From 243e4913dc552eb8c6a4e67dd3648ea4ddecee2e Mon Sep 17 00:00:00 2001
From: Chris Lalancette <clalancette@gmail.com>
Date: Fri, 8 Mar 2024 21:49:50 -0500
Subject: [PATCH] Improve the node_name test. (#538)

We do a few things here:

1.  Minor style updates, just to make the code easier to read.
2.  Increase the timeout for finding the node from 10 seconds
    to 15 seconds.
3.  Change the call to the executor from spin_once to spin_some.
    This means that we'll give the executor more opportunity to
    do work, which may increase the chances of success.

Signed-off-by: Chris Lalancette <clalancette@gmail.com>
---
 test_rclcpp/test/node_name_list.cpp | 18 +++++++++++-------
 test_rclcpp/test/node_with_name.cpp | 10 +++++-----
 2 files changed, 16 insertions(+), 12 deletions(-)

diff --git a/test_rclcpp/test/node_name_list.cpp b/test_rclcpp/test/node_name_list.cpp
index cd7d3217..62784c46 100644
--- a/test_rclcpp/test/node_name_list.cpp
+++ b/test_rclcpp/test/node_name_list.cpp
@@ -12,7 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <chrono>
+#include <cstdio>
+#include <iostream>
 #include <string>
+#include <vector>
 
 #include "rclcpp/rclcpp.hpp"
 
@@ -40,19 +44,19 @@ int main(int argc, char ** argv)
 
   int rc = 1;
   const std::chrono::steady_clock::time_point max_runtime =
-    std::chrono::steady_clock::now() + 10s;
+    std::chrono::steady_clock::now() + 15s;
   while (rc && rclcpp::ok()) {
-    auto names = node->get_node_graph_interface()->get_node_names();
-    for (auto it : names) {
-      printf("- %s\n", it.c_str());
+    std::vector<std::string> names = node->get_node_names();
+    for (const std::string & name : names) {
+      printf("- %s\n", name.c_str());
 
-      if (it.empty()) {
+      if (name.empty()) {
         printf("  found an empty named node, which is unexpected\n");
         rc = 2;
         break;
       }
 
-      if (argc >= 2 && it.compare(name_to_find) == 0) {
+      if (argc >= 2 && name.compare(name_to_find) == 0) {
         printf("  found expected node name\n");
         rc = 0;
       }
@@ -61,7 +65,7 @@ int main(int argc, char ** argv)
     if (std::chrono::steady_clock::now() >= max_runtime) {
       break;
     }
-    exec.spin_once(250ms);
+    exec.spin_some(250ms);
   }
 
   exec.remove_node(node);
diff --git a/test_rclcpp/test/node_with_name.cpp b/test_rclcpp/test/node_with_name.cpp
index df430d57..3ff5932e 100644
--- a/test_rclcpp/test/node_with_name.cpp
+++ b/test_rclcpp/test/node_with_name.cpp
@@ -12,6 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <cstdio>
+#include <iostream>
 #include <string>
 
 #include "rclcpp/rclcpp.hpp"
@@ -30,15 +32,13 @@ int main(int argc, char ** argv)
 
   rclcpp::Node::SharedPtr node;
   try {
-    node = rclcpp::Node::make_shared(node_name);
-  } catch (rclcpp::exceptions::RCLError & e) {
+    rclcpp::Node::SharedPtr node = rclcpp::Node::make_shared(node_name);
+    rclcpp::spin(node);
+  } catch (const rclcpp::exceptions::RCLError & e) {
     // test may pass and send SIGINT before node finishes initializing ros2/build_cop#153
     printf("Ignoring RCLError: %s\n", e.what());
   }
 
-  if (node) {
-    rclcpp::spin(node);
-  }
   rclcpp::shutdown();
   return 0;
 }