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gz_TEST: improve initial sim time test reliability #1916

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Merged
merged 2 commits into from
Mar 31, 2023
Merged

gz_TEST: improve initial sim time test reliability #1916

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gz_TEST: improve initial sim time test reliability
scpeters Mar 5, 2023
d238274
Slow down simulation using `-z` flag
azeey Mar 31, 2023
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21 changes: 18 additions & 3 deletions src/gz_TEST.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -135,7 +135,7 @@ TEST(CmdLine, GazeboServer)
TEST(CmdLine, SimtimeArgument)
{
std::string cmd =
kGzCommand + " -r -v 4 --iterations 100 --initial-sim-time 1000.5 " +
kGzCommand + " -r -v 4 --iterations 500 --initial-sim-time 1000.5 " +
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Since the loaded sdf file has some plugins, none of the more time consuming plugins such as Physics are loaded. Also, the plugins.sdf world is set to run as fast as possible, so this command may finish running before transport is done initializing. My suggestion is to slow it down using -z 1000 or even -z 100.

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d238274

std::string(PROJECT_SOURCE_PATH) + "/test/worlds/plugins.sdf";

std::cout << "Running command [" << cmd << "]" << std::endl;
Expand All @@ -144,7 +144,7 @@ TEST(CmdLine, SimtimeArgument)
gz::transport::Node node;
auto cb = [&](const gz::msgs::Clock &_msg) -> void
{
EXPECT_GE(_msg.sim().sec() + _msg.sim().nsec()/1000000000.0,
EXPECT_GE(_msg.sim().sec() + 1e-9 * _msg.sim().nsec(),
1000.5);
msgCount++;
};
Expand All @@ -153,7 +153,22 @@ TEST(CmdLine, SimtimeArgument)
EXPECT_TRUE(node.Subscribe(std::string("/clock"), cbFcn));

std::string output = customExecStr(cmd);
EXPECT_GT(msgCount, 0);

// Try waiting different amounts if no messages have been received
if (!msgCount)
{
for (auto i : {1, 10, 100, 1000})
{
std::cout << "Sleeping for " << i << " ms";
GZ_SLEEP_MS(i);
std::cout << ", recevied " << msgCount << " messages." << std::endl;
if (msgCount)
{
break;
}
}
}
EXPECT_GT(msgCount, 0) << output;
}

/////////////////////////////////////////////////
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