Wait for server in test_rmw_implementation service tests (#191)

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
ros2 · May 6, 2021 · 6454f91 · 6454f91
1 parent 58a3ccf
commit 6454f91
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Showing 2 changed files with 37 additions and 18 deletions.
diff --git a/test_rmw_implementation/test/test_client.cpp b/test_rmw_implementation/test/test_client.cpp
@@ -385,29 +385,26 @@ TEST_F(CLASSNAME(TestClientUse, RMW_IMPLEMENTATION), service_server_is_available
 TEST_F(CLASSNAME(TestClientUse, RMW_IMPLEMENTATION), service_server_is_available_good_args)
 {
   bool is_available = false;
-  rmw_ret_t ret = RMW_RET_ERROR;
-  SLEEP_AND_RETRY_UNTIL(rmw_intraprocess_discovery_delay, rmw_intraprocess_discovery_delay * 10) {
-    ret = rmw_service_server_is_available(node, client, &is_available);
-    if (RMW_RET_OK == ret && is_available) {
-      break;
-    }
-  }
-  EXPECT_EQ(ret, RMW_RET_OK) << rmw_get_error_string().str;
-  EXPECT_FALSE(is_available) << rmw_get_error_string().str;
-  rmw_reset_error();
+  rmw_ret_t ret = rmw_service_server_is_available(node, client, &is_available);
+  ASSERT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+  ASSERT_FALSE(is_available);
 
   rmw_service_t * service = rmw_create_service(node, ts, service_name, &qos_profile);
-  ASSERT_NE(nullptr, client) << rcutils_get_error_string().str;
+  ASSERT_NE(nullptr, client) << rmw_get_error_string().str;
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    rmw_ret_t ret = rmw_destroy_service(node, service);
+    EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+    rmw_reset_error();
+  });
+
+  is_available = false;
   SLEEP_AND_RETRY_UNTIL(rmw_intraprocess_discovery_delay, rmw_intraprocess_discovery_delay * 10) {
     ret = rmw_service_server_is_available(node, client, &is_available);
-    if (RMW_RET_OK == ret && is_available) {
+    ASSERT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+    if (is_available) {
       break;
     }
   }
-  EXPECT_EQ(ret, RMW_RET_OK) << rmw_get_error_string().str;
-  EXPECT_TRUE(is_available) << rmw_get_error_string().str;
-  rmw_reset_error();
-
-  ret = rmw_destroy_service(node, service);
-  EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+  ASSERT_TRUE(is_available);
 }
diff --git a/test_rmw_implementation/test/test_service.cpp b/test_rmw_implementation/test/test_service.cpp
@@ -358,6 +358,17 @@ TEST_F(CLASSNAME(TestService, RMW_IMPLEMENTATION), send_reponse_with_bad_argumen
     EXPECT_EQ(RMW_RET_OK, ret) << rcutils_get_error_string().str;
   });
 
+  bool is_available = false;
+  SLEEP_AND_RETRY_UNTIL(rmw_intraprocess_discovery_delay, rmw_intraprocess_discovery_delay * 10) {
+    rmw_ret_t ret = rmw_service_server_is_available(node, client, &is_available);
+    EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+    rmw_reset_error();
+    if (is_available) {
+      break;
+    }
+  }
+  ASSERT_TRUE(is_available);
+
   rmw_ret_t ret = rmw_send_request(client, &request, &sequence_number);
   ASSERT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
 
@@ -453,6 +464,17 @@ TEST_F(CLASSNAME(TestService, RMW_IMPLEMENTATION), send_reponse_with_client_gone
     }
   });
 
+  bool is_available = false;
+  SLEEP_AND_RETRY_UNTIL(rmw_intraprocess_discovery_delay, rmw_intraprocess_discovery_delay * 10) {
+    rmw_ret_t ret = rmw_service_server_is_available(node, client, &is_available);
+    EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;
+    rmw_reset_error();
+    if (is_available) {
+      break;
+    }
+  }
+  ASSERT_TRUE(is_available);
+
   rmw_ret_t ret = rmw_send_request(client, &request, &sequence_number);
   ASSERT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str;