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Small cleanups to the rosbag2 tests. #1792

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Aug 23, 2024
Merged

Small cleanups to the rosbag2 tests. #1792

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c332afc
Small cleanups to the rosbag2 tests.
clalancette Aug 22, 2024
7781cff
Feedback from review.
clalancette Aug 23, 2024
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2 changes: 1 addition & 1 deletion rosbag2_test_common/include/rosbag2_test_common/client_manager.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -92,7 +92,7 @@ class ClientManager : public rclcpp::Node
return true;
}

bool wait_for_srvice_to_be_ready(std::chrono::duration<double> timeout = std::chrono::seconds(5))
bool wait_for_service_to_be_ready(std::chrono::duration<double> timeout = std::chrono::seconds(5))
{
using clock = std::chrono::system_clock;
auto start = clock::now();
Expand Down
6 changes: 3 additions & 3 deletions rosbag2_tests/test/rosbag2_tests/test_rosbag2_cpp_get_service_info.cpp
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Expand Up @@ -198,7 +198,7 @@ TEST_P(Rosbag2CPPGetServiceInfoTest, get_service_info_for_bag_with_services_only
auto cleanup_process_handle = rcpputils::make_scope_exit(
[&]() {stop_spinning();});

ASSERT_TRUE(service_client_manager->wait_for_srvice_to_be_ready());
ASSERT_TRUE(service_client_manager->wait_for_service_to_be_ready());
ASSERT_TRUE(wait_for_subscriptions(*recorder, {"/test_service/_service_event"}));

constexpr size_t num_service_requests = 3;
Expand Down Expand Up @@ -252,8 +252,8 @@ TEST_P(Rosbag2CPPGetServiceInfoTest, get_service_info_for_bag_with_topics_and_se
std::make_shared<rosbag2_test_common::ClientManager<test_msgs::srv::BasicTypes>>(
"test_service2");

ASSERT_TRUE(service_client_manager1->wait_for_srvice_to_be_ready());
ASSERT_TRUE(service_client_manager2->wait_for_srvice_to_be_ready());
ASSERT_TRUE(service_client_manager1->wait_for_service_to_be_ready());
ASSERT_TRUE(service_client_manager2->wait_for_service_to_be_ready());

rosbag2_test_common::PublicationManager pub_manager;
auto message = get_messages_strings()[0];
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18 changes: 9 additions & 9 deletions rosbag2_transport/test/rosbag2_transport/test_record_all.cpp
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Expand Up @@ -65,10 +65,10 @@ TEST_F(RecordIntegrationTestFixture, published_messages_from_multiple_topics_are
auto & writer = recorder->get_writer_handle();
auto & mock_writer = dynamic_cast<MockSequentialWriter &>(writer.get_implementation_handle());

size_t expected_messages = 4;
constexpr size_t expected_messages = 4;
auto ret = rosbag2_test_common::wait_until_shutdown(
std::chrono::seconds(5),
[&mock_writer, &expected_messages]() {
[&mock_writer]() {
return mock_writer.get_messages().size() >= expected_messages;
});
EXPECT_TRUE(ret) << "failed to capture expected messages in time";
Expand Down Expand Up @@ -104,8 +104,8 @@ TEST_F(RecordIntegrationTestFixture, published_messages_from_multiple_services_a

start_async_spin(recorder);

ASSERT_TRUE(client_manager_1->wait_for_srvice_to_be_ready());
ASSERT_TRUE(client_manager_2->wait_for_srvice_to_be_ready());
ASSERT_TRUE(client_manager_1->wait_for_service_to_be_ready());
ASSERT_TRUE(client_manager_2->wait_for_service_to_be_ready());

