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test-dds-md-syncer remove checks for intervined callbacks #13688

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Jan 19, 2025
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test-dds-md-syncer remove checks for intervined callbacks #13688

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48 changes: 33 additions & 15 deletions unit-tests/dds/test-md-syncer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -341,20 +341,40 @@ def md_thread():
test.check_equal( md_id( last_metadata() ), 9 )
test.check_equal( len(dropped_metadata), 0 )

with test.closure( 'Two threads, slow callback -> different callbacks intervined' ):
with test.closure( 'Two threads, slow callback -> different callbacks interleaved' ):
"""
Test correct handling of this scenario: (incorrect handling can trigger an exception)
Thread A enqueues frame0
Thread A enqueues frame1
Thread B enqueues metadata1
hadndle_frame_without_metadata( frame0 ) calls user callback in thread B context
while the callback is handled thread A enqueues frame2
handle_match( frame1, metadata1 ) calls user callback in thread A context
Test correct handling of interleaved callbacks (incorrect handling can trigger an exception)
Based on machine and scheduler several scenarios that test this can happen:
Scenario 1:
Thread A enqueues frame0
Thread A enqueues frame1
Thread B enqueues metadata1
handle_frame_without_metadata( frame0 ) calls user callback in thread B context
while the callback is handled thread A enqueues frame2
handle_match( frame1, metadata1 ) calls user callback in thread A context
Scenario 2:
Thread A enqueues frame0
Thread B enqueues metadata1
handle_frame_without_metadata( frame0 ) calls user callback in thread B context
while the callback is handled thread A enqueues frame1
handle_match( frame1, metadata1 ) calls user callback in thread A context
Thread A enqueues frame2
Scenario 3:
Thread A enqueues frame0
Thread A enqueues frame1
Thread A enqueues frame2
handle_frame_without_metadata( frame0 ) calls user callback in thread A context
while the callback is handled thread B enqueues metadata1
handle_match( frame1, metadata1 ) calls user callback in thread B context

There is a small chance that frame1 will be appended to received_frames before frame0 so remove checks that depend on order.
"""

def frame_callback( image, metadata ):
on_frame_ready( image, metadata ) # for reporting
sleep( 0.2 )
# Not using on_frame_ready function to avoid last_image < image_id check defined there.
log.d( f'{image_id(image):-<4}> {dds.now()} [{threading.get_native_id()}] frame ready: {image=} {metadata=}' )
received_frames.append( frame( image, metadata ))
sleep( 0.1 )
log.d( f'<{image_id(image):->4} {dds.now()} [{threading.get_native_id()}]' )

syncer = new_syncer( on_frame_ready=frame_callback )
Expand All @@ -366,18 +386,16 @@ def frame_thread():
idstr = f'i{image_id(image)}'
log.d( f'{idstr:>5} {dds.now()} [{threadid}] enqueue {image}' )
syncer.enqueue_frame( i, image )
sleep( 0.1 )
sleep( 0.05 )

threadA = threading.Thread( target=frame_thread )
threadA.start()
sleep( 0.22 ) # Between 2nd and 3rd enqueue_frame
sleep( 0.12 ) # Between 2nd and 3rd enqueue_frame
md = new_metadata( 1, time_stamp( 1 ) )
syncer.enqueue_metadata( 1, md )
threadA.join()

if test.check( len(received_frames), 2 ):
test.check_equal( image_id( last_image() ), 1 )
test.check_equal( md_id( last_metadata() ), 1 )
test.check_equal( len(received_frames), 2 )
test.check_equal( len(dropped_metadata), 0 )


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