system_tests: try to avoid segfaults

This is an attempt to avoid spurious segfaults happening in some of the
CI tests for some of the system tests. Presumably they happen on the
quick destruction of the objects right after construction.

Signed-off-by: Julian Oes <[email protected]>

src/system_tests/action_arm_disarm.cpp

@@ -3,6 +3,7 @@
 #include "plugins/action/action.h"
 #include "plugins/action_server/action_server.h"
 #include <gtest/gtest.h>
+#include <thread>
 
 using namespace mavsdk;
 
@@ -48,4 +49,6 @@ TEST(SystemTest, ActionArmDisarm)
 
     // And disarm again
     EXPECT_EQ(action.disarm(), Action::Result::Success);
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
 }

src/system_tests/camera_take_photo.cpp

@@ -4,6 +4,7 @@
 #include "log.h"
 #include <future>
 #include <mutex>
+#include <thread>
 #include <gtest/gtest.h>
 
 using namespace mavsdk;
@@ -69,4 +70,6 @@ TEST(SystemTest, CameraTakePhoto)
     ASSERT_EQ(
         received_captured_info_fut.wait_for(std::chrono::seconds(10)), std::future_status::ready);
     received_captured_info_fut.get();
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
 }

src/system_tests/component_information.cpp

@@ -3,6 +3,7 @@
 #include <vector>
 #include <atomic>
 #include <future>
+#include <thread>
 
 #include "mavsdk.h"
 #include "log.h"
@@ -67,4 +68,6 @@ TEST(SystemTest, DISABLED_ComponentInformationConnect)
 
     // Use another parameter to trigger the second callback.
     param_client.set_param_float("ANG_RATE_ACC_MAX", 6.0f);
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
 }

src/system_tests/ftp_compare_files.cpp

@@ -5,6 +5,7 @@
 #include <chrono>
 #include <future>
 #include <fstream>
+#include <thread>
 #include "plugins/ftp/ftp.h"
 #include "plugins/ftp_server/ftp_server.h"
 #include "fs_helpers.h"
@@ -73,4 +74,6 @@ TEST(SystemTest, FtpCompareFiles)
         (temp_dir_provided / temp_file).string(), temp_file_different.string());
     EXPECT_EQ(result.first, Ftp::Result::Success);
     EXPECT_EQ(result.second, false);
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
 }

src/system_tests/ftp_create_dir.cpp

@@ -7,6 +7,7 @@
 #include <filesystem>
 #include <gtest/gtest.h>
 #include <chrono>
+#include <thread>
 
 using namespace mavsdk;
 
@@ -57,4 +58,6 @@ TEST(SystemTest, FtpCreateDir)
     EXPECT_EQ(ftp.create_directory(temp_dir.string()), Ftp::Result::Success);
 
     EXPECT_TRUE(file_exists(temp_dir_provided / temp_dir));
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
 }

src/system_tests/ftp_download_file.cpp

@@ -5,6 +5,7 @@
 #include <chrono>
 #include <future>
 #include <fstream>
+#include <thread>
 #include "plugins/ftp/ftp.h"
 #include "plugins/ftp_server/ftp_server.h"
 #include "fs_helpers.h"
@@ -92,6 +93,8 @@ TEST(SystemTest, FtpDownloadFile)
         EXPECT_TRUE(
             are_files_identical(temp_dir_provided / temp_file, temp_dir_downloaded / temp_file));
     }
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
 }
 
 TEST(SystemTest, FtpDownloadBigFile)
@@ -147,6 +150,8 @@ TEST(SystemTest, FtpDownloadBigFile)
 
     EXPECT_TRUE(
         are_files_identical(temp_dir_provided / temp_file, temp_dir_downloaded / temp_file));
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
 }
 
 TEST(SystemTest, FtpDownloadBigFileLossy)
@@ -213,6 +218,8 @@ TEST(SystemTest, FtpDownloadBigFileLossy)
     // drop_some callback which accesses the local counter variable.
     mavsdk_groundstation.intercept_incoming_messages_async(nullptr);
     mavsdk_groundstation.intercept_outgoing_messages_async(nullptr);
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
 }
 
 TEST(SystemTest, FtpDownloadStopAndTryAgain)
@@ -302,6 +309,8 @@ TEST(SystemTest, FtpDownloadStopAndTryAgain)
         ASSERT_EQ(future_status, std::future_status::ready);
         EXPECT_EQ(fut.get(), Ftp::Result::Success);
     }
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
 }
 
 TEST(SystemTest, FtpDownloadFileOutsideOfRoot)
@@ -352,4 +361,6 @@ TEST(SystemTest, FtpDownloadFileOutsideOfRoot)
         ASSERT_EQ(future_status, std::future_status::ready);
         EXPECT_EQ(fut.get(), Ftp::Result::ProtocolError);
     }
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
 }

src/system_tests/ftp_download_file_burst.cpp

@@ -5,6 +5,7 @@
 #include <chrono>
 #include <future>
 #include <fstream>
+#include <thread>
 #include "plugins/ftp/ftp.h"
 #include "plugins/ftp_server/ftp_server.h"
 #include "fs_helpers.h"
@@ -92,6 +93,8 @@ TEST(SystemTest, FtpDownloadBurstFile)
         EXPECT_TRUE(
             are_files_identical(temp_dir_provided / temp_file, temp_dir_downloaded / temp_file));
     }
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
 }
 
