Fix other issues with connext

Signed-off-by: Stephen Brawner <brawner@gmail.com>
ros2 · Oct 13, 2020 · 44cc568 · 44cc568
1 parent b5b0922
commit 44cc568
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Showing 3 changed files with 23 additions and 3 deletions.
diff --git a/rclcpp/test/CMakeLists.txt b/rclcpp/test/CMakeLists.txt
@@ -216,7 +216,8 @@ if(TARGET test_node_interfaces__node_clock)
   target_link_libraries(test_node_interfaces__node_clock ${PROJECT_NAME})
 endif()
 ament_add_gtest(test_node_interfaces__node_graph
-  rclcpp/node_interfaces/test_node_graph.cpp)
+  rclcpp/node_interfaces/test_node_graph.cpp
+  TIMEOUT 120)
 if(TARGET test_node_interfaces__node_graph)
   ament_target_dependencies(
     test_node_interfaces__node_graph

diff --git a/rclcpp/test/rclcpp/test_publisher.cpp b/rclcpp/test/rclcpp/test_publisher.cpp
@@ -278,6 +278,9 @@ TEST_F(TestPublisher, serialized_message_publish) {
   auto publisher = node->create_publisher<test_msgs::msg::Empty>("topic", 10, options);
 
   rclcpp::SerializedMessage serialized_msg;
+  // Mock successful rcl publish because the serialized_msg above is poorly formed
+  auto mock = mocking_utils::patch_and_return(
+    "self", rcl_publish_serialized_message, RCL_RET_OK);
   EXPECT_NO_THROW(publisher->publish(serialized_msg));
 
   EXPECT_NO_THROW(publisher->publish(serialized_msg.get_rcl_serialized_message()));
@@ -415,14 +418,22 @@ TEST_F(TestPublisher, inter_process_publish_failures) {
     EXPECT_THROW(publisher->publish(msg), rclcpp::exceptions::RCLError);
   }
 
-  rclcpp::SerializedMessage serialized_msg;
-  EXPECT_NO_THROW(publisher->publish(serialized_msg));
+  {
+    // Using 'self' instead of 'lib:rclcpp' because `rcl_publish_serialized_message` is entirely
+    // defined in a header. Also, this one requires mocking because the serialized_msg is poorly
+    // formed and this just tests rclcpp functionality.
+    auto mock = mocking_utils::patch_and_return(
+      "self", rcl_publish_serialized_message, RCL_RET_OK);
+    rclcpp::SerializedMessage serialized_msg;
+    EXPECT_NO_THROW(publisher->publish(serialized_msg));
+  }
 
   {
     // Using 'self' instead of 'lib:rclcpp' because `rcl_publish_serialized_message` is entirely
     // defined in a header
     auto mock = mocking_utils::patch_and_return(
       "self", rcl_publish_serialized_message, RCL_RET_ERROR);
+    rclcpp::SerializedMessage serialized_msg;
     EXPECT_THROW(publisher->publish(serialized_msg), rclcpp::exceptions::RCLError);
   }
 

diff --git a/rclcpp_lifecycle/test/test_lifecycle_service_client.cpp b/rclcpp_lifecycle/test/test_lifecycle_service_client.cpp
@@ -374,8 +374,16 @@ TEST_F(TestLifecycleServiceClient, get_service_names_and_types_by_node)
   EXPECT_THROW(
     node_graph->get_service_names_and_types_by_node("not_a_node", "not_absolute_namespace"),
     std::runtime_error);
+  auto start = std::chrono::steady_clock::now();
   auto service_names_and_types1 = node_graph->get_service_names_and_types_by_node("client1", "/");
   auto service_names_and_types2 = node_graph->get_service_names_and_types_by_node("client2", "/");
+  while (0 == service_names_and_types1.size() &&
+    service_names_and_types1.size() != service_names_and_types2.size() &&
+    (std::chrono::steady_clock::now() - start) < std::chrono::seconds(1))
+  {
+    service_names_and_types1 = node_graph->get_service_names_and_types_by_node("client1", "/");
+    service_names_and_types2 = node_graph->get_service_names_and_types_by_node("client2", "/");
+  }
   EXPECT_EQ(service_names_and_types1.size(), service_names_and_types2.size());
 }