From f0ee6138fe91486588a39dec48d9dbc436a40546 Mon Sep 17 00:00:00 2001
From: Janosch Machowinski <J.Machowinski@cellumation.com>
Date: Wed, 11 Dec 2024 15:06:06 +0100
Subject: [PATCH] test: Added test case, if timer within waitable works as
 expected

Signed-off-by: Janosch Machowinski <J.Machowinski@cellumation.com>
---
 .../rclcpp/executors/test_events_executor.cpp | 119 ++++++++++++++++++
 1 file changed, 119 insertions(+)

diff --git a/rclcpp/test/rclcpp/executors/test_events_executor.cpp b/rclcpp/test/rclcpp/executors/test_events_executor.cpp
index 2c6504426e..fa9c5177d5 100644
--- a/rclcpp/test/rclcpp/executors/test_events_executor.cpp
+++ b/rclcpp/test/rclcpp/executors/test_events_executor.cpp
@@ -497,3 +497,122 @@ TEST_F(TestEventsExecutor, test_default_incompatible_qos_callbacks)
 
   rcutils_logging_set_output_handler(original_output_handler);
 }
+
+class TestWaitableWithTimer : public rclcpp::Waitable
+{
+  static constexpr int TimerCallbackType = 0;
+
+public:
+  explicit TestWaitableWithTimer(const rclcpp::Context::SharedPtr & context)
+  {
+    auto timer_callback = [this] () {
+        timer_ready = true;
+        if (ready_callback) {
+        // inform executor that the waitable is ready to process a timer event
+          ready_callback(1, TimerCallbackType);
+        }
+      };
+    timer =
+      std::make_shared<rclcpp::WallTimer<decltype (timer_callback)>>(std::chrono::milliseconds(10),
+      std::move(timer_callback), context);
+  }
+
+  void
+  add_to_wait_set(rcl_wait_set_t & /*wait_set*/) override {}
+
+  bool
+  is_ready(const rcl_wait_set_t & /*wait_set*/) override
+  {
+    return false;
+  }
+
+  std::shared_ptr<void>
+  take_data() override
+  {
+    return std::shared_ptr<void>(nullptr);
+  }
+
+  std::shared_ptr<void>
+  take_data_by_entity_id(size_t id) override
+  {
+    if (id != TimerCallbackType) {
+      throw std::runtime_error("Internal error, got wrong ID for take data");
+    }
+    return nullptr;
+  }
+
+  void
+  execute(const std::shared_ptr<void> &) override
+  {
+    if (timer_ready) {
+      timer_triggered_waitable_and_waitable_was_executed = true;
+    }
+  }
+
+  void
+  set_on_ready_callback(std::function<void(size_t, int)> callback) override
+  {
+    ready_callback = callback;
+  }
+
+  void
+  clear_on_ready_callback() override
+  {
+    ready_callback = std::function<void(size_t, int)>();
+  }
+
+  size_t
+  get_number_of_ready_guard_conditions() override
+  {
+    return 0;
+  }
+
+  std::vector<std::shared_ptr<rclcpp::TimerBase>> get_timers() const override
+  {
+    return {timer};
+  }
+
+  bool timerTriggeredWaitable() const
+  {
+    return timer_triggered_waitable_and_waitable_was_executed;
+  }
+
+private:
+  std::atomic_bool timer_triggered_waitable_and_waitable_was_executed = false;
+  std::atomic_bool timer_ready = false;
+  rclcpp::TimerBase::SharedPtr timer;
+  std::function<void(size_t, int)> ready_callback;
+};
+
+TEST_F(TestEventsExecutor, waitable_with_timer)
+{
+  auto node = std::make_shared<rclcpp::Node>("node");
+
+  auto waitable =
+    std::make_shared<TestWaitableWithTimer>(rclcpp::contexts::get_global_default_context());
+
+  EventsExecutor executor;
+  executor.add_node(node);
+
+  node->get_node_waitables_interface()->add_waitable(waitable,
+    node->get_node_base_interface()->get_default_callback_group());
+
+  std::thread spinner([&executor]() {executor.spin();});
+
+  size_t cnt = 0;
+  while (!waitable->timerTriggeredWaitable()) {
+    std::this_thread::sleep_for(10ms);
+    cnt++;
+
+    // This should terminate after ~20 ms, so a timeout of 500ms should be plenty
+    EXPECT_LT(cnt, 51);
+    if (cnt > 50) {
+      // timeout case
+      break;
+    }
+  }
+  executor.cancel();
+  spinner.join();
+
+  EXPECT_TRUE(waitable->timerTriggeredWaitable());
+}