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Fixing flaky tests #71

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Merged
norro merged 2 commits into from
Apr 8, 2021
Merged

Fixing flaky tests #71

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900c7b1
Improves modes observer launch test
norro Apr 7, 2021
b7a24d9
Fixed timing in launchtests
norro Apr 7, 2021
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10 changes: 4 additions & 6 deletions system_modes/test/launchtest/manager_and_monitor.py
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Original file line number Diff line number Diff line change
@@ -1,3 +1,5 @@
from time import sleep

from lifecycle_msgs.srv import ChangeState
from rcl_interfaces.msg import SetParametersResult

Expand Down Expand Up @@ -85,19 +87,15 @@ def main(args=None):
lc.configure_system()
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
sleep(2) # give the system some time to converge

lc.activate_system()
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
sleep(2) # give the system some time to converge

lc.change_mode('CC')

executor.spin()
finally:
executor.shutdown()
Expand Down
18 changes: 6 additions & 12 deletions system_modes/test/launchtest/modes_observer.launch.py.in
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Original file line number Diff line number Diff line change
Expand Up @@ -18,15 +18,11 @@ def generate_test_description():

modelfile = '@MODELFILE@'

modes_observer = ExecuteProcess(
cmd=[
"ros2",
"run",
"system_modes",
"modes_observer_test_node"],
name='modes_observer_test_node',
emulate_tty=True,
output='screen')
modes_observer = launch_ros.actions.Node(
package='system_modes',
executable='modes_observer_test_node',
emulate_tty=True,
output='screen')

mode_manager = launch.actions.IncludeLaunchDescription(
launch.launch_description_sources.PythonLaunchDescriptionSource(
Expand All @@ -39,9 +35,7 @@ def generate_test_description():
"@PYTHON_EXECUTABLE@",
"@TEST_NODES@"
],
name='test_nodes',
emulate_tty=True,
output='screen')
name='test_nodes',)

launch_description = LaunchDescription()
launch_description.add_action(modes_observer)
Expand Down
12 changes: 2 additions & 10 deletions system_modes/test/launchtest/modes_observer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -117,23 +117,15 @@ def main(args=None):
lc.configure_system()
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
sleep(2) # give the system some time to converge

lc.activate_system()
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
sleep(2) # give the system some time to converge

lc.change_mode('CC')

executor.spin()
finally:
executor.shutdown()
Expand Down
22 changes: 10 additions & 12 deletions system_modes/test/launchtest/redundant_mode_changes.py
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Original file line number Diff line number Diff line change
@@ -1,7 +1,10 @@
from time import sleep

from lifecycle_msgs.srv import ChangeState
from rcl_interfaces.msg import SetParametersResult

import rclpy

from rclpy.executors import MultiThreadedExecutor
from rclpy.node import Node
from rclpy.parameter import Parameter
Expand Down Expand Up @@ -102,33 +105,28 @@ def main(args=None):
lc.configure_system()
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
sleep(2)

lc.activate_system()
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
sleep(2) # give the system some time to converge

lc.change_A_mode('AA')
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
lc.change_A_mode('AA') # redundant, should be ignored
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
lc.change_A_mode('BB')
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
sleep(3) # give the system some time to converge

lc.change_A_mode('AA') # this is the tested aspect: call redundant, should be ignored
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
sleep(2) # give the system some time to converge

lc.change_A_mode('BB')
executor.spin()
finally:
executor.shutdown()
Expand Down
3 changes: 1 addition & 2 deletions system_modes/test/launchtest/redundant_mode_changes_expected_output.regex
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Original file line number Diff line number Diff line change
@@ -1,4 +1,3 @@
Transition [AB]:configure
Transition [AB]:activate
Transition [AB]
Parameter callback #0 A:foo:0.2
Parameter callback #1 A:foo:0.3
13 changes: 7 additions & 6 deletions system_modes/test/launchtest/two_independent_hierarchies.py
View file
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Original file line number Diff line number Diff line change
@@ -1,3 +1,5 @@
from time import sleep

from lifecycle_msgs.srv import ChangeState
from rcl_interfaces.msg import SetParametersResult

Expand Down Expand Up @@ -89,27 +91,26 @@ def main(args=None):
try:
lc.configure_system()
executor.spin_once(timeout_sec=1)
lc2.configure_system()
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
lc2.configure_system()
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
sleep(2) # give the system some time to converge

lc.activate_system()
executor.spin_once(timeout_sec=1)
lc2.activate_system()
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
lc2.activate_system()
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
sleep(2) # give the system some time to converge

lc.change_mode('CC')
executor.spin_once(timeout_sec=1)
lc2.change_mode('DD')
executor.spin_once(timeout_sec=1)

lc2.change_mode('DD')
executor.spin()
finally:
executor.shutdown()
Expand Down
10 changes: 4 additions & 6 deletions system_modes/test/launchtest/two_lifecycle_nodes.py
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,3 +1,5 @@
from time import sleep

from lifecycle_msgs.srv import ChangeState
from rcl_interfaces.msg import SetParametersResult

Expand Down Expand Up @@ -85,19 +87,15 @@ def main(args=None):
lc.configure_system()
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
sleep(2) # give the system some time to converge

lc.activate_system()
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
sleep(2) # give the system some time to converge

lc.change_mode('CC')

executor.spin()
finally:
executor.shutdown()
Expand Down
10 changes: 4 additions & 6 deletions system_modes/test/launchtest/two_mixed_nodes.py
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,3 +1,5 @@
from time import sleep

from lifecycle_msgs.srv import ChangeState
from rcl_interfaces.msg import SetParametersResult

Expand Down Expand Up @@ -103,19 +105,15 @@ def main(args=None):
lc.configure_system()
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
sleep(2) # give the system some time to converge

lc.activate_system()
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
executor.spin_once(timeout_sec=1)
sleep(2) # give the system some time to converge

lc.change_mode('CC')

executor.spin()
finally:
executor.shutdown()
Expand Down