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Remove an arbitrary sleep of 500 milliseconds. #1106

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Remove an arbitrary sleep of 500 milliseconds. #1106

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f78493a
Remove an arbitrary sleep of 500 milliseconds.
clalancette Aug 1, 2023
1e073fd
Fixes.
clalancette Oct 4, 2023
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7 changes: 5 additions & 2 deletions rcl/test/rcl/test_subscription.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -534,10 +534,13 @@ TEST_F(
}

// Give a brief moment for publications to go through.
// TODO(clalancette): We should have a way to "peek" at how much data is available, without
// taking it. Then we could block until we see that amount, letting us remove this sleep and
// the do..while loop below.
std::this_thread::sleep_for(std::chrono::milliseconds(500));
// Take fewer messages than are available in the subscription
{
size_t size = 3;
constexpr size_t size = 3;
rmw_message_info_sequence_t message_infos;
rmw_message_info_sequence_init(&message_infos, size, &allocator);

Expand All @@ -563,7 +566,7 @@ TEST_F(
// `wait_for_subscription_to_be_ready` only ensures there's one message ready,
// so we need to loop to guarantee that we get the three published messages.
ASSERT_TRUE(wait_for_subscription_to_be_ready(&subscription, context_ptr, 1, 100));
ret = rcl_take_sequence(&subscription, 3, &messages, &message_infos, nullptr);
ret = rcl_take_sequence(&subscription, size, &messages, &message_infos, nullptr);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
total_messages_taken += messages.size;
EXPECT_EQ(messages.size, message_infos.size);
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