okay windows will you work now

Author: 2lian

tests/test_ros2_pubsub_sync.py

@@ -17,10 +17,10 @@
     test_wait_for_value,
     test_wait_new,
     test_wait_next,
+    test_reliable_extremely_fast,
 )
 
 import asyncio_for_robotics.ros2 as aros
-from asyncio_for_robotics.core._logger import setup_logger
 from asyncio_for_robotics.ros2.session import SynchronousSession, set_auto_session
 
 logger = logging.getLogger("asyncio_for_robotics.test")

tests/test_ros2_pubsub_thr.py

@@ -141,10 +141,11 @@ async def test_listen_too_fast(pub: Publisher, sub: aros.Sub[String]):
         last_payload = f"hello{sample_count}"
         pub.publish(String(data=last_payload))
         put_count += 1
+        await asyncio.sleep(0.001)
         last_payload = f"hello{sample_count}"
         pub.publish(String(data=last_payload))
         put_count += 1
-        await asyncio.sleep(0.01)
+        await asyncio.sleep(0.001)
 
     assert put_count / 2 == sample_count == max_iter
 
@@ -172,8 +173,9 @@ async def test_reliable_too_fast(pub: Publisher, sub: aros.Sub[String]):
     put_queue = [str(v) for v in data]
     received_buf = []
     listener = sub.listen_reliable(fresh=True, queue_size=len(data) * 2)
-    await asyncio.sleep(0.1)
+    await asyncio.sleep(0.001)
     pub.publish(String(data=put_queue.pop()))
+    await asyncio.sleep(0.001)
     pub.publish(String(data=put_queue.pop()))
     async with soft_timeout(2):
         async for sample in listener:
@@ -183,12 +185,35 @@ async def test_reliable_too_fast(pub: Publisher, sub: aros.Sub[String]):
                 break
             if put_queue != []:
                 pub.publish(String(data=put_queue.pop()))
+                await asyncio.sleep(0.001)
             if put_queue != []:
                 pub.publish(String(data=put_queue.pop()))
+                await asyncio.sleep(0.001)
 
     received_buf.reverse()
     assert data == received_buf
 
+async def test_reliable_extremely_fast(pub: Publisher, sub: aros.Sub[String]):
+    data = list(range(200))
+    put_queue = [str(v) for v in data]
+    received_buf = []
+    listener = sub.listen_reliable(fresh=True, queue_size=len(data) * 2)
+    pub.publish(String(data=put_queue.pop()))
+    pub.publish(String(data=put_queue.pop()))
+    async with soft_timeout(2):
+        async for sample in listener:
+            payload = int(sample.data)
+            received_buf.append(payload)
+            if len(received_buf) >= len(data):
+                break
+            if put_queue != []:
+                pub.publish(String(data=put_queue.pop()))
+            if put_queue != []:
+                pub.publish(String(data=put_queue.pop()))
+
+    received_buf.reverse()
+    assert set(data) == set(received_buf)
+
 
 async def test_freshness(pub: Publisher, sub: aros.Sub[String]):
     payload = "hello"

tests/test_zenoh_pubsub.py

@@ -114,7 +114,7 @@ async def test_listen_too_fast(pub: zenoh.Publisher, sub: Sub):
     sample_count = 0
     put_count = 2
     max_iter = 20
-    await asyncio.sleep(0.01)
+    await asyncio.sleep(0.001)
     async for sample in sub.listen():
         sample_count += 1
         assert sample.payload.to_string() == last_payload
@@ -123,10 +123,11 @@ async def test_listen_too_fast(pub: zenoh.Publisher, sub: Sub):
         last_payload = f"hello{sample_count}"
         pub.put(last_payload)
         put_count += 1
+        await asyncio.sleep(0.001)
         last_payload = f"hello{sample_count}"
         pub.put(last_payload)
         put_count += 1
-        await asyncio.sleep(0.01)
+        await asyncio.sleep(0.001)
 
     assert put_count / 2 == sample_count == max_iter
 
@@ -192,7 +193,6 @@ async def test_reliable_extremely_fast(pub: zenoh.Publisher, sub: Sub):
             if put_queue != []:
                 pub.put(put_queue.pop())
 
-    received_buf.reverse()
     assert set(data) == set(received_buf)