FALSE(
realtime_tools::set_thread_affinity(async_class.get_handler().get_thread(), 0).first);
async_class.get_handler().start_thread();
std::this_thread::sleep_for(std::chrono::milliseconds(10));

ASSERT_TRUE(async_class.get_handler().get_thread().joinable());
ASSERT_TRUE(realtime_tools::set_thread_affinity(async_class.get_handler().get_thread(), 0).first);
Expand Down Expand Up @@ -356,6 +361,7 @@ TEST_F(AsyncFunctionHandlerTest, check_exception_handling)
realtime_tools::TestAsyncFunctionHandler async_class;
async_class.initialize();
async_class.get_handler().start_thread();
std::this_thread::sleep_for(std::chrono::milliseconds(10));

EXPECT_EQ(async_class.get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
auto trigger_status = async_class.trigger();
Expand Down Expand Up @@ -401,6 +407,7 @@ TEST_F(AsyncFunctionHandlerTest, check_exception_handling)

async_class.reset_counter(0);
async_class.get_handler().start_thread();
std::this_thread::sleep_for(std::chrono::milliseconds(10));
trigger_status = async_class.trigger();
ASSERT_TRUE(trigger_status.first);
ASSERT_EQ(realtime_tools::return_type::OK, trigger_status.second);
Expand Down
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