// By default, only client introspection is enabled.
// For one request, service event topic get 2 messages.
Expand All @@ -115,10 +115,10 @@ TEST_F(RecordIntegrationTestFixture, published_messages_from_multiple_services_a
auto & writer = recorder->get_writer_handle();
auto & mock_writer = dynamic_cast<MockSequentialWriter &>(writer.get_implementation_handle());

size_t expected_messages = 4;
constexpr size_t expected_messages = 4;
auto ret = rosbag2_test_common::wait_until_shutdown(
std::chrono::seconds(5),
[&mock_writer, &expected_messages]() {
[&mock_writer]() {
return mock_writer.get_messages().size() >= expected_messages;
});
EXPECT_TRUE(ret) << "failed to capture expected messages in time";
Expand Down Expand Up @@ -148,7 +148,7 @@ TEST_F(RecordIntegrationTestFixture, published_messages_from_topic_and_service_a

ASSERT_TRUE(pub_manager.wait_for_matched(string_topic.c_str()));

ASSERT_TRUE(client_manager_1->wait_for_srvice_to_be_ready());
ASSERT_TRUE(client_manager_1->wait_for_service_to_be_ready());

pub_manager.run_publishers();

Expand All @@ -159,10 +159,10 @@ TEST_F(RecordIntegrationTestFixture, published_messages_from_topic_and_service_a
auto & writer = recorder->get_writer_handle();
auto & mock_writer = dynamic_cast<MockSequentialWriter &>(writer.get_implementation_handle());

size_t expected_messages = 3;
constexpr size_t expected_messages = 3;
auto ret = rosbag2_test_common::wait_until_shutdown(
std::chrono::seconds(5),
[&mock_writer, &expected_messages]() {
[&mock_writer]() {
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return mock_writer.get_messages().size() >= expected_messages;
});
EXPECT_TRUE(ret) << "failed to capture expected messages in time";
Expand Down
20 changes: 10 additions & 10 deletions rosbag2_transport/test/rosbag2_transport/test_record_regex.cpp
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Expand Up @@ -296,11 +296,11 @@ TEST_F(RecordIntegrationTestFixture, regex_and_exclude_regex_service_recording)

start_async_spin(recorder);

ASSERT_TRUE(service_manager_v1->wait_for_srvice_to_be_ready());
ASSERT_TRUE(service_manager_v2->wait_for_srvice_to_be_ready());
ASSERT_TRUE(service_manager_e1->wait_for_srvice_to_be_ready());
ASSERT_TRUE(service_manager_b1->wait_for_srvice_to_be_ready());
ASSERT_TRUE(service_manager_b2->wait_for_srvice_to_be_ready());
ASSERT_TRUE(service_manager_v1->wait_for_service_to_be_ready());
ASSERT_TRUE(service_manager_v2->wait_for_service_to_be_ready());
ASSERT_TRUE(service_manager_e1->wait_for_service_to_be_ready());
ASSERT_TRUE(service_manager_b1->wait_for_service_to_be_ready());
ASSERT_TRUE(service_manager_b2->wait_for_service_to_be_ready());

auto & writer = recorder->get_writer_handle();
auto & mock_writer = dynamic_cast<MockSequentialWriter &>(writer.get_implementation_handle());
Expand Down Expand Up @@ -369,11 +369,11 @@ TEST_F(RecordIntegrationTestFixture, regex_and_exclude_service_service_recording

start_async_spin(recorder);

ASSERT_TRUE(service_manager_v1->wait_for_srvice_to_be_ready());
ASSERT_TRUE(service_manager_v2->wait_for_srvice_to_be_ready());
ASSERT_TRUE(service_manager_e1->wait_for_srvice_to_be_ready());
ASSERT_TRUE(service_manager_b1->wait_for_srvice_to_be_ready());
ASSERT_TRUE(service_manager_b2->wait_for_srvice_to_be_ready());
ASSERT_TRUE(service_manager_v1->wait_for_service_to_be_ready());
ASSERT_TRUE(service_manager_v2->wait_for_service_to_be_ready());
ASSERT_TRUE(service_manager_e1->wait_for_service_to_be_ready());
ASSERT_TRUE(service_manager_b1->wait_for_service_to_be_ready());
ASSERT_TRUE(service_manager_b2->wait_for_service_to_be_ready());

auto & writer = recorder->get_writer_handle();
auto & mock_writer = dynamic_cast<MockSequentialWriter &>(writer.get_implementation_handle());
Expand Down
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