From e81f706abe73bed4f7f4636a706b8c25ffe8fac1 Mon Sep 17 00:00:00 2001
From: Martin Dahl <martin.dahl@gmail.com>
Date: Wed, 13 Dec 2023 12:44:17 +0100
Subject: [PATCH] Break out raw subscription test to own file and remove
 panics.

---
 r2r/tests/tokio_test_raw.rs | 65 +++++++++++++++++++++++++++++++++
 r2r/tests/tokio_testing.rs  | 72 -------------------------------------
 2 files changed, 65 insertions(+), 72 deletions(-)
 create mode 100644 r2r/tests/tokio_test_raw.rs

diff --git a/r2r/tests/tokio_test_raw.rs b/r2r/tests/tokio_test_raw.rs
new file mode 100644
index 0000000..e619449
--- /dev/null
+++ b/r2r/tests/tokio_test_raw.rs
@@ -0,0 +1,65 @@
+use futures::stream::StreamExt;
+use r2r::QosProfile;
+use tokio::task;
+
+#[tokio::test(flavor = "multi_thread")]
+async fn tokio_subscribe_raw_testing() -> Result<(), Box<dyn std::error::Error>> {
+    let ctx = r2r::Context::create()?;
+    let mut node = r2r::Node::create(ctx, "testnode2", "")?;
+
+    let mut sub_int = node.subscribe_raw("/int", "std_msgs/msg/Int32", QosProfile::default())?;
+
+    let mut sub_array =
+        node.subscribe_raw("/int_array", "std_msgs/msg/Int32MultiArray", QosProfile::default())?;
+
+    let pub_int =
+        node.create_publisher::<r2r::std_msgs::msg::Int32>("/int", QosProfile::default())?;
+
+    // Use an array as well since its a variable sized type
+    let pub_array = node.create_publisher::<r2r::std_msgs::msg::Int32MultiArray>(
+        "/int_array",
+        QosProfile::default(),
+    )?;
+
+    task::spawn(async move {
+        tokio::time::sleep(std::time::Duration::from_millis(100)).await;
+        (0..10).for_each(|i| {
+            pub_int
+                .publish(&r2r::std_msgs::msg::Int32 { data: i })
+                .unwrap();
+
+            pub_array
+                .publish(&r2r::std_msgs::msg::Int32MultiArray {
+                    layout: r2r::std_msgs::msg::MultiArrayLayout::default(),
+                    data: vec![i],
+                })
+                .unwrap();
+        });
+    });
+
+    let sub_int_handle = task::spawn(async move {
+        while let Some(msg) = sub_int.next().await {
+            println!("Got int msg of len {}", msg.len());
+            assert_eq!(msg.len(), 8);
+        }
+    });
+
+    let sub_array_handle = task::spawn(async move {
+        while let Some(msg) = sub_array.next().await {
+            println!("Got array msg of len {}", msg.len());
+            assert_eq!(msg.len(), 20);
+        }
+    });
+
+    let handle = std::thread::spawn(move || {
+        for _ in 1..=30 {
+            node.spin_once(std::time::Duration::from_millis(100));
+        }
+    });
+
+    sub_int_handle.await?;
+    sub_array_handle.await?;
+    handle.join().unwrap();
+
+    Ok(())
+}
diff --git a/r2r/tests/tokio_testing.rs b/r2r/tests/tokio_testing.rs
index 17023f8..0736cb5 100644
--- a/r2r/tests/tokio_testing.rs
+++ b/r2r/tests/tokio_testing.rs
@@ -61,75 +61,3 @@ async fn tokio_testing() -> Result<(), Box<dyn std::error::Error>> {
     assert_eq!(x, 19);
     Ok(())
 }
-
-#[tokio::test(flavor = "multi_thread")]
-async fn tokio_subscribe_raw_testing() -> Result<(), Box<dyn std::error::Error>> {
-    let ctx = r2r::Context::create()?;
-    let mut node = r2r::Node::create(ctx, "testnode", "")?;
-
-    let mut sub_int = node.subscribe_raw("/int", "std_msgs/msg/Int32", QosProfile::default())?;
-
-    let mut sub_array =
-        node.subscribe_raw("/int_array", "std_msgs/msg/Int32MultiArray", QosProfile::default())?;
-
-    let pub_int =
-        node.create_publisher::<r2r::std_msgs::msg::Int32>("/int", QosProfile::default())?;
-
-    // Use an array as well since its a variable sized type
-    let pub_array = node.create_publisher::<r2r::std_msgs::msg::Int32MultiArray>(
-        "/int_array",
-        QosProfile::default(),
-    )?;
-
-    task::spawn(async move {
-        (0..10).for_each(|i| {
-            pub_int
-                .publish(&r2r::std_msgs::msg::Int32 { data: i })
-                .unwrap();
-
-            pub_array
-                .publish(&r2r::std_msgs::msg::Int32MultiArray {
-                    layout: r2r::std_msgs::msg::MultiArrayLayout::default(),
-                    data: vec![i],
-                })
-                .unwrap();
-        });
-    });
-
-    let sub_int_handle = task::spawn(async move {
-        while let Some(msg) = sub_int.next().await {
-            println!("Got int msg of len {}", msg.len());
-
-            // assert_eq!(msg.len(), 4);
-            // TODO is there padding or something?
-            assert_eq!(msg.len(), 8);
-
-            // assert_eq!(msg,)
-        }
-
-        panic!("int msg finished");
-    });
-
-    let sub_array_handle = task::spawn(async move {
-        while let Some(msg) = sub_array.next().await {
-            println!("Got array msg of len {}", msg.len());
-            // assert_eq!(msg.data, )
-        }
-
-        panic!("array msg finished");
-    });
-
-    let handle = std::thread::spawn(move || {
-        for _ in 1..=30 {
-            node.spin_once(std::time::Duration::from_millis(100));
-        }
-    });
-
-    handle.join().unwrap();
-
-    // This means something panicked ..
-    assert!(!sub_int_handle.is_finished());
-    assert!(!sub_array_handle.is_finished());
-
-    Ok(())
-}