Fix flaky PC commands test (#120)

* debug pc commands; turn off some noisy prints; change assert to expect Signed-off-by: Michael Anderson <[email protected]> * switch back to testing all Signed-off-by: Michael Anderson <[email protected]>
osrf · Jan 23, 2023 · cb74bee · cb74bee
1 parent 914ea30
commit cb74bee
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Showing 2 changed files with 6 additions and 6 deletions.
diff --git a/buoy_tests/tests/fixture_server.cpp b/buoy_tests/tests/fixture_server.cpp
@@ -109,7 +109,7 @@ TEST(BuoyTests, RunServer)
         response->success = true;
         return;
       } else {
-        RCLCPP_INFO_STREAM(
+        RCLCPP_DEBUG_STREAM(
           rclcpp::get_logger("run_server"),
           "Incoming request\niterations: " << request->iterations);
       }
@@ -123,7 +123,7 @@ TEST(BuoyTests, RunServer)
 
       EXPECT_EQ(iterations - initial_iterations, request->iterations);
 
-      RCLCPP_INFO_STREAM(
+      RCLCPP_DEBUG_STREAM(
         rclcpp::get_logger("run_server"),
         "Response: " << std::boolalpha << response->success << std::noboolalpha);
     }

diff --git a/buoy_tests/tests/pc_commands_ros_feedback.cpp b/buoy_tests/tests/pc_commands_ros_feedback.cpp
@@ -309,7 +309,7 @@ TEST_F(BuoyPCTests, PCCommandsInROSFeedback)
 
   // Now send wind curr command
   node->pc_wind_curr_response_future_ = node->send_pc_wind_curr_command(wc);
-  ASSERT_TRUE(node->pc_wind_curr_response_future_.valid());
+  EXPECT_TRUE(node->pc_wind_curr_response_future_.valid()) << "Winding Current future invalid!";
   node->pc_wind_curr_response_future_.wait();
   EXPECT_EQ(
     node->pc_wind_curr_response_future_.get()->result.value,
@@ -334,7 +334,7 @@ TEST_F(BuoyPCTests, PCCommandsInROSFeedback)
 
   // Now send scale command
   node->pc_scale_response_future_ = node->send_pc_scale_command(scale);
-  ASSERT_TRUE(node->pc_scale_response_future_.valid());
+  EXPECT_TRUE(node->pc_scale_response_future_.valid()) << "Scale future invalid!";
   node->pc_scale_response_future_.wait();
   EXPECT_EQ(
     node->pc_scale_response_future_.get()->result.value,
@@ -359,7 +359,7 @@ TEST_F(BuoyPCTests, PCCommandsInROSFeedback)
 
   // Now send retract command
   node->pc_retract_response_future_ = node->send_pc_retract_command(retract);
-  ASSERT_TRUE(node->pc_retract_response_future_.valid());
+  EXPECT_TRUE(node->pc_retract_response_future_.valid()) << "Retract future invalid!";
   node->pc_retract_response_future_.wait();
   EXPECT_EQ(
     node->pc_retract_response_future_.get()->result.value,
@@ -408,7 +408,7 @@ TEST_F(BuoyPCTests, PCCommandsInROSFeedback)
 
   // Now send bias curr command
   node->pc_bias_curr_response_future_ = node->send_pc_bias_curr_command(bc);
-  ASSERT_TRUE(node->pc_bias_curr_response_future_.valid());
+  EXPECT_TRUE(node->pc_bias_curr_response_future_.valid()) << "Bias Current future invalid!";
   node->pc_bias_curr_response_future_.wait();
   EXPECT_EQ(
     node->pc_bias_curr_response_future_.get()->result.value,