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simplify the missing_event test to not spin on the node itself #1

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simplify the missing_event test to not spin on the node itself #1

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19 changes: 6 additions & 13 deletions rclcpp/test/rclcpp/executors/test_executors.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -668,26 +668,19 @@ TYPED_TEST(TestExecutorsOnlyNode, missing_event)
rclcpp::Node::SharedPtr node(this->node);
auto callback_group = node->create_callback_group(
rclcpp::CallbackGroupType::MutuallyExclusive,
true);
false);

auto waitable_interfaces = node->get_node_waitables_interface();
auto my_waitable = std::make_shared<TestWaitable>();
auto my_waitable2 = std::make_shared<TestWaitable>();
waitable_interfaces->add_waitable(my_waitable, callback_group);
waitable_interfaces->add_waitable(my_waitable2, callback_group);
executor.add_node(this->node);
executor.add_callback_group(callback_group, node->get_node_base_interface());

my_waitable->trigger();
my_waitable2->trigger();

// a node has some default subscribers, that need to get executed first, therefore the loop
for (int i = 0; i < 10; i++) {
executor.spin_once(std::chrono::milliseconds(10));
if (my_waitable->get_count() > 0) {
// stop execution, after the first waitable has been executed
break;
}
}
executor.spin_once(std::chrono::milliseconds(10));

EXPECT_EQ(1u, my_waitable->get_count());
EXPECT_EQ(0u, my_waitable2->get_count());
Expand All @@ -696,16 +689,16 @@ TYPED_TEST(TestExecutorsOnlyNode, missing_event)
// This removes my_waitable2 from the list of ready events, and triggers a call to wait_for_work
callback_group->can_be_taken_from().exchange(false);

//now there should be no ready event
// now there should be no ready event
executor.spin_once(std::chrono::milliseconds(10));

EXPECT_EQ(1u, my_waitable->get_count());
EXPECT_EQ(0u, my_waitable2->get_count());

//unblock the callback group
// unblock the callback group
callback_group->can_be_taken_from().exchange(true);

//now the second waitable should get processed
// now the second waitable should get processed
executor.spin_once(std::chrono::milliseconds(10));

EXPECT_EQ(1u, my_waitable->get_count());
Expand Down