a

Signed-off-by: M. Fatih Cırıt <[email protected]>

common/autoware_control_center/package.xml

@@ -24,7 +24,7 @@
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
-  <test_depend>autoware_testing</test_depend>
+<!--  <test_depend>autoware_testing</test_depend>-->
   <test_depend>autoware_utils</test_depend>
   <test_depend>ros_testing</test_depend>
 

common/autoware_control_center/test/test_cc_heartbeat.cpp

@@ -61,35 +61,33 @@ class ControlCenterHeartbeatTest : public ::testing::Test
 
 TEST_F(ControlCenterHeartbeatTest, HeartbeatHandling)
 {
-  RCLCPP_INFO(rclcpp::get_logger("test"), "Test started");
-  const std::string node_name = "node_test_heartbeat";
-  const std::string ns;
-  const auto [uuid, node] = test::register_node(node_name, ns);
+  const auto [uuid, node] = test::register_node("node_test_heartbeat", "");
 
   // Send a heartbeat and verify node status is updated
   auto hb_healthy_init = test::generate_hb_healthy();
-
-  RCLCPP_INFO(rclcpp::get_logger("test"), "Sending heartbeat");
   auto pub_hb = test::send_first_heartbeat(node, deadline_ms_, hb_healthy_init);
-  RCLCPP_INFO(rclcpp::get_logger("test"), "Sent heartbeat");
-  test::send_heartbeat(node, pub_hb, test::generate_hb_healthy());
-  RCLCPP_INFO(rclcpp::get_logger("test"), "Sent 2nd heartbeat");
 
-  // wait for the heartbeat to be processed
-  std::this_thread::sleep_for(std::chrono::duration<double, std::milli>(node_period_ms_ * 1.5));
-  RCLCPP_INFO(rclcpp::get_logger("test"), "Slept a bit");
+  double sleep_duration_ms = node_period_ms_ * 1.5;
+  ASSERT_LE(sleep_duration_ms, deadline_ms_);
+
+  std::this_thread::sleep_for(std::chrono::duration<double, std::milli>(sleep_duration_ms));
 
   autoware_control_center_msgs::msg::NodeReport report;
   ASSERT_TRUE(test::wait_for_node_report(node->get_fully_qualified_name(), report));
   ASSERT_EQ(report.status_activity.status, hb_healthy_init->status_activity.status);
   ASSERT_EQ(report.status_operational.status, hb_healthy_init->status_operational.status);
+
+  test::send_heartbeat(node, pub_hb, test::generate_hb_healthy());
+  std::this_thread::sleep_for(std::chrono::duration<double, std::milli>(deadline_ms_ * 0.8));
+  test::send_heartbeat(node, pub_hb, test::generate_hb_healthy());
+
+  // Send another heartbeat to make sure it is not marked as dead
+  test::send_heartbeat(node, pub_hb, test::generate_hb_healthy());
 }
 
 TEST_F(ControlCenterHeartbeatTest, HeartbeatMissedDeadline)
 {
-  const std::string node_name = "node_test_heartbeat";
-  const std::string ns;
-  const auto [uuid, node] = test::register_node(node_name, ns);
+  const auto [uuid, node] = test::register_node("node_test_heartbeat", "");
 
   // Send a heartbeat
   auto pub_hb = test::send_first_heartbeat(node, deadline_ms_, test::generate_hb_healthy());