Fix: correct bugs in test files

Author: minggangw

test/client_setup.js

@@ -37,7 +37,6 @@ rclnodejs
     rclnodejs.spin(node);
 
     process.on('SIGINT', function () {
-      timer.cancel();
       node.destroy();
       rclnodejs.shutdown();
       process.exit(0);

test/test-lifecycle.js

@@ -260,9 +260,9 @@ describe('LifecycleNode test suite', function () {
         transitions[1].transition.id === 6
     ); // shutdown
     assert.ok(
-      transitions[1].transition.id === 2 || // cleanup
-        transitions[1].transition.id === 3 || // activate
-        transitions[1].transition.id === 6
+      transitions[2].transition.id === 2 || // cleanup
+        transitions[2].transition.id === 3 || // activate
+        transitions[2].transition.id === 6
     ); // shutdown
   });
 

test/test-parameter-service.js

@@ -251,7 +251,7 @@ describe('Parameter_server tests', function () {
 
       // A.p3 value
       const p3 = Parameter.fromParameterMessage({
-        name: 'p1',
+        name: 'A.p3',
         value: response.values[1],
       });
       assert.equal(p3.type, ParameterType.PARAMETER_BOOL);

test/test-rate.js

@@ -107,5 +107,12 @@ describe('rclnodejs rate test suite', function () {
       arr.reduce((prev, cur) => {
         return prev + cur;
       }, 0) / dataSize;
+
+    // avg sleep time should be within a reasonable range of the expected period
+    const expectedPeriod = 1000 / hz; // 1ms
+    assert.ok(
+      avg < expectedPeriod * 5,
+      `Average sleep time ${avg}ms exceeded 5x the expected period ${expectedPeriod}ms`
+    );
   });
 });

test/test-utils.js

@@ -45,8 +45,6 @@ describe('Utils testing', function () {
     await utils.ensureDir(dir);
   });
 
-  it('should valid ensureDirSync works correctly', function () {});
-
   it('should verify ensureDirSync works correctly', function () {
     const dir = path.join(tmpDir, 'nested/sync/dir');
     utils.ensureDirSync(dir);

test/types/index.test-d.ts

@@ -472,7 +472,6 @@ const actionClient = new rclnodejs.ActionClient(
 expectType<rclnodejs.ActionClient<'example_interfaces/action/Fibonacci'>>(
   actionClient
 );
-expectType<boolean>(client.isServiceServerAvailable());
 expectType<Promise<boolean>>(actionClient.waitForServer());
 expectType<void>(actionClient.destroy());