[RSDK-4738] increase timeout for RunFinalOptimization (#258)

sensorprocess/sensorprocess.go

@@ -31,6 +31,7 @@ type Config struct {
 	IMUName                  string
 	IMUDataRateMsec          int
 	Timeout                  time.Duration
+	InternalTimeout          time.Duration
 	Logger                   golog.Logger
 	nextLidarData            nextLidarData
 	nextIMUData              nextIMUData
@@ -64,9 +65,9 @@ func (config *Config) StartLidar(
 			if jobDone := config.addLidarReading(ctx); jobDone {
 				config.lastLidarReadingTime = config.nextLidarData.time
 				config.Logger.Info("Beginning final optimization")
-				err := config.RunFinalOptimizationFunc(ctx, config.Timeout)
+				err := config.RunFinalOptimizationFunc(ctx, config.InternalTimeout)
 				if err != nil {
-					config.Logger.Error("Failed to finish processing all sensor readings")
+					config.Logger.Error("Failed to finish processing all sensor readings: ", err)
 				}
 				return true
 			}

testhelper/testhelper.go

@@ -48,6 +48,11 @@ const (
 	// NumPointClouds is the number of pointclouds saved in artifact
 	// for the cartographer integration tests.
 	NumPointClouds = 15
+	// CartoFacadeTimeoutForTest is the timeout used for capi requests for tests.
+	CartoFacadeTimeoutForTest = 5 * time.Second
+	// CartoFacadeInternalTimeoutForTest is the timeout used for internal capi
+	// requests for tests.
+	CartoFacadeInternalTimeoutForTest = 15 * time.Minute
 )
 
 var mockLidarPath = artifact.MustPath("viam-cartographer/mock_lidar")
@@ -323,7 +328,8 @@ func CreateIntegrationSLAMService(
 		logger,
 		SensorValidationMaxTimeoutSecForTest,
 		SensorValidationIntervalSecForTest,
-		5*time.Second,
+		CartoFacadeTimeoutForTest,
+		CartoFacadeInternalTimeoutForTest,
 		timedLidar,
 		timedIMU,
 	)
@@ -382,7 +388,8 @@ func CreateSLAMService(
 		logger,
 		SensorValidationMaxTimeoutSecForTest,
 		SensorValidationIntervalSecForTest,
-		5*time.Second,
+		CartoFacadeTimeoutForTest,
+		CartoFacadeInternalTimeoutForTest,
 		nil,
 		nil,
 	)

viam_cartographer.go

@@ -48,6 +48,7 @@ const (
 	parsePortMaxTimeoutSec               = 60
 	localhost0                           = "localhost:0"
 	defaultCartoFacadeTimeout            = 5 * time.Second
+	defaultCartoFacadeInternalTimeout    = 15 * time.Minute
 	chunkSizeBytes                       = 1 * 1024 * 1024
 )
 
@@ -90,6 +91,7 @@ func init() {
 				defaultSensorValidationMaxTimeoutSec,
 				defaultSensorValidationIntervalSec,
 				defaultCartoFacadeTimeout,
+				defaultCartoFacadeInternalTimeout,
 				nil,
 				nil,
 			)
@@ -130,6 +132,7 @@ func initSensorProcesses(cancelCtx context.Context, cartoSvc *CartographerServic
 		IMUName:                  cartoSvc.imu.name,
 		IMUDataRateMsec:          cartoSvc.imu.dataRateMsec,
 		Timeout:                  cartoSvc.cartoFacadeTimeout,
+		InternalTimeout:          cartoSvc.cartoFacadeInternalTimeout,
 		Logger:                   cartoSvc.logger,
 		RunFinalOptimizationFunc: cartoSvc.cartofacade.RunFinalOptimization,
 	}
@@ -161,6 +164,7 @@ func New(
 	sensorValidationMaxTimeoutSec int,
 	sensorValidationIntervalSec int,
 	cartoFacadeTimeout time.Duration,
+	cartoFacadeInternalTimeout time.Duration,
 	testTimedLidarSensorOverride s.TimedLidarSensor,
 	testTimedIMUSensorOverride s.TimedIMUSensor,
 ) (slam.Service, error) {
@@ -272,6 +276,7 @@ func New(
 		sensorValidationMaxTimeoutSec: sensorValidationMaxTimeoutSec,
 		sensorValidationIntervalSec:   sensorValidationMaxTimeoutSec,
 		cartoFacadeTimeout:            cartoFacadeTimeout,
+		cartoFacadeInternalTimeout:    cartoFacadeInternalTimeout,
 		mapTimestamp:                  time.Now().UTC(),
 		cloudStoryEnabled:             svcConfig.CloudStoryEnabled,
 		enableMapping:                 optionalConfigParams.EnableMapping,
@@ -534,8 +539,9 @@ type CartographerService struct {
 	configParams  map[string]string
 	dataDirectory string
 
-	cartofacade        cartofacade.Interface
-	cartoFacadeTimeout time.Duration
+	cartofacade                cartofacade.Interface
+	cartoFacadeTimeout         time.Duration
+	cartoFacadeInternalTimeout time.Duration
 
 	mapRateSec int