Replace deprecated rclcpp::spin_some

Author: christophfroehlich

topic_tools/test/test_demux.cpp

@@ -13,6 +13,7 @@
 // limitations under the License.
 
 #include <chrono>
+#include <future>
 #include <memory>
 #include <string>
 
@@ -57,7 +58,16 @@ class DemuxTest : public TestTopicToolMultiPub
     }
 
     auto result = srv_client_->async_send_request(request);
-    rclcpp::spin_some(target_node_);
+    const auto timeout = std::chrono::steady_clock::now() + 1s;
+    while (result.wait_for(0s) != std::future_status::ready &&
+      std::chrono::steady_clock::now() < timeout)
+    {
+      executor_->spin_node_all(target_node_, std::chrono::nanoseconds(0));
+      executor_->spin_some();
+    }
+
+    ASSERT_EQ(result.wait_for(0s), std::future_status::ready);
+    ASSERT_TRUE(result.get()->success);
   }
 
   void publish_and_check(std::string msg_content)

topic_tools/test/test_mux.cpp

@@ -15,6 +15,7 @@
 #include <memory>
 #include <string>
 #include <chrono>
+#include <future>
 #include "gtest/gtest.h"
 #include "rclcpp/rclcpp.hpp"
 #include "std_msgs/msg/string.hpp"
@@ -62,7 +63,16 @@ class MuxTest : public TestTopicToolMultiSub
     }
 
     auto result = srv_client_->async_send_request(request);
-    rclcpp::spin_some(target_node_);
+    const auto timeout = std::chrono::steady_clock::now() + 1s;
+    while (result.wait_for(0s) != std::future_status::ready &&
+      std::chrono::steady_clock::now() < timeout)
+    {
+      executor_->spin_node_all(target_node_, std::chrono::nanoseconds(0));
+      executor_->spin_some();
+    }
+
+    ASSERT_EQ(result.wait_for(0s), std::future_status::ready);
+    ASSERT_TRUE(result.get()->success);
   }
 
   void publish_and_check(

topic_tools/test/test_topic_tool.hpp

@@ -71,6 +71,8 @@ class TestTopicToolSingleSub : public TestTopicTool
     const std::string test_name =
       ::testing::UnitTest::GetInstance()->current_test_info()->name();
     test_node_ = rclcpp::Node::make_shared(test_name);
+    executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
+    executor_->add_node(test_node_);
     target_input_topic_ = "/" + test_name + "/input";
     target_output_topic_ = "/" + test_name + "/output";
     subscription_ = test_node_->create_subscription<std_msgs::msg::String>(
@@ -94,8 +96,8 @@ class TestTopicToolSingleSub : public TestTopicTool
     auto message = std_msgs::msg::String();
     message.data = msg_content;
     publisher_->publish(message);
-    rclcpp::spin_some(target_node);
-    rclcpp::spin_some(test_node_);
+    executor_->spin_node_all(target_node, std::chrono::nanoseconds(0));
+    executor_->spin_some();
   }
 
   std::string get_target_input_topic()
@@ -112,6 +114,7 @@ class TestTopicToolSingleSub : public TestTopicTool
   std::shared_ptr<rclcpp::Node> test_node_;
   rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;
   rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
+  std::shared_ptr<rclcpp::executors::SingleThreadedExecutor> executor_;
   std::string target_input_topic_;
   std::string target_output_topic_;
 };
@@ -125,6 +128,8 @@ class TestTopicToolMultiSub : public TestTopicTool
     const std::string test_name =
       ::testing::UnitTest::GetInstance()->current_test_info()->name();
     test_node_ = rclcpp::Node::make_shared(test_name);
+    executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
+    executor_->add_node(test_node_);
     target_input_topic_prefix_ = "/" + test_name + "/input";
     target_output_topic_ = "/" + test_name + "/output";
     subscription_ = test_node_->create_subscription<std_msgs::msg::String>(
@@ -155,8 +160,8 @@ class TestTopicToolMultiSub : public TestTopicTool
     message.data = msg_content;
     assert(publisher_index < num_target_input_topics_);
     publishers_[publisher_index]->publish(message);
-    rclcpp::spin_some(target_node);
-    rclcpp::spin_some(test_node_);
+    executor_->spin_node_all(target_node, std::chrono::nanoseconds(0));
+    executor_->spin_some();
   }
 
   std::vector<std::string> get_target_input_topics()
@@ -175,6 +180,7 @@ class TestTopicToolMultiSub : public TestTopicTool
 
 protected:
   std::shared_ptr<rclcpp::Node> test_node_;
+  std::shared_ptr<rclcpp::executors::SingleThreadedExecutor> executor_;
 
 private:
   rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;
@@ -193,6 +199,8 @@ class TestTopicToolMultiPub : public TestTopicTool
     using std::placeholders::_1;
     const std::string test_name = ::testing::UnitTest::GetInstance()->current_test_info()->name();
     test_node_ = rclcpp::Node::make_shared(test_name);
+    executor_ = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
+    executor_->add_node(test_node_);
     target_input_topic_ = "/" + test_name + "/input";
     target_output_topic_prefix_ = "/" + test_name + "/output";
     publisher_ = test_node_->create_publisher<std_msgs::msg::String>(target_input_topic_, 10);
@@ -219,8 +227,8 @@ class TestTopicToolMultiPub : public TestTopicTool
     auto message = std_msgs::msg::String();
     message.data = msg_content;
     publisher_->publish(message);
-    rclcpp::spin_some(target_node);
-    rclcpp::spin_some(test_node_);
+    executor_->spin_node_all(target_node, std::chrono::nanoseconds(0));
+    executor_->spin_some();
   }
 
   std::vector<std::string> get_target_output_topics()
@@ -236,6 +244,7 @@ class TestTopicToolMultiPub : public TestTopicTool
 
 protected:
   std::shared_ptr<rclcpp::Node> test_node_;
+  std::shared_ptr<rclcpp::executors::SingleThreadedExecutor> executor_;
 
 private:
   rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;