From b3a81827e463f9f0b5150a9c7d08e991f0c9f50c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@osrfoundation.org>
Date: Thu, 13 Jul 2023 21:05:39 +0200
Subject: [PATCH] Fix topic/service list inconsistency (#415)
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* Consider discovery initialized after two heartbeat cycles

Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
---
 include/gz/transport/Discovery.hh   |  7 +++----
 log/test/integration/CMakeLists.txt | 11 +++++++----
 2 files changed, 10 insertions(+), 8 deletions(-)

diff --git a/include/gz/transport/Discovery.hh b/include/gz/transport/Discovery.hh
index d4de7b30f..e3d51e7af 100644
--- a/include/gz/transport/Discovery.hh
+++ b/include/gz/transport/Discovery.hh
@@ -713,16 +713,15 @@ namespace ignition
           std::lock_guard<std::mutex> lock(this->mutex);
           if (!this->initialized)
           {
-            ++this->numHeartbeatsUninitialized;
-            if (this->numHeartbeatsUninitialized == 2)
+            if (this->numHeartbeatsUninitialized == 2u)
             {
-              // We consider the discovery initialized after two cycles of
-              // heartbeats sent.
+              // We consider discovery initialized after two heartbeat cycles.
               this->initialized = true;
 
               // Notify anyone waiting for the initialization phase to finish.
               this->initializedCv.notify_all();
             }
+            ++this->numHeartbeatsUninitialized;
           }
 
           this->timeNextHeartbeat = std::chrono::steady_clock::now() +
diff --git a/log/test/integration/CMakeLists.txt b/log/test/integration/CMakeLists.txt
index 069ff4cb0..a3c2b3b80 100644
--- a/log/test/integration/CMakeLists.txt
+++ b/log/test/integration/CMakeLists.txt
@@ -72,12 +72,15 @@ if (HAVE_IGN_TOOLS)
     ruby ${CMAKE_CURRENT_SOURCE_DIR}/ign_log_record_no_overwrite.rb
   )
 
-  add_test(ign_log_record_force
-    ruby ${CMAKE_CURRENT_SOURCE_DIR}/ign_log_record_force.rb
-  )
+  # Test disabled on Citadel
+  #add_test(ign_log_record_force
+  #  ruby ${CMAKE_CURRENT_SOURCE_DIR}/ign_log_record_force.rb
+  #)
+
   set_tests_properties(
     ign_log_record_no_overwrite
-    ign_log_record_force
+    # Test disabled on Citadel
+    # ign_log_record_force
     PROPERTIES
     ENVIRONMENT
       "IGN_CONFIG_PATH=${IGN_CONFIG_PATH};IGN_TRANSPORT_LOG_SQL_PATH=${PROJECT_SOURCE_DIR}/log/sql"