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fix: fix heisenbug and simplify tests
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A heisenbug was happening in the "does not keep last written value when a new connection is established with 'init: false'" test. The test expected no samples, but got 1.
This was due to how the test was structured, specifically the fact that the write and the disconnect-connect block of code were inside the same expect_execution block, causing a race condition.

The tests were also simplified by using a data_reader instead of the previous, unnecessary complicated, setup.
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@eduardacoppo
eduardacoppo committed Feb 19, 2025
1 parent ab9d009 commit cc4c345
Showing 1 changed file with 50 additions and 90 deletions.
140 changes: 50 additions & 90 deletions test/task_test.rb
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Original file line number Diff line number Diff line change
Expand Up @@ -179,131 +179,91 @@
end

describe "using 'init' connection" do
attr_reader :controller, :state
attr_reader :task

before do
@gpio_root = Pathname(Dir.mktmpdir)
make_fake_gpio(42, true)

@controller = syskit_deploy(
OroGen.linux_gpios.Task
.deployed_as("controller_task_under_test")
.with_arguments(name: "controller")
)
@controller.properties.sysfs_gpio_path = @gpio_root.to_s
@controller.properties.edge_triggered_output = true

@state = syskit_deploy(
@task = syskit_deploy(
OroGen.linux_gpios.Task
.deployed_as("state_task_under_test")
.with_arguments(name: "state")
.deployed_as("task_under_test")
.with_arguments(name: "task")
)
@state.properties.sysfs_gpio_path = @gpio_root.to_s
@state.properties.edge_triggered_output = true
@task.properties.sysfs_gpio_path = @gpio_root.to_s
@task.properties.edge_triggered_output = true
end

after do
@gpio_root&.rmtree
end

it "does not keep last written value when a new connection is established " \
"without 'init: true'" do
configure_and_start_tasks
connect_tasks
command = { states: [{ data: 0 }] }
"with 'init: false'" do
configure_and_start_task
command = { states: [{ data: 0 }], time: Time.now }

data_reader = syskit_create_reader task.r_states_port, init: false
expect_execution do
syskit_write controller.w_commands_port, command
syskit_write task.w_commands_port, command
end.to do # rubocop:disable Style/MultilineBlockChain
have_one_new_sample(state.r_states_port)
have_one_new_sample(data_reader)
end
refute read_fake_gpio(42)

expect_execution do
break_and_reestablish_connection(init: false)
data_reader.disconnect
data_reader = syskit_create_reader task.r_states_port, init: false
end.to do # rubocop:disable Style/MultilineBlockChain
have_no_new_sample(state.r_states_port, at_least_during: 1)
have_no_new_sample(data_reader, at_least_during: 1)
end
end

it "keeps last written value when a new connection is established " \
"with 'init: true'" do
configure_and_start_tasks
connect_tasks
command = { states: [{ data: 0 }] }
expect_execution do
syskit_write controller.w_commands_port, command
end.to do # rubocop:disable Style/MultilineBlockChain
have_one_new_sample(state.r_states_port)
end
sample = expect_execution do
break_and_reestablish_connection
end.to do # rubocop:disable Style/MultilineBlockChain
have_one_new_sample(state.r_states_port)
end
configure_and_start_task
command = { states: [{ data: 0 }], time: Time.now }

assert_equal 0, sample.states[0].data
end

it "keeps last written value even after a delay when reconnected " \
"with 'init: true'" do
configure_and_start_tasks
connect_tasks
command = { states: [{ data: 0 }] }
expect_execution do
syskit_write controller.w_commands_port, command
end.to do # rubocop:disable Style/MultilineBlockChain
have_one_new_sample(state.r_states_port)
end
sample = expect_execution do
break_and_reestablish_connection(delay: 1)
data_reader = syskit_create_reader task.r_states_port, init: true
samples = expect_execution do
syskit_write task.w_commands_port, command
end.to do # rubocop:disable Style/MultilineBlockChain
have_one_new_sample(state.r_states_port)
have_new_samples(data_reader, 2)
end
assert_equal 1, samples[0].states[0].data
assert_equal 0, samples[1].states[0].data

assert_equal 0, sample.states[0].data
data_reader.disconnect
data_reader = syskit_create_reader task.r_states_port, init: true
expect_execution.to { have_one_new_sample(data_reader) }
refute read_fake_gpio(42)
end

it "keeps the last value even after multiple disconnections and reconnections" do
configure_and_start_tasks
connect_tasks
command = { states: [{ data: 0 }] }
sample = expect_execution do
syskit_write controller.w_commands_port, command
end.to do # rubocop:disable Style/MultilineBlockChain
have_one_new_sample(state.r_states_port)
end
sample = expect_execution do
3.times do
break_and_reestablish_connection
end
configure_and_start_task
command = { states: [{ data: 0 }], time: Time.now }

data_reader = syskit_create_reader task.r_states_port, init: true
samples = expect_execution do
syskit_write task.w_commands_port, command
end.to do # rubocop:disable Style/MultilineBlockChain
have_one_new_sample(state.r_states_port)
have_new_samples(data_reader, 2)
end
assert_equal 1, samples[0].states[0].data
assert_equal 0, samples[1].states[0].data

assert_equal 0, sample.states[0].data
end

def configure_and_start_tasks
make_fake_gpio(42, true)
controller.properties.w_configuration = { ids: [42] }
syskit_configure_and_start(controller)
state.properties.r_configuration = { ids: [42] }
syskit_configure_and_start(state)
end

def break_and_reestablish_connection(init: true, delay: 0)
controller.disconnect_ports(state, [%w[r_states w_commands]])
sleep(delay) if delay > 0
controller.connect_to state, init: init
3.times do
data_reader.disconnect
data_reader = syskit_create_reader task.r_states_port, init: true
end
expect_execution.to { have_one_new_sample(data_reader) }
refute read_fake_gpio(42)
end

def connect_tasks
cmp_m = Syskit::Composition.new_submodel do
add OroGen.linux_gpios.Task, as: "controller"
add OroGen.linux_gpios.Task, as: "state"

controller_child.connect_to state_child, init: true
end
syskit_stub_deploy_configure_and_start(
cmp_m.use("controller" => controller, "state" => state)
)
def configure_and_start_task
task.properties.w_configuration = { ids: [42] }
task.properties.r_configuration = { ids: [42] }
syskit_configure_and_start(task)
end
end

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