 TEST(SystemTest, FtpDownloadBurstBigFile)
@@ -147,6 +150,8 @@ TEST(SystemTest, FtpDownloadBurstBigFile)
 
     EXPECT_TRUE(
         are_files_identical(temp_dir_provided / temp_file, temp_dir_downloaded / temp_file));
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
 }
 
 TEST(SystemTest, FtpDownloadBurstBigFileLossy)
@@ -213,6 +218,8 @@ TEST(SystemTest, FtpDownloadBurstBigFileLossy)
     // drop_some callback which accesses the local counter variable.
     mavsdk_groundstation.intercept_incoming_messages_async(nullptr);
     mavsdk_groundstation.intercept_outgoing_messages_async(nullptr);
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
 }
 
 TEST(SystemTest, FtpDownloadBurstStopAndTryAgain)
@@ -302,6 +309,8 @@ TEST(SystemTest, FtpDownloadBurstStopAndTryAgain)
         ASSERT_EQ(future_status, std::future_status::ready);
         EXPECT_EQ(fut.get(), Ftp::Result::Success);
     }
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
 }
 
 TEST(SystemTest, FtpDownloadBurstFileOutsideOfRoot)
@@ -352,4 +361,6 @@ TEST(SystemTest, FtpDownloadBurstFileOutsideOfRoot)
         ASSERT_EQ(future_status, std::future_status::ready);
         EXPECT_EQ(fut.get(), Ftp::Result::ProtocolError);
     }
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
 }

src/system_tests/ftp_list_dir.cpp

@@ -8,6 +8,7 @@
 #include <filesystem>
 #include <gtest/gtest.h>
 #include <chrono>
+#include <thread>
 
 using namespace mavsdk;
 
@@ -73,4 +74,6 @@ TEST(SystemTest, FtpListDir)
     EXPECT_EQ(ret.first, Ftp::Result::Success);
 
     EXPECT_EQ(ret.second, truth_list);
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
 }

src/system_tests/ftp_remove_dir.cpp

@@ -7,6 +7,7 @@
 #include <filesystem>
 #include <gtest/gtest.h>
 #include <chrono>
+#include <thread>
 
 using namespace mavsdk;
 
@@ -58,6 +59,8 @@ TEST(SystemTest, FtpRemoveDir)
     EXPECT_EQ(ftp.remove_directory(temp_dir.string()), Ftp::Result::Success);
 
     EXPECT_FALSE(file_exists(temp_dir_provided / temp_dir));
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
 }
 
 TEST(SystemTest, FtpRemoveDirNotEmpty)
@@ -97,4 +100,6 @@ TEST(SystemTest, FtpRemoveDirNotEmpty)
     EXPECT_EQ(ftp.remove_directory(temp_dir.string()), Ftp::Result::ProtocolError);
 
     EXPECT_TRUE(file_exists(temp_dir_provided / temp_dir));
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
 }

src/system_tests/ftp_remove_file.cpp

@@ -5,6 +5,7 @@
 #include <chrono>
 #include <future>
 #include <fstream>
+#include <thread>
 #include "plugins/ftp/ftp.h"
 #include "plugins/ftp_server/ftp_server.h"
 #include "fs_helpers.h"
@@ -58,6 +59,8 @@ TEST(SystemTest, FtpRemoveFile)
     EXPECT_EQ(ftp.remove_file(temp_file.string()), Ftp::Result::Success);
 
     EXPECT_FALSE(file_exists(temp_dir_provided / temp_file));
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
 }
 
 TEST(SystemTest, FtpRemoveFileThatDoesNotExist)
@@ -95,6 +98,8 @@ TEST(SystemTest, FtpRemoveFileThatDoesNotExist)
     EXPECT_EQ(ftp.remove_file(temp_file.string()), Ftp::Result::FileDoesNotExist);
 
     EXPECT_FALSE(file_exists(temp_dir_provided / temp_file));
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
 }
 
 TEST(SystemTest, FtpRemoveFileOutsideOfRoot)
@@ -130,4 +135,6 @@ TEST(SystemTest, FtpRemoveFileOutsideOfRoot)
     ftp_server.set_root_dir(temp_dir_provided.string());
 
     EXPECT_EQ(ftp.remove_file((fs::path("..") / temp_file).string()), Ftp::Result::ProtocolError);
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
 }

src/system_tests/ftp_rename_file.cpp

@@ -5,6 +5,7 @@
 #include <chrono>
 #include <future>
 #include <fstream>
+#include <thread>
 #include "plugins/ftp/ftp.h"
 #include "plugins/ftp_server/ftp_server.h"
 #include "fs_helpers.h"
@@ -61,4 +62,6 @@ TEST(SystemTest, FtpRenameFile)
     EXPECT_EQ(ftp.rename(temp_file.string(), temp_file_renamed.string()), Ftp::Result::Success);
 
