Cleanup flaky timers_manager tests. (#2299)

* Cleanup flaky timers_manager tests.

The timers_manager tests were relying too heavily on
specific timings; this caused them to be flaky on the
buildfarm, particularly on Windows.

Here, we increase the timeouts, and remove one test which
just relies too heavily on specific timeouts.  This should
make this test much less flaky on the buildfarm.

Signed-off-by: Chris Lalancette <[email protected]>

rclcpp/include/rclcpp/experimental/timers_manager.hpp

@@ -527,7 +527,7 @@ class TimersManager
   void execute_ready_timers_unsafe();
 
   // Callback to be called when timer is ready
-  std::function<void(const rclcpp::TimerBase *)> on_ready_callback_ = nullptr;
+  std::function<void(const rclcpp::TimerBase *)> on_ready_callback_;
 
   // Thread used to run the timers execution task
   std::thread timers_thread_;

rclcpp/src/rclcpp/experimental/timers_manager.cpp

@@ -28,9 +28,9 @@ using rclcpp::experimental::TimersManager;
 TimersManager::TimersManager(
   std::shared_ptr<rclcpp::Context> context,
   std::function<void(const rclcpp::TimerBase *)> on_ready_callback)
+: on_ready_callback_(on_ready_callback),
+  context_(context)
 {
-  context_ = context;
-  on_ready_callback_ = on_ready_callback;
 }
 
 TimersManager::~TimersManager()

rclcpp/test/rclcpp/test_timers_manager.cpp

@@ -15,6 +15,7 @@
 #include <gtest/gtest.h>
 
 #include <chrono>
+#include <cmath>
 #include <memory>
 #include <utility>
 
@@ -65,8 +66,10 @@ TEST_F(TestTimersManager, empty_manager)
 TEST_F(TestTimersManager, add_run_remove_timer)
 {
   size_t t_runs = 0;
+  std::chrono::milliseconds timer_period(10);
+
   auto t = TimerT::make_shared(
-    10ms,
+    timer_period,
     [&t_runs]() {
       t_runs++;
     },
@@ -79,7 +82,7 @@ TEST_F(TestTimersManager, add_run_remove_timer)
   timers_manager->add_timer(t);
 
   // Sleep for more 3 times the timer period
-  std::this_thread::sleep_for(30ms);
+  std::this_thread::sleep_for(3 * timer_period);
 
   // The timer is executed only once, even if we slept 3 times the period
   execute_all_ready_timers(timers_manager);
@@ -191,67 +194,6 @@ TEST_F(TestTimersManager, head_not_ready)
   EXPECT_EQ(0u, t_runs);
 }
 
-TEST_F(TestTimersManager, timers_order)
-{
-  auto timers_manager = std::make_shared<TimersManager>(
-    rclcpp::contexts::get_global_default_context());
-
-  size_t t1_runs = 0;
-  auto t1 = TimerT::make_shared(
-    10ms,
-    [&t1_runs]() {
-      t1_runs++;
-    },
-    rclcpp::contexts::get_global_default_context());
-
-  size_t t2_runs = 0;
-  auto t2 = TimerT::make_shared(
-    30ms,
-    [&t2_runs]() {
-      t2_runs++;
-    },
-    rclcpp::contexts::get_global_default_context());
-
-  size_t t3_runs = 0;
-  auto t3 = TimerT::make_shared(
-    100ms,
-    [&t3_runs]() {
-      t3_runs++;
-    },
-    rclcpp::contexts::get_global_default_context());
-
-  // Add timers in a random order
-  timers_manager->add_timer(t2);
-  timers_manager->add_timer(t3);
-  timers_manager->add_timer(t1);
-
-  std::this_thread::sleep_for(10ms);
-  execute_all_ready_timers(timers_manager);
-  EXPECT_EQ(1u, t1_runs);
-  EXPECT_EQ(0u, t2_runs);
-  EXPECT_EQ(0u, t3_runs);
-
-  std::this_thread::sleep_for(30ms);
-  execute_all_ready_timers(timers_manager);
-  EXPECT_EQ(2u, t1_runs);
-  EXPECT_EQ(1u, t2_runs);
-  EXPECT_EQ(0u, t3_runs);
-
-  std::this_thread::sleep_for(100ms);
-  execute_all_ready_timers(timers_manager);
-  EXPECT_EQ(3u, t1_runs);
-  EXPECT_EQ(2u, t2_runs);
-  EXPECT_EQ(1u, t3_runs);
-
-  timers_manager->remove_timer(t1);
-
-  std::this_thread::sleep_for(30ms);
-  execute_all_ready_timers(timers_manager);
-  EXPECT_EQ(3u, t1_runs);
-  EXPECT_EQ(3u, t2_runs);
-  EXPECT_EQ(1u, t3_runs);
-}
-
 TEST_F(TestTimersManager, start_stop_timers_thread)
 {
   auto timers_manager = std::make_shared<TimersManager>(
@@ -274,15 +216,15 @@ TEST_F(TestTimersManager, timers_thread)
   auto timers_manager = std::make_shared<TimersManager>(
     rclcpp::contexts::get_global_default_context());
 
-  size_t t1_runs = 0;
+  int t1_runs = 0;
   auto t1 = TimerT::make_shared(
     1ms,
     [&t1_runs]() {
       t1_runs++;
     },
     rclcpp::contexts::get_global_default_context());
 
-  size_t t2_runs = 0;
+  int t2_runs = 0;
   auto t2 = TimerT::make_shared(
     1ms,
     [&t2_runs]() {
@@ -296,12 +238,12 @@ TEST_F(TestTimersManager, timers_thread)
 
   // Run timers thread for a while
   timers_manager->start();
-  std::this_thread::sleep_for(5ms);
+  std::this_thread::sleep_for(50ms);
   timers_manager->stop();
 
   EXPECT_LT(1u, t1_runs);
   EXPECT_LT(1u, t2_runs);
-  EXPECT_EQ(t1_runs, t2_runs);
+  EXPECT_LE(std::abs(t1_runs - t2_runs), 1);
 }
 
 TEST_F(TestTimersManager, destructor)
@@ -365,13 +307,13 @@ TEST_F(TestTimersManager, add_remove_while_thread_running)
   timers_manager->start();
 
   // After a while remove t1 and add t2
-  std::this_thread::sleep_for(5ms);
+  std::this_thread::sleep_for(50ms);
   timers_manager->remove_timer(t1);
   size_t tmp_t1 = t1_runs;
   timers_manager->add_timer(t2);
 
   // Wait some more time and then stop
-  std::this_thread::sleep_for(5ms);
+  std::this_thread::sleep_for(50ms);
   timers_manager->stop();
 
   // t1 has stopped running