diff --git a/ros2rag.base/src/main/jastadd/backend/Generation.jadd b/ros2rag.base/src/main/jastadd/backend/Generation.jadd
index e698e405ee6d392d2405b15fe0869432b9b18a59..1b6dfff3386d079e75163c4725681a87904f6786 100644
--- a/ros2rag.base/src/main/jastadd/backend/Generation.jadd
+++ b/ros2rag.base/src/main/jastadd/backend/Generation.jadd
@@ -146,16 +146,23 @@ aspect AspectGeneration {
sb.append(ind(indent + 1)).append(preemptiveReturnStatement()).append("\n");
sb.append(ind(indent)).append("}\n");
if (!getAlwaysApply()) {
- sb.append(ind(indent)).append("if (").append(preemptiveExpectedValue());
- if (getToken().isPrimitiveType()) {
- sb.append(" == ").append(inputVariableName);
- } else if (effectiveMappings().get(effectiveMappings().size() - 1).isDefaultMappingDefinition()) {
- sb.append(" != null && ").append(preemptiveExpectedValue()).append(".equals(")
- .append(inputVariableName).append(")");
+ MappingDefinition lastMapping = effectiveMappings().get(effectiveMappings().size() - 1);
+ sb.append(ind(indent)).append("if (");
+ if (lastMapping.getToType().isArray()) {
+ sb.append("java.util.Arrays.equals(").append(preemptiveExpectedValue())
+ .append(", ").append(inputVariableName).append(")");
} else {
- sb.append(" != null ? ").append(preemptiveExpectedValue()).append(".equals(")
- .append(inputVariableName).append(")").append(" : ")
- .append(inputVariableName).append(" == null");
+ sb.append(preemptiveExpectedValue());
+ if (getToken().isPrimitiveType() && lastMapping.getToType().isPrimitiveType()) {
+ sb.append(" == ").append(inputVariableName);
+ } else if (lastMapping.isDefaultMappingDefinition()) {
+ sb.append(" != null && ").append(preemptiveExpectedValue()).append(".equals(")
+ .append(inputVariableName).append(")");
+ } else {
+ sb.append(" != null ? ").append(preemptiveExpectedValue()).append(".equals(")
+ .append(inputVariableName).append(")").append(" : ")
+ .append(inputVariableName).append(" == null");
+ }
}
sb.append(") { ").append(preemptiveReturnStatement()).append(" }\n");
}
diff --git a/ros2rag.base/src/main/jastadd/backend/Mappings.jrag b/ros2rag.base/src/main/jastadd/backend/Mappings.jrag
index 7add42fa7e3d3f7c71cb35b5a34c8c5d05b83628..fd40385d9e8879dd188362f6a0acd802652f511e 100644
--- a/ros2rag.base/src/main/jastadd/backend/Mappings.jrag
+++ b/ros2rag.base/src/main/jastadd/backend/Mappings.jrag
@@ -151,6 +151,12 @@ aspect Mappings {
default: return false;
}
}
+ syn boolean MappingDefinitionType.isPrimitiveType() = false;
+ eq JavaMappingDefinitionType.isPrimitiveType() = getType().isPrimitiveType();
+
+ // --- isArray ---
+ syn boolean MappingDefinitionType.isArray() = false;
+ eq JavaArrayMappingDefinitionType.isArray() = true;
// --- suitableDefaultMapping ---
syn DefaultMappingDefinition UpdateDefinition.suitableDefaultMapping();
diff --git a/ros2rag.tests/src/test/01-input/example/Test.relast b/ros2rag.tests/src/test/01-input/example/Test.relast
index c6b346d5df0db5b333141202a800b5951643eef2..ea347d0ec303a8d3555cd0118d403b53664ffe33 100644
--- a/ros2rag.tests/src/test/01-input/example/Test.relast
+++ b/ros2rag.tests/src/test/01-input/example/Test.relast
@@ -4,7 +4,7 @@ ZoneModel ::= <Size:IntPosition> SafetyZone:Zone* ;
Zone ::= Coordinate* ;
-RobotArm ::= Joint* EndEffector <AttributeTestSource:int> /<AppropriateSpeed:double>/ ;
+RobotArm ::= Joint* EndEffector /<AppropriateSpeed:double>/ ;
Joint ::= <Name:String> <CurrentPosition:IntPosition> ;
diff --git a/ros2rag.tests/src/test/01-input/example/Test.ros2rag b/ros2rag.tests/src/test/01-input/example/Test.ros2rag
