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Add sleep before getting publisher info. #646

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Add sleep before getting publisher info. #646

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2cc1818
Add sleep before getting publisher info.
nuclearsandwich May 8, 2020
c1f580e
WIP
nuclearsandwich May 12, 2020
50a5530
Use wait_for_entity helpers from #631.
nuclearsandwich May 12, 2020
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2 changes: 1 addition & 1 deletion rcl/test/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -109,7 +109,7 @@ function(test_target_function)
set(AMENT_GTEST_ARGS TIMEOUT 120)
endif()
rcl_add_custom_gtest(test_info_by_topic${target_suffix}
SRCS rcl/test_info_by_topic.cpp
SRCS rcl/test_info_by_topic.cpp rcl/wait_for_entity_helpers.cpp
ENV ${rmw_implementation_env_var}
APPEND_LIBRARY_DIRS ${extra_lib_dirs}
LIBRARIES ${PROJECT_NAME}
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6 changes: 6 additions & 0 deletions rcl/test/rcl/test_info_by_topic.cpp
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Expand Up @@ -18,8 +18,10 @@

#include <gtest/gtest.h>

#include <chrono>
#include <memory>
#include <string>
#include <thread>

#include "rcl/error_handling.h"
#include "rcl/graph.h"
Expand All @@ -33,6 +35,8 @@

#include "osrf_testing_tools_cpp/scope_exit.hpp"

#include "wait_for_entity_helpers.hpp"

#ifdef RMW_IMPLEMENTATION
# define CLASSNAME_(NAME, SUFFIX) NAME ## __ ## SUFFIX
# define CLASSNAME(NAME, SUFFIX) CLASSNAME_(NAME, SUFFIX)
Expand Down Expand Up @@ -357,6 +361,8 @@ TEST_F(
&subscription_options);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
const std::string fqdn = std::string("/") + this->topic_name;
ASSERT_TRUE(wait_for_established_subscription(&publisher, 10, 100));
ASSERT_TRUE(wait_for_subscription_to_be_ready(&subscription, &this->context, 10, 100));
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I am not sure this needs to be called here. I believe that we can confirm that graph cache is constructed vi wait_for_established_subscription.

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This case tests both rcl_get_publishers_info_by_topic and rcl_get_subscriptions_info_by_topic, so I think we need to add a new wait_helper(such as wait_for_established_publisher) which is similar to wait_for_established_subscription. (make sure two directions are established.)

NOTE: wait_for_subscription_to_be_ready is used for a subscriber to wait to get message data from a publisher.
it means there should be a rcl_publish calling before (or at a new thread) and then rcl_take to get message data.
So we don't use it here.

// Get publishers info by topic
rmw_topic_endpoint_info_array_t topic_endpoint_info_array_pub =
rmw_get_zero_initialized_topic_endpoint_info_array();
Expand Down