Fix failing demo_nodes_cpp launch tests

Signed-off-by: Michel Hidalgo <[email protected]>
ros2 · Apr 29, 2019 · 4efe6a0 · 4efe6a0
1 parent 044d5fb
commit 4efe6a0
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Showing 2 changed files with 9 additions and 14 deletions.
diff --git a/demo_nodes_cpp/CMakeLists.txt b/demo_nodes_cpp/CMakeLists.txt
@@ -107,7 +107,7 @@ if(BUILD_TESTING)
       add_launch_test(
         "${CMAKE_CURRENT_BINARY_DIR}/test_${exe_list_underscore}${target_suffix}_$<CONFIG>.py"
         TARGET test_tutorial_${exe_list_underscore}${target_suffix}
-        TIMEOUT 30
+        TIMEOUT 60
         ENV
         RCL_ASSERT_RMW_ID_MATCHES=${rmw_implementation}
         RMW_IMPLEMENTATION=${rmw_implementation}

diff --git a/demo_nodes_cpp/test/test_executables_tutorial.py.in b/demo_nodes_cpp/test/test_executables_tutorial.py.in
@@ -11,7 +11,7 @@ from launch.actions import OpaqueFunction
 
 import launch_testing
 import launch_testing.asserts
-import launch_testing.utils
+import launch_testing.util
 import launch_testing_ros
 
 
@@ -27,7 +27,7 @@ def generate_test_description(ready_fn):
     ]
     for process in processes_under_test:
         launch_description.add_action(process)
-    launch_description.add_action(launch_testing.utils.KeepAliveProc())
+    launch_description.add_action(launch_testing.util.KeepAliveProc())
     launch_description.add_action(
         OpaqueFunction(function=lambda context: ready_fn())
     )
@@ -50,24 +50,19 @@ class TestExecutablesTutorial(unittest.TestCase):
             proc_output.assertWaitFor(
                 expected_output=launch_testing.tools.expected_output_from_file(
                     path=output_file
-                ), process=process, output_filter=output_filter, timeout=10
+                ), process=process, output_filter=output_filter, timeout=30
             )
-
+        # TODO(hidmic): either make the underlying executables resilient to
+        # interruptions close/during shutdown OR adapt the testing suite to
+        # better cope with it.
+        import time
+        time.sleep(5)
 
 @launch_testing.post_shutdown_test()
 class TestExecutablesTutorialAfterShutdown(unittest.TestCase):
 
     def test_last_process_exit_code(self, proc_info, processes_under_test):
         """Test last process exit code."""
-        # TODO(hidmic): fail the test on a nonzero exit code.
-        #               Currently pre shutdown tests are terminating too soon and
-        #               the signal seems to be sent in the middle of the fixture
-        #               nodes' shutdown (for those that shutdown themselves) and
-        #               these are not handling this situation gracefully. If pre
-        #               shutdown test termination is delayed instead, the testing
-        #               framework complains about the launch run terminating before
-        #               tests are done.
-
         launch_testing.asserts.assertExitCodes(
             proc_info,
             process=processes_under_test[-1]