index 9168da25b6d98b26784ef67b64c515be6cecf76c..6421bc828cf2f51c3b57e064bfbb6afdd4635545 100644
--- a/ros2rag.tests/src/test/01-input/example/Test.ros2rag
+++ b/ros2rag.tests/src/test/01-input/example/Test.ros2rag
@@ -5,7 +5,6 @@ write RobotArm.AppropriateSpeed using CreateSpeedMessage, SerializeRobotConfig ;
// --- dependency definitions ---
RobotArm.AppropriateSpeed canDependOn Joint.CurrentPosition as dependency1 ;
-RobotArm.AppropriateSpeed canDependOn RobotArm.AttributeTestSource as dependency2 ;
// --- mapping definitions ---
ParseLinkState maps byte[] bytes to panda.Linkstate.PandaLinkState {:
@@ -18,8 +17,7 @@ SerializeRobotConfig maps config.Robotconfig.RobotConfig rc to byte[] {:
LinkStateToIntPosition maps panda.Linkstate.PandaLinkState pls to IntPosition {:
panda.Linkstate.PandaLinkState.Position p = pls.getPos();
- { int i = 0; }
- return IntPosition.of((int) p.getPositionX(), (int) p.getPositionY(), (int) p.getPositionZ());
+ return IntPosition.of((int) (10 * p.getPositionX()), (int) (10 * p.getPositionY()), (int) (10 * p.getPositionZ()));
:}
CreateSpeedMessage maps double speed to config.Robotconfig.RobotConfig {:
diff --git a/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/DefaultOnlyReadTest.java b/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/DefaultOnlyReadTest.java
index 3594cfd1a946ba42f65def205aa821354dba50e2..c82e9ca1e1642dbf9589760a03f8d2164a5ff424 100644
--- a/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/DefaultOnlyReadTest.java
+++ b/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/DefaultOnlyReadTest.java
@@ -106,7 +106,7 @@ public class DefaultOnlyReadTest extends AbstractMqttTest {
sender.publish(TOPIC_BOXED_DOUBLE, ByteBuffer.allocate(8).putDouble(expectedDoubleValue).array());
sender.publish(TOPIC_BOXED_CHARACTER, ByteBuffer.allocate(2).putChar(expectedCharValue).array());
- TimeUnit.SECONDS.sleep(2);
+ TestUtils.waitForMqtt();
assertEquals(expectedIntValue, integers.getIntValue());
assertEquals(expectedShortValue, integers.getShortValue());
diff --git a/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/DefaultOnlyWriteTest.java b/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/DefaultOnlyWriteTest.java
index df4a22f5835df09a407595392a4969e7af9ee6f2..a48228e0ad13555016cb86b5de87fe00fcf88fdb 100644
--- a/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/DefaultOnlyWriteTest.java
+++ b/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/DefaultOnlyWriteTest.java
@@ -67,21 +67,21 @@ public class DefaultOnlyWriteTest extends AbstractMqttTest {
setupReceiverAndConnect(true);
// check initial value
- TimeUnit.SECONDS.sleep(2);
+ TestUtils.waitForMqtt();
checkData(1, 1, 1.1, 'a', "ab");
// set new value
setData("2", "2.2", "cd");
// check new value
- TimeUnit.SECONDS.sleep(2);
+ TestUtils.waitForMqtt();
checkData(2, 2, 2.2, 'c', "cd");
// set new value
setData("3", "3.2", "ee");
// check new value
- TimeUnit.SECONDS.sleep(2);
+ TestUtils.waitForMqtt();
checkData(3, 3, 3.2, 'e', "ee");
}
@@ -92,21 +92,21 @@ public class DefaultOnlyWriteTest extends AbstractMqttTest {
setupReceiverAndConnect(false);
// check initial value (will be default values)
- TimeUnit.SECONDS.sleep(2);
+ TestUtils.waitForMqtt();
checkData(0, null, null, null, null);
// set new value
setData("2", "2.2", "cd");
// check new value
- TimeUnit.SECONDS.sleep(2);
+ TestUtils.waitForMqtt();
checkData(1, 2, 2.2, 'c', "cd");
// set new value
setData("3", "3.2", "ee");
// check new value
- TimeUnit.SECONDS.sleep(2);
