Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Remove flaky stressAddRemoveNode test #2206

Merged
merged 1 commit into from
Jun 9, 2023
Merged

Remove flaky stressAddRemoveNode test #2206

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
54 changes: 0 additions & 54 deletions rclcpp/test/rclcpp/executors/test_executors.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -796,60 +796,6 @@ TYPED_TEST(TestExecutors, testRaceConditionAddNode)
}
}

// This test verifies the thread-safety of adding and removing a node
// while the executor is spinning and events are ready.
// This test does not contain expectations, but rather it verifies that
// we can run a "stressful routine" without crashing.
TYPED_TEST(TestExecutors, stressAddRemoveNode)
{
using ExecutorType = TypeParam;
// rmw_connextdds doesn't support events-executor
if (
std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
{
GTEST_SKIP();
}

ExecutorType executor;

// A timer that is "always" ready (the timer callback doesn't do anything)
auto timer = this->node->create_wall_timer(std::chrono::nanoseconds(1), []() {});

// This thread spins the executor until it's cancelled
std::thread spinner_thread([&]() {
executor.spin();
});

// This thread publishes data in a busy loop (the node has a subscription)
std::thread publisher_thread1([&]() {
for (size_t i = 0; i < 100000; i++) {
this->publisher->publish(test_msgs::msg::Empty());
}
});
std::thread publisher_thread2([&]() {
for (size_t i = 0; i < 100000; i++) {
this->publisher->publish(test_msgs::msg::Empty());
}
});

// This thread adds/remove the node that contains the entities in a busy loop
std::thread add_remove_thread([&]() {
for (size_t i = 0; i < 100000; i++) {
executor.add_node(this->node);
executor.remove_node(this->node);
}
});

// Wait for the threads that do real work to finish
publisher_thread1.join();
publisher_thread2.join();
add_remove_thread.join();

executor.cancel();
spinner_thread.join();
}

// Check spin_until_future_complete with node base pointer (instantiates its own executor)
TEST(TestExecutors, testSpinUntilFutureCompleteNodeBasePtr)
{
Expand Down