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Fix flaky PC commands test #120

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merged 2 commits into from
Jan 23, 2023
Merged

Fix flaky PC commands test #120

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1f82971
debug pc commands; turn off some noisy prints; change assert to expect
andermi Jan 23, 2023
815c65c
switch back to testing all
andermi Jan 23, 2023
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4 changes: 2 additions & 2 deletions buoy_tests/tests/fixture_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
}
Expand All @@ -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);
}
Expand Down
8 changes: 4 additions & 4 deletions buoy_tests/tests/pc_commands_ros_feedback.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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,
Expand All @@ -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,
Expand All @@ -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,
Expand Down Expand Up @@ -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,
Expand Down