Fix spin_once test

Signed-off-by: Mauro Passerino <[email protected]>

Author: Mauro Passerino

rclcpp/test/rclcpp/executors/test_events_executor.cpp

@@ -118,37 +118,58 @@ TEST_F(TestEventsExecutor, spin_once_max_duration)
   {
     auto node = std::make_shared<rclcpp::Node>("node");
 
+    EventsExecutor executor;
+    executor.add_node(node);
+
+    // Consume previous events so we have a fresh start
+    executor.spin_all(1s);
+
     size_t t_runs = 0;
     auto t = node->create_wall_timer(
       10s,
       [&]() {
         t_runs++;
       });
 
-    EventsExecutor executor;
-    executor.add_node(node);
+    // This first spin_once takes care of the waitable event
+    // generated by the addition of the timer to the node
+    executor.spin_once(1s);
+    EXPECT_EQ(0u, t_runs);
 
     auto start = std::chrono::steady_clock::now();
+
+    // This second spin_once should take care of the timer,
     executor.spin_once(10ms);
 
+    // but doesn't spin the time enough to call the timer callback.
     EXPECT_EQ(0u, t_runs);
     EXPECT_TRUE(std::chrono::steady_clock::now() - start < 200ms);
   }
 
   {
     auto node = std::make_shared<rclcpp::Node>("node");
 
+    EventsExecutor executor;
+    executor.add_node(node);
+
+    // Consume previous events so we have a fresh start
+    executor.spin_all(1s);
+
     size_t t_runs = 0;
     auto t = node->create_wall_timer(
       10ms,
       [&]() {
         t_runs++;
       });
 
-    EventsExecutor executor;
-    executor.add_node(node);
+    // This first spin_once takes care of the waitable event
+    // generated by the addition of the timer to the node
+    executor.spin_once(1s);
+    EXPECT_EQ(0u, t_runs);
 
     auto start = std::chrono::steady_clock::now();
+
+    // This second spin_once should take care of the timer
     executor.spin_once(10s);
 
     EXPECT_EQ(1u, t_runs);
@@ -277,24 +298,28 @@ TEST_F(TestEventsExecutor, cancel_while_timers_running)
 {
   auto node = std::make_shared<rclcpp::Node>("node");
 
+  EventsExecutor executor;
+  executor.add_node(node);
+
+  // Take care of previous events for a fresh start
+  executor.spin_all(1s);
+
   size_t t1_runs = 0;
   auto t1 = node->create_wall_timer(
     1ms,
     [&]() {
       t1_runs++;
-      std::this_thread::sleep_for(25ms);
+      std::this_thread::sleep_for(50ms);
     });
 
   size_t t2_runs = 0;
   auto t2 = node->create_wall_timer(
     1ms,
     [&]() {
       t2_runs++;
-      std::this_thread::sleep_for(25ms);
+      std::this_thread::sleep_for(50ms);
     });
 
-  EventsExecutor executor;
-  executor.add_node(node);
 
   std::thread spinner([&executor, this]() {executor.spin();});