synchronize_channel seems broken ugh

Author: fcladera

mocha_core/mocha_core/synchronize_channel.py

@@ -49,8 +49,7 @@ def __init__(self, outer):
 
     def execute(self, userdata):
         self.outer.publishState("Idle Start")
-        while (not self.outer.sm_shutdown.is_set() and
-               not self.outer.shutdown_requested):
+        while (not self.outer.sm_shutdown.is_set()):
             if self.outer.sync.get_state():
                 # trigger sync and reset bistable
                 self.outer.publishState("Idle to RequestHash")
@@ -283,9 +282,6 @@ def __init__(self, dbl, this_robot,
         self.logger = self.ros_node.get_logger()
         self.ros_node_name = self.ros_node.get_fully_qualified_name()
 
-        # Add shutdown_requested attribute for ROS2 compatibility
-        self.shutdown_requested = False
-
         # Override smach logger to use ROS2 loggers
         smach.set_loggers(self.logger.debug, self.logger.warn,
                           self.logger.debug, self.logger.error)

mocha_core/test/test_synchronize_channel.py

@@ -52,7 +52,8 @@ def tearDown(self):
         super().tearDown()
 
     def test_onehop_oneway_sync(self):
-        dbl1 = sample_db.get_sample_dbl()
+        """ Start both DBs, insert a message in DB2, trigger_sync DB1, and check that both DBs are the same """
+        dbl1 = sample_db.get_sample_dbl() 
         dbl2 = sample_db.get_sample_dbl()
         dbm = db.DBMessage(1, 1, 2, 1,
                            rclpy.time.Time(seconds=123, nanoseconds=456000000), bytes('New data', 'utf-8'))
@@ -74,6 +75,8 @@ def test_onehop_oneway_sync(self):
         time.sleep(4)
 
     def test_convoluted_onehop_oneway_sync(self):
+        """ Start one DB1, insert a message in DB2 but don't start, trigger_sync
+        DB1 (should be busy), start DB2, trigger_sync DB1, DBs should be the same """
         self.maxDiff=None
         dbl1 = sample_db.get_sample_dbl()
         dbl2 = sample_db.get_sample_dbl()
@@ -111,6 +114,8 @@ def test_convoluted_onehop_oneway_sync(self):
         time.sleep(4)
 
     def test_convoluted_onehop_twoway_sync(self):
+        """ Insert a message in DB1, start DB1, insert a message in DB2 but don't start, trigger_sync
+        DB1 (should be busy), start DB2, trigger_sync DB1, DBs should be the same """
         self.maxDiff=None
         dbl1 = sample_db.get_sample_dbl()
         dbl2 = sample_db.get_sample_dbl()
@@ -196,57 +201,6 @@ def test_twohop_oneway_sync(self):
         time.sleep(2)
 
 
-    def test_delay_run(self):
-        self.maxDiff = None
-        db_gs = sample_db.get_sample_dbl()
-        db_r1 = sample_db.get_sample_dbl()
-        db_r2 = sample_db.get_sample_dbl()
-
-        node_gs_r1 = sync.Channel(db_gs, 'basestation', 'charon', self.robot_configs, 2, self.test_ros_node)
-        node_gs_r2 = sync.Channel(db_gs, 'basestation', 'styx', self.robot_configs, 2, self.test_ros_node)
-
-        node_r1_gs = sync.Channel(db_r1, 'charon', 'basestation', self.robot_configs, 2, self.test_ros_node)
-        node_r2_gs = sync.Channel(db_r2, 'styx', 'basestation', self.robot_configs, 2, self.test_ros_node)
-
-        node_r1_r2 = sync.Channel(db_r1, 'charon', 'styx', self.robot_configs, 2, self.test_ros_node)
-        node_r2_r1 = sync.Channel(db_r2, 'styx', 'charon', self.robot_configs, 2, self.test_ros_node)
-
-        node_gs_r1.run()
-        node_gs_r2.run()
-
-        dbm = db.DBMessage(1, 1, 2, 1, rclpy.time.Time(seconds=int(time.time())), bytes('r1_data', 'utf-8'))
-        db_r1.add_modify_data(dbm)
-
-        node_gs_r1.trigger_sync()
-        time.sleep(4)
-
-        node_r1_gs.run()
-        node_r2_gs.run()
-
-        dbm = db.DBMessage(2, 2, 1, 2, rclpy.time.Time(seconds=int(time.time())), bytes('r2_data', 'utf-8'))
-        db_r2.add_modify_data(dbm)
-
-        node_r1_r2.run()
-
-        node_r1_r2.trigger_sync()
-        time.sleep(4)
-
-        node_gs_r2.trigger_sync()
-        time.sleep(2)
-
-        node_r2_r1.run()
-
-        node_gs_r1.stop()
-        node_r1_gs.stop()
-
-        node_r1_r2.stop()
-        node_r2_r1.stop()
-
-        node_r2_gs.stop()
-        node_gs_r2.stop()
-
-        time.sleep(2)
-
     def test_delay_run(self):
         self.maxDiff = None
         db_gs = sample_db.get_sample_dbl()