Finish API coverage on executors. (#1364)

In particular, add API coverage for spin_node_until_future_complete,
spin_until_future_complete, and spin_node_once.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

rclcpp/test/rclcpp/executors/test_executors.cpp

@@ -335,3 +335,72 @@ TYPED_TEST(TestExecutorsStable, spinSome) {
 
   spinner.join();
 }
+
+// Check spin_node_until_future_complete with node base pointer
+TYPED_TEST(TestExecutorsStable, testSpinNodeUntilFutureCompleteNodeBasePtr) {
+  using ExecutorType = TypeParam;
+  ExecutorType executor;
+
+  std::promise<bool> promise;
+  std::future<bool> future = promise.get_future();
+  promise.set_value(true);
+
+  auto shared_future = future.share();
+  auto ret = rclcpp::executors::spin_node_until_future_complete(
+    executor, this->node->get_node_base_interface(), shared_future, 1s);
+  EXPECT_EQ(rclcpp::FutureReturnCode::SUCCESS, ret);
+}
+
+// Check spin_node_until_future_complete with node pointer
+TYPED_TEST(TestExecutorsStable, testSpinNodeUntilFutureCompleteNodePtr) {
+  using ExecutorType = TypeParam;
+  ExecutorType executor;
+
+  std::promise<bool> promise;
+  std::future<bool> future = promise.get_future();
+  promise.set_value(true);
+
+  auto shared_future = future.share();
+  auto ret = rclcpp::executors::spin_node_until_future_complete(
+    executor, this->node, shared_future, 1s);
+  EXPECT_EQ(rclcpp::FutureReturnCode::SUCCESS, ret);
+}
+
+// Check spin_until_future_complete with node base pointer (instantiates its own executor)
+TEST(TestExecutors, testSpinUntilFutureCompleteNodeBasePtr) {
+  rclcpp::init(0, nullptr);
+
+  {
+    auto node = std::make_shared<rclcpp::Node>("node");
+
+    std::promise<bool> promise;
+    std::future<bool> future = promise.get_future();
+    promise.set_value(true);
+
+    auto shared_future = future.share();
+    auto ret = rclcpp::spin_until_future_complete(
+      node->get_node_base_interface(), shared_future, 1s);
+    EXPECT_EQ(rclcpp::FutureReturnCode::SUCCESS, ret);
+  }
+
+  rclcpp::shutdown();
+}
+
+// Check spin_until_future_complete with node pointer (instantiates its own executor)
+TEST(TestExecutors, testSpinUntilFutureCompleteNodePtr) {
+  rclcpp::init(0, nullptr);
+
+  {
+    auto node = std::make_shared<rclcpp::Node>("node");
+
+    std::promise<bool> promise;
+    std::future<bool> future = promise.get_future();
+    promise.set_value(true);
+
+    auto shared_future = future.share();
+    auto ret = rclcpp::spin_until_future_complete(node, shared_future, 1s);
+    EXPECT_EQ(rclcpp::FutureReturnCode::SUCCESS, ret);
+  }
+
+  rclcpp::shutdown();
+}

rclcpp/test/rclcpp/test_executor.cpp

@@ -321,3 +321,37 @@ TEST_F(TestExecutor, get_group_by_timer_with_deleted_group) {
 
   ASSERT_EQ(nullptr, dummy.local_get_group_by_timer(timer).get());
 }
+
+TEST_F(TestExecutor, spin_node_once_base_interface) {
+  DummyExecutor dummy;
+  auto node = std::make_shared<rclcpp::Node>("node", "ns");
+  bool spin_called = false;
+  auto timer =
+    node->create_wall_timer(
+    std::chrono::milliseconds(1), [&]() {
+      spin_called = true;
+    });
+
+  // Wait for the wall timer to have expired.
+  std::this_thread::sleep_for(std::chrono::milliseconds(50));
+  EXPECT_FALSE(spin_called);
+  dummy.spin_node_once(node->get_node_base_interface());
+  EXPECT_TRUE(spin_called);
+}
+
+TEST_F(TestExecutor, spin_node_once_node) {
+  DummyExecutor dummy;
+  auto node = std::make_shared<rclcpp::Node>("node", "ns");
+  bool spin_called = false;
+  auto timer =
+    node->create_wall_timer(
+    std::chrono::milliseconds(1), [&]() {
+      spin_called = true;
+    });
+
+  // Wait for the wall timer to have expired.
+  std::this_thread::sleep_for(std::chrono::milliseconds(50));
+  EXPECT_FALSE(spin_called);
+  dummy.spin_node_once(node);
+  EXPECT_TRUE(spin_called);
+}