From 8c34ce0f2d13206de63b1bf966865c9ae1dce2bd Mon Sep 17 00:00:00 2001
From: carter <carter@amprobotics.com>
Date: Tue, 21 May 2024 18:40:16 +0000
Subject: [PATCH] Integration test for reconnection logic on publishers and
 subscribers

---
 roslibrust/src/rosbridge/integration_tests.rs | 100 +++++++++++++++++-
 1 file changed, 96 insertions(+), 4 deletions(-)

diff --git a/roslibrust/src/rosbridge/integration_tests.rs b/roslibrust/src/rosbridge/integration_tests.rs
index 016f361c..23416ee2 100644
--- a/roslibrust/src/rosbridge/integration_tests.rs
+++ b/roslibrust/src/rosbridge/integration_tests.rs
@@ -381,11 +381,103 @@ mod integration_tests {
     /// - Confirms publisher and subscriber still work!
     #[test_log::test(tokio::test)]
     async fn pub_and_sub_reconnect_through_dead_bridge() {
+        // Child process not automatically killed on drop
+        // Wrapping in a guard
+        struct ChildGuard(std::process::Child);
+        impl Drop for ChildGuard {
+            fn drop(&mut self) {
+                // Roslaunch and rosbridge don't have a clean shutdown, so we're doing some shit here...
+                for _ in 0..5 {
+                    // WHY DO YOU SUCK ROSBRIDGE
+                    let mut kill = std::process::Command::new("kill")
+                        .args(["-s", "TERM", &self.0.id().to_string()])
+                        .spawn()
+                        .expect("Failed to kill rosbridge");
+                    kill.wait().expect("Failed to kill rosbridge");
+                }
+            }
+        }
+
+        // For now picking 9095 as a custom port for this test and hoping there are no collisions
+        let bridge = ChildGuard(
+            std::process::Command::new("roslaunch")
+                .args([
+                    "rosbridge_server",
+                    "rosbridge_websocket.launch",
+                    "port:=9095",
+                ])
+                .spawn()
+                .expect("Failed to start rosbridge"),
+        );
+
+        // Note longer timeout here to allow for bridge to come up
+        let client = ClientHandle::new_with_options(
+            ClientHandleOptions::new("ws://localhost:9095")
+                .timeout(tokio::time::Duration::from_secs(5)),
+        )
+        .await
+        .expect("Failed to construct client");
+
+        let publisher = client
+            .advertise("/test_reconnect")
+            .await
+            .expect("Failed to advertise");
+        let subscriber = client
+            .subscribe::<Header>("/test_reconnect")
+            .await
+            .expect("Failed to subscribe");
+
+        // Confirm we can send and receive messages
+        publisher
+            .publish(Header::default())
+            .await
+            .expect("Failed to publish");
+
+        let received = subscriber.next().await;
+        assert_eq!(received, Header::default());
+
+        // kill rosbridge
+        std::mem::drop(bridge);
 
-        std::process::Command::new("rosrun")
-            .args(["rosbridge_server", "rosbridge_websocket"])
-            .spawn()
-            .expect("Failed to start rosbridge");
+        // Wait for rosbridge to die fully
+        tokio::time::sleep(tokio::time::Duration::from_secs(5)).await;
+
+        // Try to publish and confirm we get an error
+        let res = publisher.publish(Header::default()).await;
+        match res {
+            Ok(_) => {
+                panic!("Should have failed to publish after rosbridge died");
+            }
+            Err(RosLibRustError::Disconnected) => {
+                // All good!
+            }
+            Err(e) => {
+                panic!("Got unexpected error: {e}");
+            }
+        }
+
+        // Start the bridge back up!
+        let bridge = ChildGuard(
+            std::process::Command::new("roslaunch")
+                .args([
+                    "rosbridge_server",
+                    "rosbridge_websocket.launch",
+                    "port:=9095",
+                ])
+                .spawn()
+                .expect("Failed to start rosbridge"),
+        );
+
+        // Wait for bridge to come up
+        tokio::time::sleep(tokio::time::Duration::from_secs(5)).await;
+
+        // Try to publish and confirm we reconnect automatically
+        publisher
+            .publish(Header::default())
+            .await
+            .expect("Failed to publish after rosbridge died");
 
+        let received = subscriber.next().await;
+        assert_eq!(received, Header::default());
     }
 }