     EXPECT_TRUE(file_exists(temp_dir_provided / temp_file_renamed));
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
 }

src/system_tests/ftp_upload_file.cpp

@@ -5,6 +5,7 @@
 #include <chrono>
 #include <future>
 #include <fstream>
+#include <thread>
 #include "plugins/ftp/ftp.h"
 #include "plugins/ftp_server/ftp_server.h"
 #include "fs_helpers.h"
@@ -94,6 +95,8 @@ TEST(SystemTest, FtpUploadFile)
         EXPECT_TRUE(
             are_files_identical(temp_dir_to_upload / temp_file, temp_dir_provided / temp_file));
     }
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
 }
 
 TEST(SystemTest, FtpUploadBigFile)
@@ -150,6 +153,8 @@ TEST(SystemTest, FtpUploadBigFile)
         EXPECT_TRUE(
             are_files_identical(temp_dir_to_upload / temp_file, temp_dir_provided / temp_file));
     }
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
 }
 
 TEST(SystemTest, FtpUploadBigFileLossy)
@@ -215,6 +220,8 @@ TEST(SystemTest, FtpUploadBigFileLossy)
 
     mavsdk_groundstation.intercept_incoming_messages_async(nullptr);
     mavsdk_groundstation.intercept_outgoing_messages_async(nullptr);
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
 }
 
 TEST(SystemTest, FtpUploadStopAndTryAgain)
@@ -302,6 +309,8 @@ TEST(SystemTest, FtpUploadStopAndTryAgain)
         ASSERT_EQ(future_status, std::future_status::ready);
         EXPECT_EQ(fut.get(), Ftp::Result::Success);
     }
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
 }
 
 TEST(SystemTest, FtpUploadFileOutsideOfRoot)
@@ -354,4 +363,6 @@ TEST(SystemTest, FtpUploadFileOutsideOfRoot)
         ASSERT_EQ(future_status, std::future_status::ready);
         EXPECT_EQ(fut.get(), Ftp::Result::ProtocolError);
     }
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
 }

src/system_tests/mission_raw_upload.cpp

@@ -5,6 +5,7 @@
 #include "plugins/mission_raw_server/mission_raw_server.h"
 #include <string>
 #include <fstream>
+#include <thread>
 #include <gtest/gtest.h>
 
 using namespace mavsdk;
@@ -42,4 +43,6 @@ TEST(SystemTest, MissionRawUpload)
 
     EXPECT_EQ(
         mission_raw.upload_mission(result_pair.second.mission_items), MissionRaw::Result::Success);
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
 }

src/system_tests/param_custom_set_and_get.cpp

@@ -2,6 +2,7 @@
 #include "mavsdk.h"
 #include "plugins/param/param.h"
 #include "plugins/param_server/param_server.h"
+#include <thread>
 #include <gtest/gtest.h>
 
 using namespace mavsdk;
@@ -79,6 +80,8 @@ TEST(SystemTest, ParamCustomSetAndGet)
     auto server_result_pair = param_server.retrieve_param_custom(param_name);
     EXPECT_EQ(server_result_pair.first, ParamServer::Result::Success);
     EXPECT_EQ(server_result_pair.second, data_shorter);
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
 }
 
 TEST(SystemTest, ParamCustomSetAndGetLossy)
@@ -146,4 +149,6 @@ TEST(SystemTest, ParamCustomSetAndGetLossy)
     // drop_some callback which accesses the local counter variable.
     mavsdk_groundstation.intercept_incoming_messages_async(nullptr);
     mavsdk_groundstation.intercept_incoming_messages_async(nullptr);
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
 }

src/system_tests/param_get_all.cpp

@@ -7,6 +7,7 @@
 #include <vector>
 #include <thread>
 #include <map>
+#include <thread>
 
 using namespace mavsdk;
 
@@ -115,6 +116,8 @@ TEST(SystemTest, ParamGetAll)
         assert_equal<float, Param::FloatParam>(test_float_params, all_params.float_params);
         assert_equal<std::string, Param::CustomParam>(test_string_params, all_params.custom_params);
     }
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
 }
 
 TEST(SystemTest, ParamGetAllLossy)
@@ -187,4 +190,6 @@ TEST(SystemTest, ParamGetAllLossy)
     // drop_some callback which accesses the local counter variable.
     mavsdk_groundstation.intercept_incoming_messages_async(nullptr);
     mavsdk_groundstation.intercept_outgoing_messages_async(nullptr);
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
 }

src/system_tests/param_set_and_get.cpp

@@ -3,6 +3,7 @@
 #include "plugins/param/param.h"
 #include "plugins/param_server/param_server.h"
 #include <chrono>
+#include <thread>
 #include <gtest/gtest.h>
 
 using namespace mavsdk;
@@ -94,6 +95,8 @@ TEST(SystemTest, ParamSetAndGet)
     auto server_result_all_params = param_server.retrieve_all_params();
     EXPECT_EQ(server_result_all_params.int_params.size(), 1);
     EXPECT_EQ(server_result_all_params.float_params.size(), 1);
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
 }
 
 TEST(SystemTest, ParamSetAndGetLossy)