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update parameter client test with timeout. #457

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Dec 22, 2020
Merged

update parameter client test with timeout. #457

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142ae9e
update parameter client test with timeout.
fujitatomoya Dec 18, 2020
362a43b
test duration should be long enough not to detect unnecessary timeout
fujitatomoya Dec 21, 2020
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28 changes: 18 additions & 10 deletions test_rclcpp/test/parameter_fixtures.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@
#ifndef PARAMETER_FIXTURES_HPP_
#define PARAMETER_FIXTURES_HPP_

#include <chrono>
#include <iostream>
#include <memory>
#include <stdexcept>
Expand Down Expand Up @@ -60,7 +61,8 @@ void test_set_parameters_sync(
{
printf("Setting parameters\n");
std::vector<rclcpp::Parameter> parameters = get_test_parameters();
auto set_parameters_results = parameters_client->set_parameters(parameters);
auto set_parameters_results =
parameters_client->set_parameters(parameters, std::chrono::seconds(1));
printf("Got set_parameters result\n");

ASSERT_EQ(set_parameters_results.size(), parameters.size());
Expand All @@ -86,7 +88,8 @@ void test_set_parameters_atomically_sync(
{
printf("Setting parameters atomically\n");
std::vector<rclcpp::Parameter> parameters = get_test_parameters();
auto set_parameters_result = parameters_client->set_parameters_atomically(parameters);
auto set_parameters_result =
parameters_client->set_parameters_atomically(parameters, std::chrono::seconds(1));
printf("Got set_parameters_atomically result\n");

// Check to see if they were set.
Expand Down Expand Up @@ -126,7 +129,8 @@ void test_get_parameters_sync(
printf("Listing parameters with recursive depth\n");
// Test recursive depth (=0)
auto parameters_and_prefixes = parameters_client->list_parameters(
{"foo", "bar"}, rcl_interfaces::srv::ListParameters::Request::DEPTH_RECURSIVE);
{"foo", "bar"}, rcl_interfaces::srv::ListParameters::Request::DEPTH_RECURSIVE,
std::chrono::seconds(1));
for (auto & name : parameters_and_prefixes.names) {
EXPECT_TRUE(name == "foo" || name == "bar" || name == "foo.first" || name == "foo.second");
}
Expand All @@ -136,7 +140,8 @@ void test_get_parameters_sync(

printf("Listing parameters with depth of 1\n");
// Test different depth
auto parameters_and_prefixes4 = parameters_client->list_parameters({"foo"}, 1);
auto parameters_and_prefixes4 =
parameters_client->list_parameters({"foo"}, 1, std::chrono::seconds(1));
for (auto & name : parameters_and_prefixes4.names) {
EXPECT_EQ(name, "foo");
}
Expand All @@ -146,7 +151,8 @@ void test_get_parameters_sync(

printf("Listing parameters with depth of 2\n");
// Test different depth
auto parameters_and_prefixes5 = parameters_client->list_parameters({"foo"}, 2);
auto parameters_and_prefixes5 =
parameters_client->list_parameters({"foo"}, 2, std::chrono::seconds(1));
for (auto & name : parameters_and_prefixes5.names) {
EXPECT_TRUE(name == "foo" || name == "foo.first" || name == "foo.second");
}
Expand All @@ -156,7 +162,9 @@ void test_get_parameters_sync(

printf("Getting parameters\n");
// Get a few of the parameters just set.
for (auto & parameter : parameters_client->get_parameters({"foo", "bar", "baz"})) {
for (auto & parameter :
parameters_client->get_parameters({"foo", "bar", "baz"}, std::chrono::seconds(1)))
{
// std::cout << "Parameter is:" << std::endl << parameter.to_yaml() << std::endl;
if (parameter.get_name() == "foo") {
EXPECT_STREQ(
Expand All @@ -180,7 +188,7 @@ void test_get_parameters_sync(
// Get a few non existant parameters
{
std::vector<rclcpp::Parameter> retrieved_params =
parameters_client->get_parameters({"not_foo", "not_baz"});
parameters_client->get_parameters({"not_foo", "not_baz"}, std::chrono::seconds(1));
ASSERT_EQ(2u, retrieved_params.size());
EXPECT_STREQ("not_foo", retrieved_params[0].get_name().c_str());
EXPECT_STREQ("not_baz", retrieved_params[1].get_name().c_str());
Expand All @@ -191,7 +199,7 @@ void test_get_parameters_sync(
printf("Listing parameters with recursive depth\n");
// List all of the parameters, using an empty prefix list and depth=0
parameters_and_prefixes = parameters_client->list_parameters(
{}, rcl_interfaces::srv::ListParameters::Request::DEPTH_RECURSIVE);
{}, rcl_interfaces::srv::ListParameters::Request::DEPTH_RECURSIVE, std::chrono::seconds(1));
std::vector<std::string> all_names = {
"foo", "bar", "barstr", "baz", "foo.first", "foo.second", "foobar", "use_sim_time"
};
Expand All @@ -206,7 +214,7 @@ void test_get_parameters_sync(
}
printf("Listing parameters with depth 100\n");
// List all of the parameters, using an empty prefix list and large depth
parameters_and_prefixes = parameters_client->list_parameters({}, 100);
parameters_and_prefixes = parameters_client->list_parameters({}, 100, std::chrono::seconds(1));
EXPECT_EQ(parameters_and_prefixes.names.size(), all_names.size());
for (auto & name : all_names) {
EXPECT_NE(
Expand All @@ -218,7 +226,7 @@ void test_get_parameters_sync(
}
printf("Listing parameters with depth 1\n");
// List most of the parameters, using an empty prefix list and depth=1
parameters_and_prefixes = parameters_client->list_parameters({}, 1u);
parameters_and_prefixes = parameters_client->list_parameters({}, 1u, std::chrono::seconds(1));
std::vector<std::string> depth_one_names = {
"foo", "bar", "barstr", "baz", "foobar", "use_sim_time"
};
Expand Down
7 changes: 4 additions & 3 deletions test_rclcpp/test/test_local_parameters.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#include <chrono>
#include <iostream>
#include <memory>
#include <stdexcept>
Expand Down Expand Up @@ -196,7 +197,7 @@ TEST_F(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), helpers) {
rclcpp::Parameter("baz", 1.45),
rclcpp::Parameter("foobar", true),
rclcpp::Parameter("barfoo", std::vector<uint8_t>{0, 1, 2}),
});
}, 1s);
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see this comment, 1 second should be long enough.

printf("Got set_parameters result\n");

// Check to see if they were set.
Expand Down Expand Up @@ -319,7 +320,7 @@ TEST_F(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), get_from_node_primi
rclcpp::Parameter("baz", 1.45),
rclcpp::Parameter("foobar", true),
rclcpp::Parameter("barfoo", std::vector<uint8_t>{3, 4, 5}),
});
}, 1s);
printf("Got set_parameters result\n");

// Check to see if they were set.
Expand Down Expand Up @@ -394,7 +395,7 @@ TEST_F(CLASSNAME(test_local_parameters, RMW_IMPLEMENTATION), get_from_node_varia
Parameter("baz", 1.45),
Parameter("foobar", true),
Parameter("barfoo", std::vector<uint8_t>{3, 4, 5}),
});
}, 1s);
printf("Got set_parameters result\n");

// Check to see if they were set.
Expand Down