Fixes test

Karelics · Aug 5, 2024 · 7ce0604 · 7ce0604
1 parent fd18976
commit 7ce0604
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Showing 4 changed files with 4 additions and 7 deletions.
diff --git a/task_manager/task_manager/task_client.py b/task_manager/task_manager/task_client.py
@@ -267,7 +267,7 @@ def __init__(
             )
 
         self._client = self._service_clients[task_specs.task_name]
-        self.cancel_task_timeout = 5.0  # Timeout to wait for task to cancel
+        self.cancel_task_timeout = task_specs.cancel_timeout  # Timeout to wait for task to cancel
 
     @property
     def task_details(self) -> TaskDetails:

diff --git a/task_manager/task_manager/task_registrator.py b/task_manager/task_manager/task_registrator.py
@@ -76,8 +76,6 @@ def __init__(
         self._action_clients: Dict[str, ActionClient] = {}  # [task_name, ActionClient]
         self._service_clients: Dict[str, Client] = {}  # [task_name, Client]
 
-        self.cancel_task_timeout = 5
-
     def start_new_task(self, request: ExecuteTask.Goal, task_specs: TaskSpecs) -> TaskClient:
         """Starts a task and cancels any conflicting tasks.
 
@@ -118,7 +116,6 @@ def start_new_task(self, request: ExecuteTask.Goal, task_specs: TaskSpecs) -> Ta
             )
             msg_interface = task_specs.msg_interface.Request()
 
-        task_client.cancel_task_timeout = self.cancel_task_timeout
         task_client.register_done_callback(self._task_done_cb)
 
         task_goal_message = populate_msg(task_data=request.task_data, msg_interface=msg_interface)

diff --git a/task_manager/test/integration_tests/task_manager_test_utils.py b/task_manager/test/integration_tests/task_manager_test_utils.py
@@ -212,6 +212,7 @@ def add_task(self, task_specs: TaskSpecs):
                 Parameter(name=f"{task_specs.task_name}.msg_interface", value=task_specs.msg_interface),
                 Parameter(name=f"{task_specs.task_name}.blocking", value=task_specs.blocking),
                 Parameter(name=f"{task_specs.task_name}.cancel_on_stop", value=task_specs.cancel_on_stop),
+                Parameter(name=f"{task_specs.task_name}.cancel_timeout", value=task_specs.cancel_timeout),
             ]
         )
         self._tasks.append(task_specs.task_name)
@@ -239,6 +240,7 @@ def add_service_task_add_two_ints(self, task_name, blocking=False):
                 task_server_type=TaskServerType.SERVICE,
                 blocking=blocking,
                 cancel_on_stop=False,
+                cancel_timeout=1.5,
             )
         )
 

diff --git a/task_manager/test/integration_tests/test_task_manager.py b/task_manager/test/integration_tests/test_task_manager.py
@@ -224,9 +224,7 @@ def test_two_non_blocking_tasks(self) -> None:
     def test_blocking_task_cancelling_fails(self) -> None:
         """Sometimes blocking task cancelling might fail, for example if we try to cancel a service that executes for
         more than the cancel timeout."""
-        self.task_manager_node.task_registrator.cancel_task_timeout = 0.1
-
-        goal_handle_1 = self.start_add_two_ints_service_task(run_time_secs=1)
+        goal_handle_1 = self.start_add_two_ints_service_task(run_time_secs=2)
 
         # New blocking Service Task should cancel the previous task
         goal_handle_2 = self.start_add_two_ints_service_task(run_time_secs=1)