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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" #include "osrf_testing_tools_cpp/scope_exit.hpp"
using namespace std::chrono_literals; using namespace std::chrono_literals;
using std::chrono::milliseconds;
using std::chrono::seconds; using std::chrono::seconds;
using std::chrono::duration_cast; using std::chrono::duration_cast;
@ -43,6 +42,9 @@ constexpr seconds MAX_WAIT_PER_TESTCASE = 10s;
# define CLASSNAME(NAME, SUFFIX) NAME # define CLASSNAME(NAME, SUFFIX) NAME
#endif #endif
#define EXPECT_OK(varname) EXPECT_EQ(varname, RCL_RET_OK) << rcl_get_error_string().str
class CLASSNAME (TestEventFixture, RMW_IMPLEMENTATION) : public ::testing::Test class CLASSNAME (TestEventFixture, RMW_IMPLEMENTATION) : public ::testing::Test
{ {
public: public:
@ -149,21 +151,24 @@ public:
ret = rcl_subscription_event_init(&subscription_event, &subscription, sub_event_type); ret = rcl_subscription_event_init(&subscription_event, &subscription, sub_event_type);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str; ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
// wait for discovery // wait for discovery, time out after 10s
// total wait time of 10 seconds, if never ready static const size_t max_iterations = 1000;
size_t max_iterations = 1000; static const auto wait_period = 10ms;
milliseconds wait_period(10); bool subscribe_success = false;
size_t iteration = 0; for (size_t i = 0; i < max_iterations; ++i) {
do { size_t subscription_count = 0;
iteration++; size_t publisher_count = 0;
size_t count = 0; ret = rcl_subscription_get_publisher_count(&subscription, &publisher_count);
rcl_ret_t ret = rcl_subscription_get_publisher_count(&subscription, &count); EXPECT_OK(ret);
ASSERT_EQ(ret, RCL_RET_OK); ret = rcl_publisher_get_subscription_count(&publisher, &subscription_count);
if (count > 0) { EXPECT_OK(ret);
if (subscription_count && publisher_count) {
subscribe_success = true;
break; break;
} }
std::this_thread::sleep_for(wait_period); 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() 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; return ret;
} }