Less flaky test BasicSystemTest [13878]

test/dds/communication/Monitor.cpp

@@ -691,5 +691,7 @@ int main(
     // }
 
     std::cerr << "Stop Monitor_" << seed << '\n';
+    char c;
+    std::cin >> c;
     return 0;
 }

test/dds/communication/Subscriber.cpp

@@ -123,6 +123,8 @@ class ParListener : public DomainParticipantListener
                             return;
                         }
 
+                        g_qos.durability().kind = eprosima::fastdds::dds::TRANSIENT_LOCAL_DURABILITY_QOS;
+
                         g_reader = g_subscriber->create_datareader(
                             g_topic,
                             g_qos,
@@ -168,10 +170,13 @@ class ParListener : public DomainParticipantListener
                     }
                 };
 
-        participant->register_remote_type(
-            type_information,
-            type_name.to_string(),
-            callback);
+        if (eprosima::fastrtps::types::ReturnCode_t::RETCODE_OK != participant->register_remote_type(
+                    type_information,
+                    type_name.to_string(),
+                    callback))
+        {
+            std::cout << "ERROR: Cannot register remote type" << std::endl;
+        }
     }
 
 #if HAVE_SECURITY
@@ -401,6 +406,10 @@ int main(
                 });
     }
 
+    std::cout << "Subscriber finished receiving samples" << std::endl;
+    char c;
+    std::cin >> c;
+
     if (g_reader != nullptr)
     {
         g_subscriber->delete_datareader(g_reader);

test/dds/communication/simple_communication.py

@@ -68,19 +68,28 @@ def output_reader(proc, outq):
     for line in iter(proc.stdout.readline, b''):
         outq.put(line.decode('utf-8'))
 
+
+barrier = threading.Barrier(2, timeout=30)
+num_stop_signals = 0
+run = True
+
+
 def communication(monitor_proc, pid):
     """A"""
+    global num_stop_signals
+    global run
+    global barrier
     outq = queue.Queue()
     t = threading.Thread(target=output_reader, args=(monitor_proc,outq))
     t.start()
 
-    run = True
     try:
         time.sleep(0.2)
-        
+
         while run:
             try:
                 line = outq.get(block=False).rstrip()
+                print(line)
 
                 sys.stdout.flush()
 
@@ -92,26 +101,39 @@ def communication(monitor_proc, pid):
                     print("___" + pid + "___Creating subscriber___")
                     sys.stdout.flush()
                     subscriber1_proc = subprocess.Popen([subscriber_command, "--seed", pid]
-                        + (["--xmlfile", real_xml_file_sub] if real_xml_file_sub else []))
-
+                        + (["--xmlfile", real_xml_file_sub] if real_xml_file_sub else []),
+                        stdin=subprocess.PIPE, stdout=subprocess.PIPE)
+
                     print("___" + pid + "___Creating publisher___")
                     sys.stdout.flush()
                     publisher_proc1 = subprocess.Popen([publisher_command, "--seed", pid, "--wait", "1"]
                         + (["--xmlfile", real_xml_file_pub] if real_xml_file_pub else [])
                         + extra_pub_args)
 
+                    line = ""
+                    while 'Subscriber finished receiving samples' != line:
+                        line = subscriber1_proc.stdout.readline().decode('utf-8').rstrip()
+                        print(line)
+                        sys.stdout.flush()
+
+                    print("___" + pid + "___barrier...___")
+                    sys.stdout.flush()
+                    barrier.wait()
+
                     print("___" + pid + "___subscriber1 communicate...___")
                     sys.stdout.flush()
-                    publisher_proc1.communicate()
+                    subscriber1_proc.communicate('a'.encode('utf-8'))
 
                     print("___" + pid + "___publisher1 communicate...___")
                     sys.stdout.flush()
-                    subscriber1_proc.communicate()
+                    publisher_proc1.communicate()
 
                 elif (line == ("Stop Monitor_" + pid)):
                     print("___" + pid + "___Stop Monitor___")
                     sys.stdout.flush()
-                    run = False
+                    num_stop_signals += 1
+                    if 2 == num_stop_signals:
+                        run = False
 
                 else:
                     print("___" + pid + '_ ' + line)
@@ -123,7 +145,7 @@ def communication(monitor_proc, pid):
 
             time.sleep(0.1)
     finally:
-        monitor_proc.terminate()
+        monitor_proc.communicate('a'.encode('utf-8'))
         try:
             monitor_proc.wait(timeout=0.2)
             print("___" + pid + '== subprocess exited with rc =', monitor_proc.returncode)
@@ -138,10 +160,10 @@ def communication(monitor_proc, pid):
     t.join()
 
 monitor_proc_0 = subprocess.Popen([monitor_command, "--seed", str(os.getpid())],
-                                stdout=subprocess.PIPE, stderr=subprocess.STDOUT)
+                                stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=subprocess.STDOUT)
 
 monitor_proc_1 = subprocess.Popen([monitor_command, "--seed", str(os.getpid() + 1)],
-                                stdout=subprocess.PIPE, stderr=subprocess.STDOUT)
+                                stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=subprocess.STDOUT)
 
 t_0 = threading.Thread(target=communication, args=(monitor_proc_0,str(os.getpid())))
 t_1 = threading.Thread(target=communication, args=(monitor_proc_1,str(os.getpid() + 1)))