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Fix flaky lifecycle node tests #1606

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merged 5 commits into from
Mar 30, 2021
Merged

Fix flaky lifecycle node tests #1606

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c38b525
Fix flaky lifecycle node tests
jacobperron Mar 30, 2021
2c5545e
minor refactor
jacobperron Mar 30, 2021
06341d2
Uncrustify
jacobperron Mar 30, 2021
71c392a
Make default timer values constants
jacobperron Mar 30, 2021
f113f84
Use default values in wait_for_service_by_node
jacobperron Mar 30, 2021
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141 changes: 98 additions & 43 deletions rclcpp_lifecycle/test/test_lifecycle_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,88 @@
using lifecycle_msgs::msg::State;
using lifecycle_msgs::msg::Transition;

static const std::chrono::nanoseconds DEFAULT_EVENT_TIMEOUT = std::chrono::seconds(3);
static const std::chrono::nanoseconds DEFAULT_EVENT_SLEEP_PERIOD = std::chrono::milliseconds(100);

static
bool wait_for_event(
std::shared_ptr<rclcpp_lifecycle::LifecycleNode> node,
std::function<bool()> predicate,
std::chrono::nanoseconds timeout,
std::chrono::nanoseconds sleep_period)
{
auto start = std::chrono::steady_clock::now();
std::chrono::microseconds time_slept(0);

bool predicate_result;
while (!(predicate_result = predicate()) &&
time_slept < std::chrono::duration_cast<std::chrono::microseconds>(timeout))
{
rclcpp::Event::SharedPtr graph_event = node->get_graph_event();
node->wait_for_graph_change(graph_event, sleep_period);
time_slept = std::chrono::duration_cast<std::chrono::microseconds>(
std::chrono::steady_clock::now() - start);
}
return predicate_result;
}

static
bool wait_for_topic(
std::shared_ptr<rclcpp_lifecycle::LifecycleNode> node,
const std::string & topic,
std::chrono::nanoseconds timeout = DEFAULT_EVENT_TIMEOUT,
std::chrono::nanoseconds sleep_period = DEFAULT_EVENT_SLEEP_PERIOD)
{
return wait_for_event(
node,
[node, topic]()
{
auto topic_names_and_types = node->get_topic_names_and_types();
return topic_names_and_types.end() != topic_names_and_types.find(topic);
},
timeout,
sleep_period);
}

static
bool wait_for_service(
std::shared_ptr<rclcpp_lifecycle::LifecycleNode> node,
const std::string & service,
std::chrono::nanoseconds timeout = DEFAULT_EVENT_TIMEOUT,
std::chrono::nanoseconds sleep_period = DEFAULT_EVENT_SLEEP_PERIOD)
{
return wait_for_event(
node,
[node, service]()
{
auto service_names_and_types = node->get_service_names_and_types();
return service_names_and_types.end() != service_names_and_types.find(service);
},
timeout,
sleep_period);
}

static
bool wait_for_service_by_node(
std::shared_ptr<rclcpp_lifecycle::LifecycleNode> node,
const std::string & node_name,
const std::string & service,
std::chrono::nanoseconds timeout = DEFAULT_EVENT_TIMEOUT,
std::chrono::nanoseconds sleep_period = DEFAULT_EVENT_SLEEP_PERIOD)
{
return wait_for_event(
node,
[node, node_name, service]()
{
auto service_names_and_types_by_node = node->get_service_names_and_types_by_node(
node_name, "");
return service_names_and_types_by_node.end() != service_names_and_types_by_node.find(
service);
},
timeout,
sleep_period);
}

class TestDefaultStateMachine : public ::testing::Test
{
protected:
Expand Down Expand Up @@ -559,10 +641,8 @@ TEST_F(TestDefaultStateMachine, test_graph_topics) {
ASSERT_NE(names.end(), std::find(names.begin(), names.end(), std::string("/testnode")));

// Other topics may exist for an rclcpp::Node, but just checking the lifecycle one exists
ASSERT_TRUE(wait_for_topic(test_node, "/testnode/transition_event"));
auto topic_names_and_types = test_node->get_topic_names_and_types();
ASSERT_NE(
topic_names_and_types.end(),
topic_names_and_types.find(std::string("/testnode/transition_event")));
EXPECT_STREQ(
topic_names_and_types["/testnode/transition_event"][0].c_str(),
"lifecycle_msgs/msg/TransitionEvent");
Expand All @@ -580,39 +660,26 @@ TEST_F(TestDefaultStateMachine, test_graph_topics) {
TEST_F(TestDefaultStateMachine, test_graph_services) {
auto test_node = std::make_shared<EmptyLifecycleNode>("testnode");

