Mitigate test flakyness (#207)

Signed-off-by: Michel Hidalgo <mhidalgo@theaiinstitute.com>

Author: mhidalgo-rai

synchros2/synchros2/logging.py

@@ -93,6 +93,14 @@ def log(message: str) -> bool:
     return log
 
 
+def clear_logging_caches() -> None:
+    """Clears the caches of memoized logging functions.
+
+    This is useful for testing purposes, to avoid interference between tests due to cached logging functions.
+    """
+    make_logging_function.cache_clear()
+
+
 class MemoizingRcutilsLogger:
     """An alternative, more efficient implementation of RcutilsLogger.
 

synchros2/test/test_logging.py

@@ -9,7 +9,7 @@
 from rclpy.time import Time
 
 from synchros2.futures import unwrap_future
-from synchros2.logging import LoggingSeverity, logs_to_ros
+from synchros2.logging import LoggingSeverity, clear_logging_caches, logs_to_ros
 from synchros2.scope import ROSAwareScope
 from synchros2.subscription import Subscription
 
@@ -29,6 +29,7 @@ def callback(message: Log) -> None:
 
     logger = verbose_ros.node.get_logger()
     logger.set_level(LoggingSeverity.INFO)
+    clear_logging_caches()  # ensure no interference from previous tests
 
     assert not logger.debug("Debug message should not be logged")
 

synchros2/test/test_tf_listener_wrapper.py

@@ -86,8 +86,7 @@ def test_existing_transform(ros: ROSAwareScope, tf_pair: Tuple[MockTfPublisherNo
     timestamp = ros.node.get_clock().now()
     trans = Transform(translation=Vector3(x=1.0, y=2.0, z=3.0), rotation=Quaternion(w=1.0, x=0.0, y=0.0, z=0.0))
     tf_publisher.publish_transform(trans, timestamp)
-    time.sleep(0.2)
-    t = tf_listener.lookup_a_tform_b(FRAME_ID, CHILD_FRAME_ID, timestamp)
+    t = tf_listener.lookup_a_tform_b(FRAME_ID, CHILD_FRAME_ID, timestamp, timeout_sec=10.0, wait_for_frames=True)
     assert equal_transform(t.transform, trans)