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[foxy backport] fix test_info_by_topic flaky (#859) #944

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Oct 15, 2021
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2 changes: 1 addition & 1 deletion rcl/test/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -129,7 +129,7 @@ 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}
Expand Down
6 changes: 6 additions & 0 deletions rcl/test/rcl/test_info_by_topic.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,7 @@

#include "rmw/topic_endpoint_info_array.h"
#include "rmw/error_handling.h"
#include "wait_for_entity_helpers.hpp"

#include "test_msgs/msg/strings.h"
#include "rosidl_runtime_c/string_functions.h"
Expand Down Expand Up @@ -357,6 +358,8 @@ TEST_F(
&subscription_options);
ASSERT_EQ(ret, RCL_RET_OK) << rcl_get_error_string().str;
const std::string fqdn = std::string("/") + this->topic_name;
// Wait until GraphCache publishers are updated
ASSERT_TRUE(wait_for_graph_publication(&this->node, fqdn.c_str(), 1u, 10, 100));
// 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 All @@ -371,6 +374,9 @@ TEST_F(
EXPECT_STREQ(topic_endpoint_info_pub.topic_type, "test_msgs/msg/Strings");
assert_qos_equality(topic_endpoint_info_pub.qos_profile, default_qos_profile, true);

// Wait until GraphCache subcribers are updated
ASSERT_TRUE(wait_for_graph_subscription(&this->node, fqdn.c_str(), 1u, 10, 100));
// Get subscribers info by topic
rmw_topic_endpoint_info_array_t topic_endpoint_info_array_sub =
rmw_get_zero_initialized_topic_endpoint_info_array();
ret = rcl_get_subscriptions_info_by_topic(
Expand Down
60 changes: 60 additions & 0 deletions rcl/test/rcl/wait_for_entity_helpers.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -236,3 +236,63 @@ wait_for_subscription_to_be_ready(
}
return false;
}

bool
wait_for_graph_publication(
const rcl_node_t * node,
const char * topic_name,
size_t count_to_wait,
size_t max_tries,
int64_t period_ms)
{
if (count_to_wait == 0) {
return true; // Nothing to wait
}
size_t iteration = 0;
while (iteration < max_tries) {
++iteration;
size_t count;
rcl_ret_t ret = rcl_count_publishers(node, topic_name, &count);
if (ret != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME,
"Error in rcl_count_publishers: %s", rcl_get_error_string().str);
return false;
}
if (count == count_to_wait) {
return true;
}
std::this_thread::sleep_for(std::chrono::milliseconds(period_ms));
}
return false;
}

bool
wait_for_graph_subscription(
const rcl_node_t * node,
const char * topic_name,
size_t count_to_wait,
size_t max_tries,
int64_t period_ms)
{
if (count_to_wait == 0) {
return true; // Nothing to wait
}
size_t iteration = 0;
while (iteration < max_tries) {
++iteration;
size_t count;
rcl_ret_t ret = rcl_count_subscribers(node, topic_name, &count);
if (ret != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
ROS_PACKAGE_NAME,
"Error in rcl_count_subscribers: %s", rcl_get_error_string().str);
return false;
}
if (count == count_to_wait) {
return true;
}
std::this_thread::sleep_for(std::chrono::milliseconds(period_ms));
}
return false;
}
20 changes: 20 additions & 0 deletions rcl/test/rcl/wait_for_entity_helpers.hpp
Original file line number Diff line number Diff line change
Expand Up @@ -63,4 +63,24 @@ wait_for_subscription_to_be_ready(
size_t max_tries,
int64_t period_ms);

/// Wait for specified number of publication in GraphCache
/// by trying at most `max_tries` times with a `period_ms` period.
bool
wait_for_graph_publication(
const rcl_node_t * node,
const char * topic_name,
size_t count_to_wait,
size_t max_tries,
int64_t period_ms);

/// Wait for specified number of subcription in GraphCache
/// by trying at most `max_tries` times with a `period_ms` period.
bool
wait_for_graph_subscription(
const rcl_node_t * node,
const char * topic_name,
size_t count_to_wait,
size_t max_tries,
int64_t period_ms);

#endif // RCL__WAIT_FOR_ENTITY_HELPERS_HPP_