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Fix flaky triggered camera integration test #1895

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merged 1 commit into from
Feb 14, 2023
Merged

Fix flaky triggered camera integration test #1895

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57 changes: 55 additions & 2 deletions test/integration/triggered_camera.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,9 @@
#pragma warning(pop)
#endif

#include "ignition/gazebo/rendering/Events.hh"
#include "ignition/gazebo/Server.hh"
#include "ignition/gazebo/SystemLoader.hh"
#include "ignition/gazebo/test_config.hh"
#include <ignition/common/Console.hh>
#include <ignition/common/Util.hh>
Expand All @@ -43,11 +45,30 @@ using namespace std::chrono_literals;
/// \brief Test TriggeredCameraTest system
class TriggeredCameraTest : public InternalFixture<::testing::Test>
{
protected: void SetUp() override
{
InternalFixture::SetUp();

sdf::Plugin sdfPlugin;
sdfPlugin.SetFilename("libMockSystem.so");
sdfPlugin.SetName("ignition::gazebo::MockSystem");
auto plugin = sm.LoadPlugin(sdfPlugin);
EXPECT_TRUE(plugin.has_value());
this->systemPtr = plugin.value();
this->mockSystem = static_cast<MockSystem *>(
systemPtr->QueryInterface<System>());
}

public: SystemPluginPtr systemPtr;
public: MockSystem *mockSystem;

private: SystemLoader sm;
};

std::mutex mutex;
msgs::Image imageMsg;
unsigned char *imageBuffer = nullptr;
bool renderingStarted = false;

/////////////////////////////////////////////////
void imageCb(const msgs::Image &_msg)
Expand All @@ -64,6 +85,13 @@ void imageCb(const msgs::Image &_msg)
mutex.unlock();
}

/////////////////////////////////////////////////
void OnPostRender()
{
std::lock_guard<std::mutex> lock(mutex);
renderingStarted = true;
}

/////////////////////////////////////////////////
// The test checks the Triggered Camera readings
TEST_F(TriggeredCameraTest,
Expand All @@ -80,8 +108,34 @@ TEST_F(TriggeredCameraTest,
EXPECT_FALSE(*server.Running(0));

server.SetUpdatePeriod(100us);

common::ConnectionPtr postRenderConn;
this->mockSystem = static_cast<MockSystem *>(
systemPtr->QueryInterface<System>());
this->mockSystem->configureCallback =
[&](const Entity &,
const std::shared_ptr<const sdf::Element> &,
EntityComponentManager &,
EventManager &_eventMgr)
{
postRenderConn = _eventMgr.Connect<events::PostRender>(
std::bind(&::OnPostRender));
};

server.AddSystem(this->systemPtr);
server.Run(false, 0, false);

// wait for rendering to be initialized
int sleep{0};
int maxSleep{30};
bool ready = false;
while (!ready && sleep++ < maxSleep)
{
std::this_thread::sleep_for(100ms);
std::lock_guard<std::mutex> lock(mutex);
ready = renderingStarted;
}

// Subscribe to the image topic
transport::Node node;
node.Subscribe("/camera", &imageCb);
Expand All @@ -94,8 +148,7 @@ TEST_F(TriggeredCameraTest,
ignition::msgs::Boolean msg;
msg.set_data(true);

int sleep{0};
int maxSleep{30};
sleep = 0;
while (imageBuffer == nullptr && sleep < maxSleep)
{
pub.Publish(msg);
Expand Down