From 42810ee3be16621208e2439cd6257a584d827759 Mon Sep 17 00:00:00 2001
From: Alberto Soragna <alberto.soragna@gmail.com>
Date: Tue, 26 Mar 2024 06:34:28 -0700
Subject: [PATCH] fix spin_some_max_duration unit-test for events-executor
 (#2465)

Signed-off-by: Alberto Soragna <alberto.soragna@gmail.com>
---
 rclcpp/test/rclcpp/executors/test_executors.cpp | 17 ++++++++++++-----
 1 file changed, 12 insertions(+), 5 deletions(-)

diff --git a/rclcpp/test/rclcpp/executors/test_executors.cpp b/rclcpp/test/rclcpp/executors/test_executors.cpp
index 87ed9350dd..da4b087607 100644
--- a/rclcpp/test/rclcpp/executors/test_executors.cpp
+++ b/rclcpp/test/rclcpp/executors/test_executors.cpp
@@ -352,8 +352,13 @@ class TestWaitable : public rclcpp::Waitable
   bool
   is_ready(rcl_wait_set_t * wait_set) override
   {
-    (void)wait_set;
-    return true;
+    for (size_t i = 0; i < wait_set->size_of_guard_conditions; ++i) {
+      auto rcl_guard_condition = wait_set->guard_conditions[i];
+      if (&gc_.get_rcl_guard_condition() == rcl_guard_condition) {
+        return true;
+      }
+    }
+    return false;
   }
 
   std::shared_ptr<void>
@@ -571,13 +576,12 @@ TYPED_TEST(TestExecutors, spin_some_max_duration)
 {
   using ExecutorType = TypeParam;
 
-  // TODO(wjwwood): The `StaticSingleThreadedExecutor` and the `EventsExecutor`
+  // TODO(wjwwood): The `StaticSingleThreadedExecutor`
   //   do not properly implement max_duration (it seems), so disable this test
   //   for them in the meantime.
   //   see: https://github.com/ros2/rclcpp/issues/2462
   if (
-    std::is_same<ExecutorType, rclcpp::executors::StaticSingleThreadedExecutor>() ||
-    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>())
+    std::is_same<ExecutorType, rclcpp::executors::StaticSingleThreadedExecutor>())
   {
     GTEST_SKIP();
   }
@@ -610,6 +614,9 @@ TYPED_TEST(TestExecutors, spin_some_max_duration)
   my_waitable2->set_on_execute_callback(long_running_callback);
   waitable_interfaces->add_waitable(my_waitable2, isolated_callback_group);
 
+  my_waitable1->trigger();
+  my_waitable2->trigger();
+
   ExecutorType executor;
   executor.add_callback_group(isolated_callback_group, this->node->get_node_base_interface());