Add timeout for ReadyToTest action

launch_testing/launch_testing/launch_test.py

@@ -56,7 +56,10 @@ 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='timeout for ReadyToTest action'
+    )
 
 def parse_arguments():
     parser = argparse.ArgumentParser(
@@ -92,7 +95,8 @@ 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):
         """
         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/test_launch_test_runner_validation.py

@@ -167,3 +167,24 @@ def generate_test_description(my_param):
 
         dut.validate()  # Make sure this passes initial validation (probably redundant with above)
         runs[0].normalized_test_description(ready_fn=lambda: None)
+
+    def test_launch_description_with_ready_action_changed_timeout(self):
+
+        def generate_test_description():
+            return launch.LaunchDescription([
+                launch.actions.TimerAction(
+                    period=17.0,  # takes 17 sec for this action to startup
+                    actions=[ReadyToTest()]
+                )
+            ])
+
+        runs = make_test_run_for_dut(generate_test_description)
+        dut = LaunchTestRunner(
+            test_runs=runs,
+            launch_file_arguments=[],
+            debug=False,
+            timeout=20.0  # increase the timeout giving the time for process to startup
+        )
+
+        dut.validate()  # Make sure this passes initial validation (probably redundant with above)
+        runs[0].normalized_test_description(ready_fn=lambda: None)