From dbc2bbc80d31ae932bdd7060669f58d0b6e39305 Mon Sep 17 00:00:00 2001
From: Chris Lalancette <clalancette@gmail.com>
Date: Tue, 9 Jul 2024 09:20:32 -0400
Subject: [PATCH] Revamp the test_load_composable_nodes test. (#403)

* Revamp the test_load_composable_nodes test.

In particular, it made little sense to do an rclpy.init
in a class that inherited from rclpy.node.Node.  Instead,
flip this around and make the mock_component_container
responsible for creating the context, doing rclpy.init,
creating the node, spinning the executor, and tearing it
all down.  Note that this uses the new rclpy.init
context manager as well, which reduces the amount of code
we need here.

Signed-off-by: Chris Lalancette <clalancette@gmail.com>
---
 .../actions/test_load_composable_nodes.py     | 40 ++++++++-----------
 1 file changed, 16 insertions(+), 24 deletions(-)

diff --git a/test_launch_ros/test/test_launch_ros/actions/test_load_composable_nodes.py b/test_launch_ros/test/test_launch_ros/actions/test_load_composable_nodes.py
index c7b7f4df..f2413187 100644
--- a/test_launch_ros/test/test_launch_ros/actions/test_load_composable_nodes.py
+++ b/test_launch_ros/test/test_launch_ros/actions/test_load_composable_nodes.py
@@ -44,14 +44,11 @@
 
 class MockComponentContainer(rclpy.node.Node):
 
-    def __init__(self):
+    def __init__(self, context):
         # List of LoadNode requests received
         self.requests = []
 
-        self._context = rclpy.context.Context()
-        rclpy.init(context=self._context)
-
-        super().__init__(TEST_CONTAINER_NAME, context=self._context)
+        super().__init__(TEST_CONTAINER_NAME, context=context)
 
         self.load_node_service = self.create_service(
             LoadNode,
@@ -59,16 +56,6 @@ def __init__(self):
             self.load_node_callback
         )
 
-        self._executor = rclpy.executors.SingleThreadedExecutor(context=self._context)
-
-        # Start spinning in a thread
-        self._thread = threading.Thread(
-            target=rclpy.spin,
-            args=(self, self._executor),
-            daemon=True
-        )
-        self._thread.start()
-
     def load_node_callback(self, request, response):
         self.requests.append(request)
         response.success = True
@@ -79,12 +66,6 @@ def load_node_callback(self, request, response):
         response.unique_id = len(self.requests)
         return response
 
-    def shutdown(self):
-        self._executor.shutdown()
-        rclpy.shutdown(context=self._context)
-        self.destroy_node()
-        self._thread.join()
-
 
 def _assert_launch_no_errors(actions):
     ld = LaunchDescription(actions)
@@ -122,9 +103,20 @@ def _load_composable_node(
 
 @pytest.fixture
 def mock_component_container():
-    container = MockComponentContainer()
-    yield container
-    container.shutdown()
+    context = rclpy.context.Context()
+    with rclpy.init(context=context):
+        executor = rclpy.executors.SingleThreadedExecutor(context=context)
+
+        container = MockComponentContainer(context)
+        executor.add_node(container)
+
+        # Start spinning in a thread
+        thread = threading.Thread(target=lambda executor: executor.spin(), args=(executor,))
+        thread.start()
+        yield container
+        executor.remove_node(container)
+        executor.shutdown()
+        thread.join()
 
 
 def test_load_node(mock_component_container):