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Update data callback tests to account for all published samples. #1900

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merged 2 commits into from
Mar 21, 2022
Merged

Update data callback tests to account for all published samples. #1900

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1bb47a4
Update data callback tests to account for all published samples.
asorbini Mar 19, 2022
0bbcfa2
Resolve uncrustify errors.
asorbini Mar 21, 2022
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9 changes: 6 additions & 3 deletions rclcpp/test/rclcpp/test_client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -350,12 +350,15 @@ TEST_F(TestClient, on_new_response_callback) {
auto client_node = std::make_shared<rclcpp::Node>("client_node", "ns");
auto server_node = std::make_shared<rclcpp::Node>("server_node", "ns");

auto client = client_node->create_client<test_msgs::srv::Empty>("test_service");
rmw_qos_profile_t client_qos = rmw_qos_profile_services_default;
client_qos.depth = 3;
auto client = client_node->create_client<test_msgs::srv::Empty>("test_service", client_qos);
std::atomic<size_t> 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_msgs::srv::Empty>("test_service", server_callback);
auto server = server_node->create_service<test_msgs::srv::Empty>(
"test_service", server_callback, client_qos);
auto request = std::make_shared<test_msgs::srv::Empty::Request>();

std::atomic<size_t> c1 {0};
Expand Down Expand Up @@ -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);
Expand Down
10 changes: 7 additions & 3 deletions rclcpp/test/rclcpp/test_service.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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_msgs::srv::Empty>("~/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_msgs::srv::Empty>(
"~/test_service", server_callback, service_qos);

std::atomic<size_t> 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_msgs::srv::Empty>("~/test_service");
auto client = node->create_client<test_msgs::srv::Empty>(
"~/test_service", service_qos);
{
auto request = std::make_shared<test_msgs::srv::Empty::Request>();
client->async_send_request(request);
Expand Down Expand Up @@ -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);
Expand Down
4 changes: 2 additions & 2 deletions rclcpp/test/rclcpp/test_subscription.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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_msgs::msg::Empty>("~/test_take", 1);
auto pub = node->create_publisher<test_msgs::msg::Empty>("~/test_take", 3);
{
test_msgs::msg::Empty msg;
pub->publish(msg);
Expand Down Expand Up @@ -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);
Expand Down