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Fix flaky connext test_events on OSX #451

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merged 1 commit into from
May 28, 2019
Merged

Fix flaky connext test_events on OSX #451

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34 changes: 20 additions & 14 deletions rcl/test/rcl/test_events.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,6 @@
#include "osrf_testing_tools_cpp/scope_exit.hpp"

using namespace std::chrono_literals;
using std::chrono::milliseconds;
using std::chrono::seconds;
using std::chrono::duration_cast;

Expand All @@ -43,6 +42,9 @@ constexpr seconds MAX_WAIT_PER_TESTCASE = 10s;
# define CLASSNAME(NAME, SUFFIX) NAME
#endif

#define EXPECT_OK(varname) EXPECT_EQ(varname, RCL_RET_OK) << rcl_get_error_string().str


class CLASSNAME (TestEventFixture, RMW_IMPLEMENTATION) : public ::testing::Test
{
public:
Expand Down Expand Up @@ -149,21 +151,24 @@ class CLASSNAME (TestEventFixture, RMW_IMPLEMENTATION) : public ::testing::Test
ret = rcl_subscription_event_init(&subscription_event, &subscription, sub_event_type);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;

// wait for discovery
// total wait time of 10 seconds, if never ready
size_t max_iterations = 1000;
milliseconds wait_period(10);
size_t iteration = 0;
do {
iteration++;
size_t count = 0;
rcl_ret_t ret = rcl_subscription_get_publisher_count(&subscription, &count);
ASSERT_EQ(ret, RCL_RET_OK);
if (count > 0) {
// wait for discovery, time out after 10s
static const size_t max_iterations = 1000;
static const auto wait_period = 10ms;
bool subscribe_success = false;
for (size_t i = 0; i < max_iterations; ++i) {
size_t subscription_count = 0;
size_t publisher_count = 0;
ret = rcl_subscription_get_publisher_count(&subscription, &publisher_count);
EXPECT_OK(ret);
ret = rcl_publisher_get_subscription_count(&publisher, &subscription_count);
EXPECT_OK(ret);
if (subscription_count && publisher_count) {
subscribe_success = true;
break;
}
std::this_thread::sleep_for(wait_period);
} while (iteration < max_iterations);
}
ASSERT_TRUE(subscribe_success) << "Publisher/Subscription discovery timed out";
}

void tear_down_publisher_subscriber()
Expand Down Expand Up @@ -280,7 +285,8 @@ wait_for_msgs_and_events(
}
}
}

ret = rcl_wait_set_fini(&wait_set);
EXPECT_OK(ret);
return ret;
}

Expand Down