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Make test_subscription_nominal_string_sequence more reliable #881

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merged 4 commits into from
Dec 23, 2020
Merged

Make test_subscription_nominal_string_sequence more reliable #881

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2aaf948
Make test_subscription_nominal_string_sequence more reliable
ivanpauno Dec 22, 2020
f885968
Duplicate fix elsewhere
ivanpauno Dec 23, 2020
908b7dc
extremely large timeout
ivanpauno Dec 23, 2020
19ab89b
fix bug
ivanpauno Dec 23, 2020
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37 changes: 27 additions & 10 deletions rcl/test/rcl/test_subscription.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -391,6 +391,7 @@ TEST_F(
CLASSNAME(
TestSubscriptionFixture,
RMW_IMPLEMENTATION), test_subscription_nominal_string_sequence) {
using namespace std::chrono_literals;
rcl_ret_t ret;
rcl_publisher_t publisher = rcl_get_zero_initialized_publisher();
const rosidl_message_type_support_t * ts =
Expand Down Expand Up @@ -479,10 +480,19 @@ TEST_F(
test_msgs__msg__Strings__Sequence__destroy(seq);
});

ret = rcl_take_sequence(&subscription, 5, &messages, &message_infos, nullptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ASSERT_EQ(3u, messages.size);
ASSERT_EQ(3u, message_infos.size);
auto start = std::chrono::steady_clock::now();
size_t total_messages_taken = 0u;
do {
// `wait_for_subscription_to_be_ready` only ensures there's one message ready,
// so we need to loop to guarantee that we get the three published messages.
ASSERT_TRUE(wait_for_subscription_to_be_ready(&subscription, context_ptr, 1, 100));
ret = rcl_take_sequence(&subscription, 5, &messages, &message_infos, nullptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
total_messages_taken += messages.size;
EXPECT_EQ(messages.size, message_infos.size);
} while (total_messages_taken < 3 && std::chrono::steady_clock::now() < start + 10s);

EXPECT_EQ(3u, total_messages_taken);
}

{
Expand Down Expand Up @@ -526,13 +536,20 @@ TEST_F(
test_msgs__msg__Strings__Sequence__destroy(seq);
});

ret = rcl_take_sequence(&subscription, 3, &messages, &message_infos, nullptr);

ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ASSERT_EQ(3u, messages.size);
ASSERT_EQ(3u, message_infos.size);
auto start = std::chrono::steady_clock::now();
size_t total_messages_taken = 0u;
do {
// `wait_for_subscription_to_be_ready` only ensures there's one message ready,
// so we need to loop to guarantee that we get the three published messages.
ASSERT_TRUE(wait_for_subscription_to_be_ready(&subscription, context_ptr, 1, 100));
ret = rcl_take_sequence(&subscription, 3, &messages, &message_infos, nullptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
total_messages_taken += messages.size;
EXPECT_EQ(messages.size, message_infos.size);
} while (total_messages_taken < 3 && std::chrono::steady_clock::now() < start + 10s);

ASSERT_EQ(
EXPECT_EQ(3u, total_messages_taken);
EXPECT_EQ(
std::string(test_string),
std::string(seq->data[0].string_value.data, seq->data[0].string_value.size));
}
Expand Down