auto service_names_and_types = test_node->get_service_names_and_types();
// These are specific to lifecycle nodes, other services are provided by rclcpp::Node
ASSERT_NE(
service_names_and_types.end(),
service_names_and_types.find(std::string("/testnode/change_state")));
ASSERT_TRUE(wait_for_service(test_node, "/testnode/change_state"));
ASSERT_TRUE(wait_for_service(test_node, "/testnode/get_available_states"));
ASSERT_TRUE(wait_for_service(test_node, "/testnode/get_available_transitions"));
ASSERT_TRUE(wait_for_service(test_node, "/testnode/get_state"));
ASSERT_TRUE(wait_for_service(test_node, "/testnode/get_transition_graph"));

auto service_names_and_types = test_node->get_service_names_and_types();
EXPECT_STREQ(
service_names_and_types["/testnode/change_state"][0].c_str(),
"lifecycle_msgs/srv/ChangeState");

ASSERT_NE(
service_names_and_types.end(),
service_names_and_types.find(std::string("/testnode/get_available_states")));
EXPECT_STREQ(
service_names_and_types["/testnode/get_available_states"][0].c_str(),
"lifecycle_msgs/srv/GetAvailableStates");

ASSERT_NE(
service_names_and_types.end(),
service_names_and_types.find(std::string("/testnode/get_available_transitions")));
EXPECT_STREQ(
service_names_and_types["/testnode/get_available_transitions"][0].c_str(),
"lifecycle_msgs/srv/GetAvailableTransitions");

ASSERT_NE(
service_names_and_types.end(),
service_names_and_types.find(std::string("/testnode/get_state")));
EXPECT_STREQ(
service_names_and_types["/testnode/get_state"][0].c_str(),
"lifecycle_msgs/srv/GetState");

ASSERT_NE(
service_names_and_types.end(),
service_names_and_types.find(std::string("/testnode/get_transition_graph")));
EXPECT_STREQ(
service_names_and_types["/testnode/get_transition_graph"][0].c_str(),
"lifecycle_msgs/srv/GetAvailableTransitions");
Expand All @@ -621,40 +688,28 @@ TEST_F(TestDefaultStateMachine, test_graph_services) {
TEST_F(TestDefaultStateMachine, test_graph_services_by_node) {
auto test_node = std::make_shared<EmptyLifecycleNode>("testnode");

// These are specific to lifecycle nodes, other services are provided by rclcpp::Node
ASSERT_TRUE(wait_for_service_by_node(test_node, "testnode", "/testnode/change_state"));
ASSERT_TRUE(wait_for_service_by_node(test_node, "testnode", "/testnode/get_available_states"));
ASSERT_TRUE(
wait_for_service_by_node(test_node, "testnode", "/testnode/get_available_transitions"));
ASSERT_TRUE(wait_for_service_by_node(test_node, "testnode", "/testnode/get_state"));
ASSERT_TRUE(wait_for_service_by_node(test_node, "testnode", "/testnode/get_transition_graph"));

auto service_names_and_types_by_node =
test_node->get_service_names_and_types_by_node("testnode", "");
// These are specific to lifecycle nodes, other services are provided by rclcpp::Node
ASSERT_NE(
service_names_and_types_by_node.end(),
service_names_and_types_by_node.find(std::string("/testnode/change_state")));
EXPECT_STREQ(
service_names_and_types_by_node["/testnode/change_state"][0].c_str(),
"lifecycle_msgs/srv/ChangeState");

ASSERT_NE(
service_names_and_types_by_node.end(),
service_names_and_types_by_node.find(std::string("/testnode/get_available_states")));
EXPECT_STREQ(
service_names_and_types_by_node["/testnode/get_available_states"][0].c_str(),
"lifecycle_msgs/srv/GetAvailableStates");

ASSERT_NE(
service_names_and_types_by_node.end(),
service_names_and_types_by_node.find(std::string("/testnode/get_available_transitions")));
EXPECT_STREQ(
service_names_and_types_by_node["/testnode/get_available_transitions"][0].c_str(),
"lifecycle_msgs/srv/GetAvailableTransitions");

ASSERT_NE(
service_names_and_types_by_node.end(),
service_names_and_types_by_node.find(std::string("/testnode/get_state")));
EXPECT_STREQ(
service_names_and_types_by_node["/testnode/get_state"][0].c_str(),
"lifecycle_msgs/srv/GetState");

ASSERT_NE(
service_names_and_types_by_node.end(),
service_names_and_types_by_node.find(std::string("/testnode/get_transition_graph")));
EXPECT_STREQ(
service_names_and_types_by_node["/testnode/get_transition_graph"][0].c_str(),
"lifecycle_msgs/srv/GetAvailableTransitions");
Expand Down