+ TestUtils.waitForMqtt();
checkData(2, 3, 3.2, 'e', "ee");
}
diff --git a/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/ExampleTest.java b/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/ExampleTest.java
index c22861e996826eaf720a33fe9e0c02f7b110978e..7f8abd9ac7fda8568ea2d1fce3b6c0b33960706a 100644
--- a/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/ExampleTest.java
+++ b/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/ExampleTest.java
@@ -5,10 +5,9 @@ import config.Robotconfig.RobotConfig;
import example.ast.*;
import org.junit.jupiter.api.AfterEach;
import org.junit.jupiter.api.Test;
+import panda.Linkstate;
import java.io.IOException;
-import java.util.ArrayList;
-import java.util.List;
import java.util.concurrent.TimeUnit;
import static org.junit.jupiter.api.Assertions.*;
@@ -22,16 +21,19 @@ public class ExampleTest extends AbstractMqttTest {
private static final String TOPIC_CONFIG = "robot/config";
private static final String TOPIC_JOINT1 = "robot/arm/joint1";
+ private static final String TOPIC_JOINT2 = "robot/arm/joint2";
private Model model;
private RobotArm robotArm;
private Joint joint1;
- private MqttUpdater receiver;
+ private Joint joint2;
+ private MqttUpdater handler;
+ private ReceiverData data;
@AfterEach
public void closeConnections() {
- if (receiver != null) {
- receiver.close();
+ if (handler != null) {
+ handler.close();
}
if (model != null) {
model.MqttCloseConnections();
@@ -44,49 +46,116 @@ public class ExampleTest extends AbstractMqttTest {
}
@Test
- public void communicate() throws IOException, InterruptedException {
+ public void communicateSendInitialValue() throws IOException, InterruptedException {
createModel();
- List<RobotConfig> receivedConfigs = new ArrayList<>();
+ setupReceiverAndConnect(true);
- createListener(receivedConfigs);
-
- model.MqttSetHost(TestUtils.getMqttHost());
- assertTrue(model.MqttWaitUntilReady(2, TimeUnit.SECONDS));
// joint is currently within the safety zone, so speed should be low
- robotArm.connectAppropriateSpeed(TOPIC_CONFIG, true);
- joint1.connectCurrentPosition(TOPIC_JOINT1);
+ TestUtils.waitForMqtt();
+ assertEquals(1, data.numberOfConfigs);
+ assertFalse(data.failedLastConversion);
+ assertEquals(robotArm.speedLow(), data.lastConfig.getSpeed(), TestUtils.DELTA);
+
+ // change position of the first joint out of the safety zone, second still in
+ sendData(TOPIC_JOINT1, 0.2f, 0.2f, 0.2f);
+
+ // still in safety zone, so no update should have been sent
+ TestUtils.waitForMqtt();
+ assertEquals(makePosition(2, 2, 2), joint1.getCurrentPosition());
+ assertEquals(1, data.numberOfConfigs);
+ assertFalse(data.failedLastConversion);
+ assertEquals(robotArm.speedLow(), data.lastConfig.getSpeed(), TestUtils.DELTA);
+
+ // change position of second joint also out of the safety zone, now speed must be high
+ sendData(TOPIC_JOINT2, 0.3f, 0.4f, 0.5f);
+
+ TestUtils.waitForMqtt();
+ assertEquals(makePosition(3, 4, 5), joint2.getCurrentPosition());
+ assertEquals(2, data.numberOfConfigs);
+ assertFalse(data.failedLastConversion);
+ assertEquals(robotArm.speedHigh(), data.lastConfig.getSpeed(), TestUtils.DELTA);
+
+ // change position of second joint, still out of the safety zone, no update should be sent
+ sendData(TOPIC_JOINT2, 1.3f, 2.4f, 3.5f);
+
+ TestUtils.waitForMqtt();
+ assertEquals(makePosition(13, 24, 35), joint2.getCurrentPosition());
+ assertEquals(2, data.numberOfConfigs);
+ }
+
+ @Test
+ public void communicateOnlyUpdatedValue() throws IOException, InterruptedException {
+ createModel();
