Merge pull request #96 from ros2/fix_flaky_services

refactor composition test

composition/CMakeLists.txt

@@ -177,7 +177,9 @@ if(BUILD_TESTING)
     set(CLIENT_LIBRARY $<TARGET_FILE:client_component${target_suffix}>)
     set(API_COMPOSITION_EXECUTABLE $<TARGET_FILE:api_composition${target_suffix}>)
     set(API_COMPOSITION_CLI_EXECUTABLE $<TARGET_FILE:api_composition_cli${target_suffix}>)
-    set(EXPECTED_OUTPUT "${CMAKE_CURRENT_SOURCE_DIR}/test/composition")
+    set(EXPECTED_OUTPUT_ALL "${CMAKE_CURRENT_SOURCE_DIR}/test/composition_all")
+    set(EXPECTED_OUTPUT_PUBSUB "${CMAKE_CURRENT_SOURCE_DIR}/test/composition_pubsub")
+    set(EXPECTED_OUTPUT_SRV "${CMAKE_CURRENT_SOURCE_DIR}/test/composition_srv")
 
     configure_file(
       test/test_composition.py.in
@@ -191,7 +193,7 @@ if(BUILD_TESTING)
       "${CMAKE_CURRENT_BINARY_DIR}/test_composition${target_suffix}_$<CONFIGURATION>.py"
       APPEND_ENV AMENT_PREFIX_PATH=${CMAKE_CURRENT_BINARY_DIR}/test_ament_index/$<CONFIG>
       APPEND_LIBRARY_DIRS "${append_library_dirs}"
-      TIMEOUT 60)
+      TIMEOUT 90)
   endmacro()
 
   set(append_library_dirs "${CMAKE_CURRENT_BINARY_DIR}")

composition/src/client_component.cpp

@@ -14,6 +14,7 @@
 
 #include "composition/client_component.hpp"
 
+#include <cinttypes>
 #include <iostream>
 #include <memory>
 
@@ -78,8 +79,7 @@ bool Client::on_timer()
   using ServiceResponseFuture =
       rclcpp::client::Client<example_interfaces::srv::AddTwoInts>::SharedFuture;
   auto response_received_callback = [](ServiceResponseFuture future) {
-      printf("Got result: [%s]\n",
-        std::to_string(future.get()->sum).c_str());
+      printf("Got result: [%" PRIu64 "]\n", future.get()->sum);
     };
   auto future_result = client_->async_send_request(request, response_received_callback);
 

composition/src/server_component.cpp

@@ -14,6 +14,7 @@
 
 #include "composition/server_component.hpp"
 
+#include <cinttypes>
 #include <iostream>
 #include <memory>
 
@@ -32,9 +33,8 @@ Server::Server()
     std::shared_ptr<example_interfaces::srv::AddTwoInts::Response> response
     ) -> void
     {
-      printf("Incoming request: [a: %s, b: %s]\n",
-        std::to_string(request->a).c_str(),
-        std::to_string(request->b).c_str());
+      printf("Incoming request: [a: %" PRIu64 ", b: %" PRIu64 "]\n",
+        request->a, request->b);
       std::flush(std::cout);
       response->sum = request->a + request->b;
     };

composition/test/composition_pubsub.regex

@@ -0,0 +1 @@
+I heard: \[Hello World: \d+\]

composition/test/composition_srv.regex

@@ -0,0 +1 @@
+Got result: \[\d+\]

composition/test/test_composition.py.in

@@ -26,7 +26,8 @@ from launch_testing import create_handler
 def test_manual_composition():
     name = 'test_manual_composition'
     executable = '@MANUAL_COMPOSITION_EXECUTABLE@'
-    launch(name, [executable])
+    output_file = '@EXPECTED_OUTPUT_ALL@'
+    launch(name, [executable], output_file)
 
 
 def test_linktime_composition():
@@ -35,7 +36,8 @@ def test_linktime_composition():
         raise SkipTest
     name = 'test_linktime_composition'
     executable = '@LINKTIME_COMPOSITION_EXECUTABLE@'
-    launch(name, [executable])
+    output_file = '@EXPECTED_OUTPUT_ALL@'
+    launch(name, [executable], output_file)
 
 
 def test_dlopen_composition():
@@ -45,10 +47,11 @@ def test_dlopen_composition():
     listener_library = '@LISTENER_LIBRARY@'
     server_library = '@SERVER_LIBRARY@'
     client_library = '@CLIENT_LIBRARY@'
-    launch(name, [executable, talker_library, listener_library, server_library, client_library])
+    output_file = '@EXPECTED_OUTPUT_ALL@'
+    launch(name, [executable, talker_library, listener_library, server_library, client_library], output_file)
 
 
-def test_api_composition():
+def test_api_pubsub_composition():
     import sys
     name = 'test_api_composition'
     executable = '@API_COMPOSITION_EXECUTABLE@'
@@ -66,7 +69,17 @@ def test_api_composition():
                 'composition', 'composition::Listener'],
             'name': 'load_listener_component',
             'exit_handler': exit_on_error_exit_handler,
-        },
+        }
+    ]
+    output_file = '@EXPECTED_OUTPUT_PUBSUB@'
+    launch(name, [executable], output_file, additional_processes=additional_processes)
+
+
+def test_api_srv_composition():
+    import sys
+    name = 'test_api_composition'
+    executable = '@API_COMPOSITION_EXECUTABLE@'
+    additional_processes = [
         {
             'cmd': [
                 '@API_COMPOSITION_CLI_EXECUTABLE@',
@@ -82,14 +95,14 @@ def test_api_composition():
             'exit_handler': exit_on_error_exit_handler,
         },
     ]
-    launch(name, [executable], additional_processes=additional_processes)
+    output_file = '@EXPECTED_OUTPUT_SRV@'
+    launch(name, [executable], output_file, additional_processes=additional_processes)
 
 
-def launch(name, cmd, additional_processes=None):
+def launch(name, cmd, output_file, additional_processes=None):
     launch_descriptor = LaunchDescriptor()
 
     rmw_implementation = '@rmw_implementation@'
-    output_file = '@EXPECTED_OUTPUT@'
     handler = create_handler(
         name, launch_descriptor, output_file,
         filtered_rmw_implementation=rmw_implementation)
@@ -118,4 +131,5 @@ if __name__ == '__main__':
     test_manual_composition()
     test_linktime_composition()
     test_dlopen_composition()
-    test_api_composition()
+    test_api_pubsub_composition()
+    test_api_srv_composition()