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Fixed test_events_executors in zenoh #2643

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Fixed test_events_executors in zenoh #2643

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2 changes: 1 addition & 1 deletion rclcpp/test/rclcpp/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -555,7 +555,7 @@ if(TARGET test_executor_notify_waitable)
target_link_libraries(test_executor_notify_waitable ${PROJECT_NAME} mimick rcpputils::rcpputils)
endif()

ament_add_gtest(test_events_executor executors/test_events_executor.cpp TIMEOUT 5)
ament_add_gtest(test_events_executor executors/test_events_executor.cpp TIMEOUT 60)
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I am not sure about this... each test in executors/test_events_executor.cpp is basic pub/sub, client/server with EventExecutor. i would not expect that is gonna take more than 5 seconds, maybe 10 seconds. if that takes more than that, i would suspect something wrong in the libraries but test. btw do you happen to know which test takes a long time to process?

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From my testing, it seems like the cancel_while_timers_running test is timing out.
I agree with @fujitatomoya that we should find out the cause for why this times out with rmw_zenoh and try to address it.

105: [==========] Running 11 tests from 1 test suite.
105: [----------] Global test environment set-up.
105: [----------] 11 tests from TestEventsExecutor
105: [ RUN      ] TestEventsExecutor.run_pub_sub
105: [INFO] [1728076414.221154335] [rmw_zenoh_cpp]: Successfully connected to a Zenoh router with id 976ea020597cd8d73eaf8ddf5222a054.
105: [       OK ] TestEventsExecutor.run_pub_sub (694 ms)
105: [ RUN      ] TestEventsExecutor.run_clients_servers
105: [INFO] [1728076414.902934390] [rmw_zenoh_cpp]: Successfully connected to a Zenoh router with id 976ea020597cd8d73eaf8ddf5222a054.
105: [       OK ] TestEventsExecutor.run_clients_servers (671 ms)
105: [ RUN      ] TestEventsExecutor.spin_once_max_duration_timeout
105: [INFO] [1728076415.575311398] [rmw_zenoh_cpp]: Successfully connected to a Zenoh router with id 976ea020597cd8d73eaf8ddf5222a054.
105: [       OK ] TestEventsExecutor.spin_once_max_duration_timeout (655 ms)
105: [ RUN      ] TestEventsExecutor.spin_once_max_duration_timer
105: [INFO] [1728076416.229936940] [rmw_zenoh_cpp]: Successfully connected to a Zenoh router with id 976ea020597cd8d73eaf8ddf5222a054.
105: [       OK ] TestEventsExecutor.spin_once_max_duration_timer (660 ms)
105: [ RUN      ] TestEventsExecutor.spin_some_max_duration
105: [INFO] [1728076416.890282041] [rmw_zenoh_cpp]: Successfully connected to a Zenoh router with id 976ea020597cd8d73eaf8ddf5222a054.
105: [       OK ] TestEventsExecutor.spin_some_max_duration (691 ms)
105: [ RUN      ] TestEventsExecutor.spin_some_zero_duration
105: [INFO] [1728076417.581796625] [rmw_zenoh_cpp]: Successfully connected to a Zenoh router with id 976ea020597cd8d73eaf8ddf5222a054.
105: [       OK ] TestEventsExecutor.spin_some_zero_duration (659 ms)
105: [ RUN      ] TestEventsExecutor.spin_all_max_duration
105: [INFO] [1728076418.240770747] [rmw_zenoh_cpp]: Successfully connected to a Zenoh router with id 976ea020597cd8d73eaf8ddf5222a054.
1/1 Test #105: test_events_executor .............***Timeout   5.09 sec

if(TARGET test_events_executor)
target_link_libraries(test_events_executor ${PROJECT_NAME} ${test_msgs_TARGETS})
endif()
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23 changes: 15 additions & 8 deletions rclcpp/test/rclcpp/executors/test_events_executor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -479,14 +479,21 @@ TEST_F(TestEventsExecutor, test_default_incompatible_qos_callbacks)
const auto timeout = std::chrono::seconds(10);
ex.spin_until_future_complete(log_msgs_future, timeout);

EXPECT_EQ(
"New subscription discovered on topic '/test_topic', requesting incompatible QoS. "
"No messages will be sent to it. Last incompatible policy: DURABILITY_QOS_POLICY",
pub_log_msg);
EXPECT_EQ(
"New publisher discovered on topic '/test_topic', offering incompatible QoS. "
"No messages will be sent to it. Last incompatible policy: DURABILITY_QOS_POLICY",
sub_log_msg);

std::string rmw_implementation_str = std::string(rmw_get_implementation_identifier());
if (rmw_implementation_str == "rmw_zenoh_cpp") {
EXPECT_EQ("", pub_log_msg);
EXPECT_EQ("", sub_log_msg);
} else {
EXPECT_EQ(
"New subscription discovered on topic '/test_topic', requesting incompatible QoS. "
"No messages will be sent to it. Last incompatible policy: DURABILITY_QOS_POLICY",
pub_log_msg);
EXPECT_EQ(
"New publisher discovered on topic '/test_topic', offering incompatible QoS. "
"No messages will be sent to it. Last incompatible policy: DURABILITY_QOS_POLICY",
sub_log_msg);
}

rcutils_logging_set_output_handler(original_output_handler);
}