Add timeout for ReadyToTest action

launch_testing/launch_testing/launch_test.py

@@ -56,6 +56,12 @@ def add_arguments(parser):
         '--junit-xml', action='store', dest='xmlpath', default=None,
         help='Do write xUnit reports to specified path.'
     )
+    parser.add_argument(
+        '--timeout', type=float, default=15.0,
+        help='Maximum duration for which the ReadyToTest action waits for the processes'
+             'to start up, if processes take more time than the one specified by timeout'
+             'an error is thrown. By default timeout is 15 seconds.'
+    )
 
 
 def parse_arguments():
@@ -92,7 +98,8 @@ def run(parser, args, test_runner_cls=LaunchTestRunner):
     runner = test_runner_cls(
         test_runs=test_runs,
         launch_file_arguments=args.launch_arguments,
-        debug=args.verbose
+        debug=args.verbose,
+        timeout=args.timeout
     )
 
     _logger_.debug('Validating test configuration')

launch_testing/launch_testing/test_runner.py

@@ -40,13 +40,15 @@ def __init__(self,
                  test_run,
                  test_run_preamble,
                  launch_file_arguments=[],
-                 debug=False):
+                 debug=False,
+                 timeout=15.0):
         self._test_run = test_run
         self._test_run_preamble = test_run_preamble
         self._launch_service = LaunchService(debug=debug)
         self._processes_launched = threading.Event()  # To signal when all processes started
         self._tests_completed = threading.Event()  # To signal when all the tests have finished
         self._launch_file_arguments = launch_file_arguments
+        self._timeout = timeout  # timeout for ReadyToTest Action
 
         # Can't run LaunchService.run on another thread :-(
         # See https://github.com/ros2/launch/issues/126
@@ -181,7 +183,7 @@ def _run_test(self):
         # Waits for the DUT processes to start (signaled by the _processes_launched
         # event) and then runs the tests
 
-        if not self._processes_launched.wait(timeout=15):
+        if not self._processes_launched.wait(self._timeout):
             # Timed out waiting for the processes to start
             print('Timed out waiting for processes to start up')
             self._launch_service.shutdown()
@@ -217,7 +219,8 @@ class LaunchTestRunner(object):
     def __init__(self,
                  test_runs,
                  launch_file_arguments=[],
-                 debug=False):
+                 debug=False,
+                 timeout=15.0):
         """
         Create an LaunchTestRunner object.
 
@@ -229,6 +232,7 @@ def __init__(self,
         self._test_runs = test_runs
         self._launch_file_arguments = launch_file_arguments
         self._debug = debug
+        self._timeout = timeout  # timeout for ReadyToTest Action
 
     def generate_preamble(self):
         """Generate a launch description preamble for a test to be run with."""
@@ -252,7 +256,8 @@ def run(self):
                     run,
                     self.generate_preamble(),
                     self._launch_file_arguments,
-                    self._debug)
+                    self._debug,
+                    self._timeout)
                 results[run] = worker.run()
             except unittest.case.SkipTest as skip_exception:
                 # If a 'skip' decorator was placed on the generate_test_description function,

launch_testing/test/launch_testing/examples/ready_action_timeout_launch_test.py

@@ -0,0 +1,29 @@
+# Copyright 2022 Apex.AI, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import launch
+import launch_testing
+from launch.actions import TimerAction
+from launch_testing.actions import ReadyToTest
+
+import pytest
+
+
+@pytest.mark.launch_test
+def generate_test_description():
+    # takes 5 sec for the TimerAction process to start
+    return launch.LaunchDescription([
+        launch_testing.util.KeepAliveProc(),
+        TimerAction(period=5.0, actions=[ReadyToTest()]),
+    ])

launch_testing/test/launch_testing/test_ready_action_timeout.py

@@ -0,0 +1,70 @@
+# Copyright 2022 Apex.AI, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+import subprocess
+
+import ament_index_python
+
+
+def test_ready_action_within_timeout_duration():
+    testpath = os.path.join(
+        ament_index_python.get_package_share_directory('launch_testing'),
+        'examples',
+        'ready_action_timeout_launch_test.py',
+    )
+
+    # the process takes 5sec to start which is within the
+    # timeout duration of 20sec specified by ReadyToTest action.
+    completed_process = subprocess.run(
+        args=[
+            'launch_test',
+            '--timeout',
+            '20.0',
+            testpath
+        ],
+        stdout=subprocess.PIPE,
+        stderr=subprocess.PIPE,
+    )
+
+    # success
+    assert 0 == completed_process.returncode
+
+
+# the process takes longer time to startup than the one
+# specified by ReadyToTest action timeout duration.
+def test_ready_action_exceed_timeout_duration():
+    testpath = os.path.join(
+        ament_index_python.get_package_share_directory('launch_testing'),
+        'examples',
+        'ready_action_timeout_launch_test.py',
+    )
+
+    # the process takes around 5 sec to start which exceeds the
+    # 2 sec timeout duration specified by ReadyToTest action.
+    completed_process = subprocess.run(
+        args=[
+            'launch_test',
+            '--timeout',
+            '2.0',
+            testpath
+        ],
+        stdout=subprocess.PIPE,
+        stderr=subprocess.PIPE,
+    )
+
+    # fail
+    assert 1 == completed_process.returncode
+    assert 'Timed out waiting for processes to start up' in \
+           completed_process.stdout.decode()