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In test_events, wait for discovery to be complete bidirectionally before moving on (#451)

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Signed-off-by: Emerson Knapp <eknapp@amazon.com>
This commit is contained in:
Emerson Knapp 2019-05-28 12:43:48 -07:00 • committed by Dirk Thomas
parent 5f0d331712
commit d55f015296
1 changed files with 20 additions and 14 deletions
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34
rcl/test/rcl/test_events.cpp
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@ -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;
@ -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:
@ -149,21 +151,24 @@ public:
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()
@ -280,7 +285,8 @@ wait_for_msgs_and_events(
}
}
}
ret = rcl_wait_set_fini(&wait_set);
EXPECT_OK(ret);
return ret;
}