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Fix parameter tests timeout (backport #283) #284

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Merged
pablogs9 merged 2 commits into from
Apr 13, 2022
Merged

Fix parameter tests timeout (backport #283) #284

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13577e7
Fix parameter tests timeout (#283)
Acuadros95 Apr 13, 2022
9c9249c
Fix for foxy API
Acuadros95 Apr 13, 2022
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26 changes: 21 additions & 5 deletions rclc_parameter/test/rclc_parameter/test_parameter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -30,8 +30,8 @@ using namespace std::chrono_literals;

// #include "parameter_client.hpp"

static int callcack_calls = 0;
static rclc_parameter_type_t expected_type;
static int callbacks_calls = 0;
static rclc_parameter_type_t expected_type = RCLC_PARAMETER_NOT_SET;
static union {
bool bool_value;
int64_t integer_value;
Expand All @@ -40,7 +40,7 @@ static union {

void on_parameter_changed(Parameter * param)
{
callcack_calls++;
callbacks_calls++;
ASSERT_EQ(expected_type, param->value.type);
switch (param->value.type) {
case RCLC_PARAMETER_BOOL:
Expand All @@ -58,8 +58,14 @@ void on_parameter_changed(Parameter * param)
}

TEST(Test, rclc_node_init_default) {
auto default_spin_timeout = std::chrono::duration<int64_t, std::milli>(5000);
std::string node_name("test_node");

// Reset global tests values
expected_type = RCLC_PARAMETER_NOT_SET;
expected_value.bool_value = false;
callbacks_calls = 0;

// Create auxiliar RCLCPP node
rclcpp::init(0, NULL);
auto param_client_node = std::make_shared<rclcpp::Node>("param_aux_client");
Expand Down Expand Up @@ -161,7 +167,7 @@ TEST(Test, rclc_node_init_default) {
rclc_parameter_get_double(&param_server, "param3", &param3);
ASSERT_EQ(param3, 0.01);

ASSERT_EQ(callcack_calls, 3);
ASSERT_EQ(callbacks_calls, 3);

// Spin RCLC parameter server in a thread
bool spin = true;
Expand All @@ -173,6 +179,9 @@ TEST(Test, rclc_node_init_default) {
}
);

// Wait for parameter server
ASSERT_TRUE(parameters_client->wait_for_service(default_spin_timeout));

// Use auxiliar RCLCPP node for check
auto list_params = parameters_client->list_parameters({}, 10);
ASSERT_EQ(list_params.names.size(), 4u);
Expand Down Expand Up @@ -241,11 +250,18 @@ TEST(Test, rclc_node_init_default) {
promise->set_value();
});

// Sleep for pub/sub match
std::this_thread::sleep_for(500ms);

expected_type = RCLC_PARAMETER_BOOL;
expected_value.double_value = false;
rclc_parameter_set_bool(&param_server, "param1", false);

rclcpp::spin_until_future_complete(param_client_node, future.share());
ASSERT_EQ(
rclcpp::spin_until_future_complete(
param_client_node, future.share(),
default_spin_timeout),
rclcpp::FutureReturnCode::SUCCESS);

ASSERT_EQ(on_parameter_calls, 1u);

Expand Down