Less flaky qos_event tests

Signed-off-by: Christopher Wecht <[email protected]>

Author: cwecht

rclcpp/test/rclcpp/test_qos_event.cpp

@@ -436,33 +436,38 @@ TEST_F(TestQosEvent, test_pub_matched_event_by_set_event_callback)
   auto pub = node->create_publisher<test_msgs::msg::Empty>(
     topic_name, 10, pub_options);
 
-  auto matched_event_callback = [&matched_count](size_t count) {
+  std::promise<void> prom;
+  auto matched_event_callback = [&matched_count, &prom](size_t count) {
       matched_count += count;
+      prom.set_value();
     };
 
   pub->set_on_new_qos_event_callback(matched_event_callback, RCL_PUBLISHER_MATCHED);
 
   rclcpp::executors::SingleThreadedExecutor ex;
   ex.add_node(node->get_node_base_interface());
 
-  const auto timeout = std::chrono::milliseconds(200);
+  const auto timeout = std::chrono::seconds(10);
 
   {
     auto sub1 = node->create_subscription<test_msgs::msg::Empty>(topic_name, 10, message_callback);
-    ex.spin_some(timeout);
+    ex.spin_until_future_complete(prom.get_future(), timeout);
+    prom = {};
     EXPECT_EQ(matched_count, static_cast<size_t>(1));
 
     {
       auto sub2 = node->create_subscription<test_msgs::msg::Empty>(
         topic_name, 10, message_callback);
-      ex.spin_some(timeout);
+      ex.spin_until_future_complete(prom.get_future(), timeout);
+      prom = {};
       EXPECT_EQ(matched_count, static_cast<size_t>(2));
     }
-    ex.spin_some(timeout);
+    ex.spin_until_future_complete(prom.get_future(), timeout);
+    prom = {};
     EXPECT_EQ(matched_count, static_cast<size_t>(3));
   }
 
-  ex.spin_some(timeout);
+  ex.spin_until_future_complete(prom.get_future(), timeout);
   EXPECT_EQ(matched_count, static_cast<size_t>(4));
 }
 
@@ -475,48 +480,55 @@ TEST_F(TestQosEvent, test_sub_matched_event_by_set_event_callback)
   auto sub = node->create_subscription<test_msgs::msg::Empty>(
     topic_name, 10, message_callback, sub_options);
 
-  auto matched_event_callback = [&matched_count](size_t count) {
+  std::promise<void> prom;
+  auto matched_event_callback = [&matched_count, &prom](size_t count) {
       matched_count += count;
+      prom.set_value();
     };
 
   sub->set_on_new_qos_event_callback(matched_event_callback, RCL_SUBSCRIPTION_MATCHED);
 
   rclcpp::executors::SingleThreadedExecutor ex;
   ex.add_node(node->get_node_base_interface());
 
-  const auto timeout = std::chrono::milliseconds(200);
+  const auto timeout = std::chrono::seconds(10000);
 
   {
     auto pub1 = node->create_publisher<test_msgs::msg::Empty>(topic_name, 10);
 
-    ex.spin_some(timeout);
+    ex.spin_until_future_complete(prom.get_future(), timeout);
+    prom = {};
     EXPECT_EQ(matched_count, static_cast<size_t>(1));
 
     {
       auto pub2 = node->create_publisher<test_msgs::msg::Empty>(topic_name, 10);
-      ex.spin_some(timeout);
+      ex.spin_until_future_complete(prom.get_future(), timeout);
+      prom = {};
       EXPECT_EQ(matched_count, static_cast<size_t>(2));
     }
 
-    ex.spin_some(timeout);
+    ex.spin_until_future_complete(prom.get_future(), timeout);
+    prom = {};
     EXPECT_EQ(matched_count, static_cast<size_t>(3));
   }
 
-  ex.spin_some(timeout);
+  ex.spin_until_future_complete(prom.get_future(), timeout);
   EXPECT_EQ(matched_count, static_cast<size_t>(4));
 }
 
 TEST_F(TestQosEvent, test_pub_matched_event_by_option_event_callback)
 {
   rmw_matched_status_t matched_expected_result;
+  std::promise<void> prom;
 
   rclcpp::PublisherOptions pub_options;
   pub_options.event_callbacks.matched_callback =
-    [&matched_expected_result](rmw_matched_status_t & s) {
+    [&matched_expected_result, &prom](rmw_matched_status_t & s) {
       EXPECT_EQ(s.total_count, matched_expected_result.total_count);
       EXPECT_EQ(s.total_count_change, matched_expected_result.total_count_change);
       EXPECT_EQ(s.current_count, matched_expected_result.current_count);
       EXPECT_EQ(s.current_count_change, matched_expected_result.current_count_change);
+      prom.set_value();
     };
 
   auto pub = node->create_publisher<test_msgs::msg::Empty>(
@@ -531,32 +543,35 @@ TEST_F(TestQosEvent, test_pub_matched_event_by_option_event_callback)
   matched_expected_result.current_count = 1;
   matched_expected_result.current_count_change = 1;
 
-  const auto timeout = std::chrono::milliseconds(200);
+  const auto timeout = std::chrono::seconds(10);
 
   {
     auto sub = node->create_subscription<test_msgs::msg::Empty>(topic_name, 10, message_callback);
-    ex.spin_some(timeout);
+    ex.spin_until_future_complete(prom.get_future(), timeout);
+    prom = {};
 
     // destroy a connected subscription
     matched_expected_result.total_count = 1;
     matched_expected_result.total_count_change = 0;
     matched_expected_result.current_count = 0;
     matched_expected_result.current_count_change = -1;
   }
-  ex.spin_some(timeout);
+  ex.spin_until_future_complete(prom.get_future(), timeout);
 }
 
 TEST_F(TestQosEvent, test_sub_matched_event_by_option_event_callback)
 {
   rmw_matched_status_t matched_expected_result;
 
+  std::promise<void> prom;
   rclcpp::SubscriptionOptions sub_options;
   sub_options.event_callbacks.matched_callback =
-    [&matched_expected_result](rmw_matched_status_t & s) {
+    [&matched_expected_result, &prom](rmw_matched_status_t & s) {
       EXPECT_EQ(s.total_count, matched_expected_result.total_count);
       EXPECT_EQ(s.total_count_change, matched_expected_result.total_count_change);
       EXPECT_EQ(s.current_count, matched_expected_result.current_count);
       EXPECT_EQ(s.current_count_change, matched_expected_result.current_count_change);
+      prom.set_value();
     };
   auto sub = node->create_subscription<test_msgs::msg::Empty>(
     topic_name, 10, message_callback, sub_options);
@@ -570,16 +585,17 @@ TEST_F(TestQosEvent, test_sub_matched_event_by_option_event_callback)
   matched_expected_result.current_count = 1;
   matched_expected_result.current_count_change = 1;
 
-  const auto timeout = std::chrono::milliseconds(200);
+  const auto timeout = std::chrono::seconds(10);
   {
     auto pub1 = node->create_publisher<test_msgs::msg::Empty>(topic_name, 10);
-    ex.spin_some(timeout);
+    ex.spin_until_future_complete(prom.get_future(), timeout);
+    prom = {};
 
     // destroy a connected publisher
     matched_expected_result.total_count = 1;
     matched_expected_result.total_count_change = 0;
     matched_expected_result.current_count = 0;
     matched_expected_result.current_count_change = -1;
   }
-  ex.spin_some(timeout);
+  ex.spin_until_future_complete(prom.get_future(), timeout);
 }