+ setupReceiverAndConnect(false);
- // now change the position of the joint out of the safety zone
- joint1.setCurrentPosition(makePosition(2, 2, 2));
+ // no value should have been sent
+ TestUtils.waitForMqtt();
+ assertEquals(0, data.numberOfConfigs);
- // and wait for MQTT to send/receive messages
- TimeUnit.SECONDS.sleep(2);
+ // change position of the first joint out of the safety zone, second still in
+ sendData(TOPIC_JOINT1, 0.2f, 0.2f, 0.2f);
- // there should be two configs received by now (the initial one, and the updated)
- assertEquals(2, receivedConfigs.size());
- RobotConfig actualInitialConfig = receivedConfigs.get(0);
- assertEquals(robotArm.speedLow(), actualInitialConfig.getSpeed(), TestUtils.DELTA);
+ // still in safety zone, first update should have been sent
+ TestUtils.waitForMqtt();
+ assertEquals(makePosition(2, 2, 2), joint1.getCurrentPosition());
+ assertEquals(0, data.numberOfConfigs);
- RobotConfig actualUpdatedConfig = receivedConfigs.get(1);
- assertEquals(robotArm.speedHigh(), actualUpdatedConfig.getSpeed(), TestUtils.DELTA);
+ // change position of second joint also out of the safety zone, now speed must be high
+ sendData(TOPIC_JOINT2, 0.3f, 0.4f, 0.5f);
+
+ TestUtils.waitForMqtt();
+ assertEquals(makePosition(3, 4, 5), joint2.getCurrentPosition());
+ assertEquals(1, data.numberOfConfigs);
+ assertFalse(data.failedLastConversion);
+ assertEquals(robotArm.speedHigh(), data.lastConfig.getSpeed(), TestUtils.DELTA);
+
+ // change position of second joint, still out of the safety zone, no update should be sent
+ sendData(TOPIC_JOINT2, 1.3f, 2.4f, 3.5f);
+
+ TestUtils.waitForMqtt();
+ assertEquals(makePosition(13, 24, 35), joint2.getCurrentPosition());
+ assertEquals(1, data.numberOfConfigs);
}
- private void createListener(List<RobotConfig> receivedConfigs) {
- receiver = new MqttUpdater("receiver");
- try {
- receiver.setHost(TestUtils.getMqttHost(), TestUtils.getMqttDefaultPort());
- } catch (IOException e) {
- fail("Could not set host: " + e.getMessage());
- }
- assertTrue(receiver.waitUntilReady(2, TimeUnit.SECONDS));
- receiver.newConnection(TOPIC_CONFIG, bytes -> {
+ private void sendData(String topic, float x, float y, float z) {
+ handler.publish(topic, Linkstate.PandaLinkState.newBuilder()
+ .setPos(Linkstate.PandaLinkState.Position.newBuilder()
+ .setPositionX(x)
+ .setPositionY(y)
+ .setPositionZ(z)
+ .build())
+ .build()
+ .toByteArray()
+ );
+ }
+
+ private void setupReceiverAndConnect(boolean writeCurrentValue) throws IOException {
+ model.MqttSetHost(TestUtils.getMqttHost());
+ assertTrue(model.MqttWaitUntilReady(2, TimeUnit.SECONDS));
+
+ handler = new MqttUpdater().dontSendWelcomeMessage().setHost(TestUtils.getMqttHost());
+ assertTrue(handler.waitUntilReady(2, TimeUnit.SECONDS));
+
+ // add dependencies
+ robotArm.addDependency1(joint1);
+ robotArm.addDependency1(joint2);
+ robotArm.addDependency1(robotArm.getEndEffector());
+
+ data = new ReceiverData();
+
+ handler.newConnection(TOPIC_CONFIG, bytes -> {
+ data.numberOfConfigs += 1;
try {
- RobotConfig config = RobotConfig.parseFrom(bytes);
- receivedConfigs.add(config);
+ data.lastConfig = RobotConfig.parseFrom(bytes);
+ data.failedLastConversion = false;
} catch (InvalidProtocolBufferException e) {
- fail("Received bad config: " + e.getMessage());
+ data.failedLastConversion = true;
}
});
+
+ robotArm.connectAppropriateSpeed(TOPIC_CONFIG, writeCurrentValue);
+ joint1.connectCurrentPosition(TOPIC_JOINT1);
+ joint2.connectCurrentPosition(TOPIC_JOINT2);
}
private void createModel() {
