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[DATA-549] Remove sleeps from slam tests #1480

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merged 1 commit into from
Oct 12, 2022
Merged

[DATA-549] Remove sleeps from slam tests #1480

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6 changes: 4 additions & 2 deletions services/slam/builtin/builtin.go
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Original file line number Diff line number Diff line change
Expand Up @@ -633,13 +633,15 @@ func (slamSvc *builtIn) StartDataProcess(
case slam.Dense:
if _, err := slamSvc.getAndSaveDataDense(cancelCtx, cams); err != nil {
slamSvc.logger.Warn(err)
} else if c != nil {
}
if c != nil {
c <- 1
}
case slam.Sparse:
if _, err := slamSvc.getAndSaveDataSparse(cancelCtx, cams, camStreams); err != nil {
slamSvc.logger.Warn(err)
} else if c != nil {
}
if c != nil {
c <- 1
}
default:
Expand Down
17 changes: 8 additions & 9 deletions services/slam/builtin/builtin_test.go
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,6 @@ import (
"sync"
"sync/atomic"
"testing"
"time"

"github.com/edaniels/golog"
"github.com/edaniels/gostream"
Expand Down Expand Up @@ -699,14 +698,14 @@ func TestCartographerDataProcess(t *testing.T) {
}()

cancelCtx, cancelFunc := context.WithCancel(context.Background())
slamSvc.StartDataProcess(cancelCtx, cams, camStreams, nil)

time.Sleep(time.Millisecond * time.Duration(validDataRateMS*2))
c := make(chan int)
slamSvc.StartDataProcess(cancelCtx, cams, camStreams, c)

<-c
allObs := obs.All()
latestLoggedEntry := allObs[len(allObs)-1]
test.That(t, fmt.Sprint(latestLoggedEntry), test.ShouldContainSubstring, "bad_lidar")
cancelFunc()
test.That(t, fmt.Sprint(latestLoggedEntry), test.ShouldContainSubstring, "bad_lidar")
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I'm also moving this check below the call to cancelFunc() so that cancelFunc() will be called even if this check fails.

})

test.That(t, utils.TryClose(context.Background(), svc), test.ShouldBeNil)
Expand Down Expand Up @@ -789,14 +788,14 @@ func TestORBSLAMDataProcess(t *testing.T) {
}()

cancelCtx, cancelFunc := context.WithCancel(context.Background())
slamSvc.StartDataProcess(cancelCtx, cams, camStreams, nil)

time.Sleep(time.Millisecond * time.Duration(validDataRateMS*2))
c := make(chan int)
slamSvc.StartDataProcess(cancelCtx, cams, camStreams, c)

<-c
obsAll := obs.All()
latestLoggedEntry := obsAll[len(obsAll)-1]
test.That(t, fmt.Sprint(latestLoggedEntry), test.ShouldContainSubstring, "bad_camera")
cancelFunc()
test.That(t, fmt.Sprint(latestLoggedEntry), test.ShouldContainSubstring, "bad_camera")
})

test.That(t, utils.TryClose(context.Background(), svc), test.ShouldBeNil)
Expand Down