From fcbe64cff4bea3109531254ceb2955dc4b1bb320 Mon Sep 17 00:00:00 2001
From: Tomoya Fujita <Tomoya.Fujita@sony.com>
Date: Thu, 26 Oct 2023 00:08:18 -0700
Subject: [PATCH] address rate related flaky tests. (#2329)

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
---
 rclcpp/src/rclcpp/context.cpp    |  2 +-
 rclcpp/src/rclcpp/rate.cpp       |  3 ++-
 rclcpp/test/rclcpp/test_rate.cpp | 34 +++++++++++++++++++-------------
 3 files changed, 23 insertions(+), 16 deletions(-)

diff --git a/rclcpp/src/rclcpp/context.cpp b/rclcpp/src/rclcpp/context.cpp
index 75c451a861..bbc1d29d0f 100644
--- a/rclcpp/src/rclcpp/context.cpp
+++ b/rclcpp/src/rclcpp/context.cpp
@@ -496,7 +496,7 @@ Context::sleep_for(const std::chrono::nanoseconds & nanoseconds)
       std::unique_lock<std::mutex> lock(interrupt_mutex_);
       auto start = std::chrono::steady_clock::now();
       // this will release the lock while waiting
-      interrupt_condition_variable_.wait_for(lock, nanoseconds);
+      interrupt_condition_variable_.wait_for(lock, time_left);
       time_left -= std::chrono::steady_clock::now() - start;
     }
   } while (time_left > std::chrono::nanoseconds::zero() && this->is_valid());
diff --git a/rclcpp/src/rclcpp/rate.cpp b/rclcpp/src/rclcpp/rate.cpp
index cd071d2cb0..7c98d6d4fe 100644
--- a/rclcpp/src/rclcpp/rate.cpp
+++ b/rclcpp/src/rclcpp/rate.cpp
@@ -67,7 +67,8 @@ Rate::sleep()
   // Calculate the time to sleep
   auto time_to_sleep = next_interval - now;
   // Sleep (will get interrupted by ctrl-c, may not sleep full time)
-  return clock_->sleep_for(time_to_sleep);
+  clock_->sleep_for(time_to_sleep);
+  return true;
 }
 
 bool
diff --git a/rclcpp/test/rclcpp/test_rate.cpp b/rclcpp/test/rclcpp/test_rate.cpp
index 4f067b2bd8..b80789c853 100644
--- a/rclcpp/test/rclcpp/test_rate.cpp
+++ b/rclcpp/test/rclcpp/test_rate.cpp
@@ -21,12 +21,24 @@
 
 #include "../utils/rclcpp_gtest_macros.hpp"
 
+class TestRate : public ::testing::Test
+{
+public:
+  void SetUp()
+  {
+    rclcpp::init(0, nullptr);
+  }
+
+  void TearDown()
+  {
+    rclcpp::shutdown();
+  }
+};
+
 /*
    Basic tests for the Rate and WallRate classes.
  */
-TEST(TestRate, rate_basics) {
-  rclcpp::init(0, nullptr);
-
+TEST_F(TestRate, rate_basics) {
   auto period = std::chrono::milliseconds(1000);
   auto offset = std::chrono::milliseconds(500);
   auto epsilon = std::chrono::milliseconds(100);
@@ -79,13 +91,9 @@ TEST(TestRate, rate_basics) {
   auto five = std::chrono::system_clock::now();
   delta = five - four;
   ASSERT_TRUE(epsilon > delta);
-
-  rclcpp::shutdown();
 }
 
-TEST(TestRate, wall_rate_basics) {
-  rclcpp::init(0, nullptr);
-
+TEST_F(TestRate, wall_rate_basics) {
   auto period = std::chrono::milliseconds(100);
   auto offset = std::chrono::milliseconds(50);
   auto epsilon = std::chrono::milliseconds(1);
@@ -140,14 +148,12 @@ TEST(TestRate, wall_rate_basics) {
   auto five = std::chrono::steady_clock::now();
   delta = five - four;
   EXPECT_GT(epsilon, delta);
-
-  rclcpp::shutdown();
 }
 
 /*
    Basic test for the deprecated GenericRate class.
  */
-TEST(TestRate, generic_rate) {
+TEST_F(TestRate, generic_rate) {
   auto period = std::chrono::milliseconds(100);
   auto offset = std::chrono::milliseconds(50);
   auto epsilon = std::chrono::milliseconds(1);
@@ -262,7 +268,7 @@ TEST(TestRate, generic_rate) {
   }
 }
 
-TEST(TestRate, from_double) {
+TEST_F(TestRate, from_double) {
   {
     rclcpp::Rate rate(1.0);
     EXPECT_EQ(rclcpp::Duration(std::chrono::seconds(1)), rate.period());
@@ -281,7 +287,7 @@ TEST(TestRate, from_double) {
   }
 }
 
-TEST(TestRate, clock_types) {
+TEST_F(TestRate, clock_types) {
   {
     rclcpp::Rate rate(1.0, std::make_shared<rclcpp::Clock>(RCL_SYSTEM_TIME));
 // suppress deprecated warnings
@@ -341,7 +347,7 @@ TEST(TestRate, clock_types) {
   }
 }
 
-TEST(TestRate, incorrect_constuctor) {
+TEST_F(TestRate, incorrect_constuctor) {
   // Constructor with 0-frequency
   RCLCPP_EXPECT_THROW_EQ(
     rclcpp::Rate rate(0.0),