@@ -95,41 +164,44 @@ public class ExampleTest extends AbstractMqttTest {
ZoneModel zoneModel = new ZoneModel();
zoneModel.setSize(makePosition(1, 1, 1));
- IntPosition myPosition = makePosition(0, 0, 0);
- Coordinate myCoordinate = new Coordinate(myPosition);
- Coordinate leftPosition = new Coordinate(makePosition(-1, 0, 0));
- Coordinate rightPosition = new Coordinate(makePosition(1, 0, 0));
+ IntPosition firstPosition = makePosition(0, 0, 0);
+ IntPosition secondPosition = makePosition(-1, 0, 0);
+ IntPosition thirdPosition = makePosition(1, 0, 0);
Zone safetyZone = new Zone();
- safetyZone.addCoordinate(myCoordinate);
- safetyZone.addCoordinate(leftPosition);
- safetyZone.addCoordinate(rightPosition);
+ safetyZone.addCoordinate(new Coordinate(firstPosition));
+ safetyZone.addCoordinate(new Coordinate(secondPosition));
+ safetyZone.addCoordinate(new Coordinate(thirdPosition));
zoneModel.addSafetyZone(safetyZone);
model.setZoneModel(zoneModel);
robotArm = new RobotArm();
- robotArm.setAttributeTestSource(1); // set initial value, no trigger
joint1 = new Joint();
joint1.setName("joint1");
- joint1.setCurrentPosition(myPosition);
+ joint1.setCurrentPosition(firstPosition);
+
+ joint2 = new Joint();
+ joint2.setName("joint2");
+ joint2.setCurrentPosition(secondPosition);
EndEffector endEffector = new EndEffector();
endEffector.setName("gripper");
endEffector.setCurrentPosition(makePosition(2, 2, 3));
robotArm.addJoint(joint1);
+ robotArm.addJoint(joint2);
robotArm.setEndEffector(endEffector);
model.setRobotArm(robotArm);
-
- // add dependencies
- robotArm.addDependency1(joint1);
- robotArm.addDependency1(endEffector);
- robotArm.addDependency2(robotArm);
}
private static IntPosition makePosition(int x, int y, int z) {
return IntPosition.of(x, y, z);
}
+ private static class ReceiverData {
+ RobotConfig lastConfig;
+ boolean failedLastConversion = true;
+ int numberOfConfigs = 0;
+ }
}
diff --git a/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/Read1Write2Test.java b/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/Read1Write2Test.java
index 9c151da32e5ca12c1dea1ec4e23e4c3168ca4910..e57c78a4c3c0a7f4ba9b8fc90e31b8b072f27e97 100644
--- a/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/Read1Write2Test.java
+++ b/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/Read1Write2Test.java
@@ -59,28 +59,28 @@ public class Read1Write2Test extends AbstractMqttTest {
setupReceiverAndConnect(true);
// check initial value
- TimeUnit.SECONDS.sleep(2);
+ TestUtils.waitForMqtt();
checkData(1, Integer.parseInt(INITIAL_VALUE), prefixed(INITIAL_VALUE), 1, Integer.parseInt(INITIAL_VALUE), prefixed(INITIAL_VALUE));
// set new value
sendData("2", "3");
// check new value
- TimeUnit.SECONDS.sleep(2);
+ TestUtils.waitForMqtt();
checkData(2, 2, prefixed("2"), 2, 3, prefixed("3"));
// set new value
sendData("4", "4");
// check new value
- TimeUnit.SECONDS.sleep(2);
+ TestUtils.waitForMqtt();
checkData(3, 4, prefixed("4"), 3, 4, prefixed("4"));
// set new value only for same
setDataOnlySame("77");
// check new value
- TimeUnit.SECONDS.sleep(2);
+ TestUtils.waitForMqtt();
checkData(4, 77, prefixed("77"), 3, 4, prefixed("4"));
}
@@ -94,28 +94,28 @@ public class Read1Write2Test extends AbstractMqttTest {
setupReceiverAndConnect(false);
// check initial value
- TimeUnit.SECONDS.sleep(2);
+ TestUtils.waitForMqtt();
checkData(0, null, null, 0, null, null);
// set new value
sendData("2", "3");
// check new value
- TimeUnit.SECONDS.sleep(2);
+ TestUtils.waitForMqtt();
