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Fix flaky bounding box camera test #329

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merged 1 commit into from
Feb 28, 2023
Merged

Fix flaky bounding box camera test #329

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9 changes: 6 additions & 3 deletions src/BoundingBoxCameraSensor.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -427,10 +427,13 @@ bool BoundingBoxCameraSensor::Update(
}

// render only if necessary
if (this->dataPtr->isTriggeredCamera &&
!this->dataPtr->isTriggered)
{
return true;
std::lock_guard<std::mutex> lock(this->dataPtr->mutex);
if (this->dataPtr->isTriggeredCamera &&
!this->dataPtr->isTriggered)
{
return true;
}
}

// don't render if there are no subscribers nor saving
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7 changes: 4 additions & 3 deletions test/integration/triggered_boundingbox_camera.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -193,12 +193,13 @@ void TriggeredBoundingBoxCameraTest::BoxesWithBuiltinSDF(
gz::msgs::Boolean msg;
msg.set_data(true);
pub.Publish(msg);
// sleep to wait for trigger msg to be received before calling mgr.RunOnce
std::this_thread::sleep_for(2s);

// we should receive images and boxes after trigger
{
std::string imageTopic =
"/test/integration/TriggeredBBCameraPlugin_imagesWithBuiltinSDF_image";
WaitForMessageTestHelper<gz::msgs::Image> helper(imageTopic);
WaitForMessageTestHelper<gz::msgs::AnnotatedAxisAligned2DBox_V>
helper(boxTopic);
mgr.RunOnce(std::chrono::steady_clock::duration::zero(), true);
EXPECT_TRUE(helper.WaitForMessage(10s)) << helper;
g_mutex.lock();
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