From 1bb47a48b1dbd8d07dc80ea3ed8b5b5f2d53b59b Mon Sep 17 00:00:00 2001 From: Andrea Sorbini Date: Fri, 18 Mar 2022 18:28:05 -0700 Subject: [PATCH 1/2] Update data callback tests to account for all published samples. Signed-off-by: Andrea Sorbini --- rclcpp/test/rclcpp/test_client.cpp | 9 ++++++--- rclcpp/test/rclcpp/test_service.cpp | 10 +++++++--- rclcpp/test/rclcpp/test_subscription.cpp | 4 ++-- 3 files changed, 15 insertions(+), 8 deletions(-) diff --git a/rclcpp/test/rclcpp/test_client.cpp b/rclcpp/test/rclcpp/test_client.cpp index 5e18fd8b4a..11daa2428a 100644 --- a/rclcpp/test/rclcpp/test_client.cpp +++ b/rclcpp/test/rclcpp/test_client.cpp @@ -350,12 +350,15 @@ TEST_F(TestClient, on_new_response_callback) { auto client_node = std::make_shared("client_node", "ns"); auto server_node = std::make_shared("server_node", "ns"); - auto client = client_node->create_client("test_service"); + rmw_qos_profile_t client_qos = rmw_qos_profile_services_default; + client_qos.depth = 3; + auto client = client_node->create_client("test_service", client_qos); std::atomic server_requests_count {0}; auto server_callback = [&server_requests_count]( const test_msgs::srv::Empty::Request::SharedPtr, test_msgs::srv::Empty::Response::SharedPtr) {server_requests_count++;}; - auto server = server_node->create_service("test_service", server_callback); + auto server = server_node->create_service( + "test_service", server_callback, client_qos); auto request = std::make_shared(); std::atomic c1 {0}; @@ -422,7 +425,7 @@ TEST_F(TestClient, on_new_response_callback) { start = std::chrono::steady_clock::now(); do { std::this_thread::sleep_for(100ms); - } while (c3 == 0 && std::chrono::steady_clock::now() - start < 10s); + } while (c3 < 3 && std::chrono::steady_clock::now() - start < 10s); EXPECT_EQ(c1.load(), 1u); EXPECT_EQ(c2.load(), 1u); diff --git a/rclcpp/test/rclcpp/test_service.cpp b/rclcpp/test/rclcpp/test_service.cpp index 110e913da4..f45c925660 100644 --- a/rclcpp/test/rclcpp/test_service.cpp +++ b/rclcpp/test/rclcpp/test_service.cpp @@ -245,13 +245,17 @@ TEST_F(TestService, on_new_request_callback) { auto server_callback = [](const test_msgs::srv::Empty::Request::SharedPtr, test_msgs::srv::Empty::Response::SharedPtr) {FAIL();}; - auto server = node->create_service("~/test_service", server_callback); + rmw_qos_profile_t service_qos = rmw_qos_profile_services_default; + service_qos.depth = 3; + auto server = node->create_service( + "~/test_service", server_callback, service_qos); std::atomic c1 {0}; auto increase_c1_cb = [&c1](size_t count_msgs) {c1 += count_msgs;}; server->set_on_new_request_callback(increase_c1_cb); - auto client = node->create_client("~/test_service"); + auto client = node->create_client( + "~/test_service", service_qos); { auto request = std::make_shared(); client->async_send_request(request); @@ -297,7 +301,7 @@ TEST_F(TestService, on_new_request_callback) { start = std::chrono::steady_clock::now(); do { std::this_thread::sleep_for(100ms); - } while (c3 == 0 && std::chrono::steady_clock::now() - start < 10s); + } while (c3 < 3 && std::chrono::steady_clock::now() - start < 10s); EXPECT_EQ(c1.load(), 1u); EXPECT_EQ(c2.load(), 1u); diff --git a/rclcpp/test/rclcpp/test_subscription.cpp b/rclcpp/test/rclcpp/test_subscription.cpp index a10c5c4eab..6facada4dd 100644 --- a/rclcpp/test/rclcpp/test_subscription.cpp +++ b/rclcpp/test/rclcpp/test_subscription.cpp @@ -454,7 +454,7 @@ TEST_F(TestSubscription, on_new_message_callback) { auto increase_c1_cb = [&c1](size_t count_msgs) {c1 += count_msgs;}; sub->set_on_new_message_callback(increase_c1_cb); - auto pub = node->create_publisher("~/test_take", 1); + auto pub = node->create_publisher("~/test_take", 3); { test_msgs::msg::Empty msg; pub->publish(msg); @@ -500,7 +500,7 @@ TEST_F(TestSubscription, on_new_message_callback) { start = std::chrono::steady_clock::now(); do { std::this_thread::sleep_for(100ms); - } while (c3 == 0 && std::chrono::steady_clock::now() - start < 10s); + } while (c3 < 3 && std::chrono::steady_clock::now() - start < 10s); EXPECT_EQ(c1.load(), 1u); EXPECT_EQ(c2.load(), 1u); From 0bbcfa2825923d377b278c50128fcac97b4e3d86 Mon Sep 17 00:00:00 2001 From: Andrea Sorbini Date: Mon, 21 Mar 2022 10:33:53 -0700 Subject: [PATCH 2/2] Resolve uncrustify errors. Signed-off-by: Andrea Sorbini --- rclcpp/test/rclcpp/test_client.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/rclcpp/test/rclcpp/test_client.cpp b/rclcpp/test/rclcpp/test_client.cpp index 11daa2428a..25c9f410d0 100644 --- a/rclcpp/test/rclcpp/test_client.cpp +++ b/rclcpp/test/rclcpp/test_client.cpp @@ -358,7 +358,7 @@ TEST_F(TestClient, on_new_response_callback) { const test_msgs::srv::Empty::Request::SharedPtr, test_msgs::srv::Empty::Response::SharedPtr) {server_requests_count++;}; auto server = server_node->create_service( - "test_service", server_callback, client_qos); + "test_service", server_callback, client_qos); auto request = std::make_shared(); std::atomic c1 {0};