checkData(1, 2, prefixed("2"), 1, 3, prefixed("3"));
// set new value
sendData("4", "4");
// check new value
- TimeUnit.SECONDS.sleep(2);
+ TestUtils.waitForMqtt();
checkData(2, 4, prefixed("4"), 2, 4, prefixed("4"));
// set new value only for same
setDataOnlySame("77");
// check new value
- TimeUnit.SECONDS.sleep(2);
+ TestUtils.waitForMqtt();
checkData(3, 77, prefixed("77"), 2, 4, prefixed("4"));
}
diff --git a/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/Read2Write1Test.java b/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/Read2Write1Test.java
index 6c2b37b83629b245add25fd35659b7ce0ea0185a..ef741400d6bb86edffe804ef2414361f64046761 100644
--- a/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/Read2Write1Test.java
+++ b/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/Read2Write1Test.java
@@ -58,7 +58,7 @@ public class Read2Write1Test extends AbstractMqttTest {
setupReceiverAndConnect(true);
// check initial value
- TimeUnit.SECONDS.sleep(2);
+ TestUtils.waitForMqtt();
checkData(1, Integer.parseInt(INITIAL_VALUE + INITIAL_VALUE),
1, Integer.parseInt(INITIAL_VALUE + INITIAL_VALUE));
@@ -66,7 +66,7 @@ public class Read2Write1Test extends AbstractMqttTest {
sendData(true, "2", true, "3");
// check new value. same: 2, 0. different: 3, 0.
- TimeUnit.SECONDS.sleep(2);
+ TestUtils.waitForMqtt();
checkData(2, 20,
2, 30);
@@ -74,7 +74,7 @@ public class Read2Write1Test extends AbstractMqttTest {
sendData(false, "4", false, "4");
// check new value. same: 2, 4. different: 3, 4.
- TimeUnit.SECONDS.sleep(2);
+ TestUtils.waitForMqtt();
checkData(3, 24,
3, 34);
@@ -82,7 +82,7 @@ public class Read2Write1Test extends AbstractMqttTest {
setDataOnlySame(true, "77");
// check new value. same: 77, 4. different: 3, 4.
- TimeUnit.SECONDS.sleep(2);
+ TestUtils.waitForMqtt();
checkData(4, 774,
3, 34);
}
@@ -97,7 +97,7 @@ public class Read2Write1Test extends AbstractMqttTest {
setupReceiverAndConnect(false);
// check initial value
- TimeUnit.SECONDS.sleep(2);
+ TestUtils.waitForMqtt();
checkData(0, null,
0, null);
@@ -105,7 +105,7 @@ public class Read2Write1Test extends AbstractMqttTest {
sendData(true, "2", true, "3");
// check new value. same: 2, 0. different: 3, 0.
- TimeUnit.SECONDS.sleep(2);
+ TestUtils.waitForMqtt();
checkData(1, 20,
1, 30);
@@ -113,7 +113,7 @@ public class Read2Write1Test extends AbstractMqttTest {
sendData(false, "4", false, "4");
// check new value. same: 2, 4. different: 3, 4.
- TimeUnit.SECONDS.sleep(2);
+ TestUtils.waitForMqtt();
checkData(2, 24,
2, 34);
@@ -121,7 +121,7 @@ public class Read2Write1Test extends AbstractMqttTest {
setDataOnlySame(true, "77");
// check new value. same: 77, 4. different: 3, 4.
- TimeUnit.SECONDS.sleep(2);
+ TestUtils.waitForMqtt();
checkData(3, 774,
2, 34);
}
diff --git a/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/TestUtils.java b/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/TestUtils.java
index d0c03c9221023005f7896abf681f6627609ebed5..05db73e8790a25dd9d730ea637e8be500d568d5f 100644
--- a/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/TestUtils.java
+++ b/ros2rag.tests/src/test/java/org/jastadd/ros2rag/tests/TestUtils.java
@@ -5,6 +5,7 @@ import java.io.IOException;
import java.nio.charset.Charset;
import java.nio.file.Files;
import java.nio.file.Paths;
+import java.util.concurrent.TimeUnit;
/**
* Utility methods for tests.
@@ -58,4 +59,7 @@ public class TestUtils {
return new String(encoded, encoding);
}
+ static void waitForMqtt() throws InterruptedException {
+ TimeUnit.SECONDS.sleep(2);
+ }
}