Expect a minimum of two nodes to be alive in test_graph

[Yadunund]

Addresses #1189

[fujitatomoya]

i think this is the correct check with do...while loop, because old_node is supposed to be invalid on rcl_shutdown.

rcl/rcl/include/rcl/node.h

Lines 61 to 62 in 1e565d5

	* Calling this on a rcl_node_t makes it a valid node handle until rcl_shutdown
	* is called or until rcl_node_fini is called on it.

[Yadunund]

CI started with https://gist.githubusercontent.com/Yadunund/fc9014a21560fe9728ff03ade81b3009/raw/2486b9aae3dcd98571be453e4155359f348a19d6/ros2.repos

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

[Yadunund]

CI is failing with rmw_fastrtps_cpp even for test cases unmodified in this PR. Is there a regression with FastDDS?

[fujitatomoya]

we suspected ros2/rmw_fastrtps@565bbc2 but ros2/rmw_fastrtps#780 looks fine with CI.

in Fast-DDS 2.14.x, there are few commits https://github.com/eProsima/Fast-DDS/commits/2.14.x/, but i am not sure which one triggers that.

[Yadunund]

@fujitatomoya thanks for the insights. I will run CI on this PR after another review.

[YuanYuYuan]

Hi @Yadunund. I think we need to change the logic in rcl_action as well.

rcl/rcl_action/test/rcl_action/test_graph.cpp

Lines 328 to 357 in 1e565d5

	void WaitForAllNodesAlive()
	{
	rcl_ret_t ret;
	rcutils_string_array_t node_names = rcutils_get_zero_initialized_string_array();
	rcutils_string_array_t node_namespaces = rcutils_get_zero_initialized_string_array();
	OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
	{
	ret = rcutils_string_array_fini(&node_names);
	ASSERT_EQ(RCUTILS_RET_OK, ret);
	ret = rcutils_string_array_fini(&node_namespaces);
	ASSERT_EQ(RCUTILS_RET_OK, ret);
	});
	// Wait for all 3 nodes to be discovered: remote_node, old_node, node
	size_t attempts = 0u;
	size_t max_attempts = 4u;
	while (node_names.size < 3u) {
	std::this_thread::sleep_for(std::chrono::seconds(1));
	ret = rcl_get_node_names(&this->remote_node, allocator, &node_names, &node_namespaces);
	++attempts;
	ASSERT_LE(attempts, max_attempts) << "Unable to attain all required nodes";
	if (node_names.size < 3u) {
	ret = rcutils_string_array_fini(&node_names);
	ASSERT_EQ(RCUTILS_RET_OK, ret);
	ret = rcutils_string_array_fini(&node_namespaces);
	ASSERT_EQ(RCUTILS_RET_OK, ret);
	node_names = rcutils_get_zero_initialized_string_array();
	node_namespaces = rcutils_get_zero_initialized_string_array();
	}
	}
	}

After the change, we should conquer the failures in rcl_action test_graph.

[Yadunund]

Hi @Yadunund. I think we need to change the logic in rcl_action as well.

rcl/rcl_action/test/rcl_action/test_graph.cpp

Lines 328 to 357 in 1e565d5

	void WaitForAllNodesAlive()
	{
	rcl_ret_t ret;
	rcutils_string_array_t node_names = rcutils_get_zero_initialized_string_array();
	rcutils_string_array_t node_namespaces = rcutils_get_zero_initialized_string_array();
	OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
	{
	ret = rcutils_string_array_fini(&node_names);
	ASSERT_EQ(RCUTILS_RET_OK, ret);
	ret = rcutils_string_array_fini(&node_namespaces);
	ASSERT_EQ(RCUTILS_RET_OK, ret);
	});
	// Wait for all 3 nodes to be discovered: remote_node, old_node, node
	size_t attempts = 0u;
	size_t max_attempts = 4u;
	while (node_names.size < 3u) {
	std::this_thread::sleep_for(std::chrono::seconds(1));
	ret = rcl_get_node_names(&this->remote_node, allocator, &node_names, &node_namespaces);
	++attempts;
	ASSERT_LE(attempts, max_attempts) << "Unable to attain all required nodes";
	if (node_names.size < 3u) {
	ret = rcutils_string_array_fini(&node_names);
	ASSERT_EQ(RCUTILS_RET_OK, ret);
	ret = rcutils_string_array_fini(&node_namespaces);
	ASSERT_EQ(RCUTILS_RET_OK, ret);
	node_names = rcutils_get_zero_initialized_string_array();
	node_namespaces = rcutils_get_zero_initialized_string_array();
	}
	}
	}

After the change, we should conquer the failures in rcl_action test_graph.

Nice catch. Done 1ad5d9e

[clalancette]

Pulls: #1192
Gist: https://gist.githubusercontent.com/clalancette/9c99ce9f776fd5378e610788e890ce4e/raw/af98cfe6a867bdd7473bff053cbcbfff72fcc363/ros2.repos
BUILD args: --packages-up-to rcl rcl_action
TEST args: --packages-select rcl rcl_action
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/14638

• Linux
• Linux-aarch64
• Linux-rhel
• Windows