Split test_executors up into smaller chunks.

rclcpp/test/rclcpp/CMakeLists.txt

@@ -441,6 +441,24 @@ if(TARGET test_executors)
   target_link_libraries(test_executors ${PROJECT_NAME} rcl::rcl ${test_msgs_TARGETS})
 endif()
 
+ament_add_gtest(
+  test_executors_timer_cancel_behavior
+  executors/test_executors_timer_cancel_behavior.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}"
+  TIMEOUT 180)
+if(TARGET test_executors)
+  target_link_libraries(test_executors_timer_cancel_behavior ${PROJECT_NAME} ${rosgraph_msgs_TARGETS})
+endif()
+
+ament_add_gtest(
+  test_executors_intraprocess
+  executors/test_executors_intraprocess.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}"
+  TIMEOUT 180)
+if(TARGET test_executors)
+  target_link_libraries(test_executors_intraprocess ${PROJECT_NAME} ${test_msgs_TARGETS})
+endif()
+
 ament_add_gtest(test_static_single_threaded_executor executors/test_static_single_threaded_executor.cpp
   APPEND_LIBRARY_DIRS "${append_library_dirs}")
 if(TARGET test_static_single_threaded_executor)

rclcpp/test/rclcpp/executors/executor_types.hpp

@@ -0,0 +1,70 @@
+// Copyright 2017 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__EXECUTORS__EXECUTOR_TYPES_HPP_
+#define RCLCPP__EXECUTORS__EXECUTOR_TYPES_HPP_
+
+#include <gtest/gtest.h>
+
+#include <string>
+#include <type_traits>
+
+#include "rclcpp/experimental/executors/events_executor/events_executor.hpp"
+#include "rclcpp/executors/single_threaded_executor.hpp"
+#include "rclcpp/executors/static_single_threaded_executor.hpp"
+#include "rclcpp/executors/multi_threaded_executor.hpp"
+
+using ExecutorTypes =
+  ::testing::Types<
+  rclcpp::executors::SingleThreadedExecutor,
+  rclcpp::executors::MultiThreadedExecutor,
+  rclcpp::executors::StaticSingleThreadedExecutor,
+  rclcpp::experimental::executors::EventsExecutor>;
+
+class ExecutorTypeNames
+{
+public:
+  template<typename T>
+  static std::string GetName(int idx)
+  {
+    (void)idx;
+    if (std::is_same<T, rclcpp::executors::SingleThreadedExecutor>()) {
+      return "SingleThreadedExecutor";
+    }
+
+    if (std::is_same<T, rclcpp::executors::MultiThreadedExecutor>()) {
+      return "MultiThreadedExecutor";
+    }
+
+    if (std::is_same<T, rclcpp::executors::StaticSingleThreadedExecutor>()) {
+      return "StaticSingleThreadedExecutor";
+    }
+
+    if (std::is_same<T, rclcpp::experimental::executors::EventsExecutor>()) {
+      return "EventsExecutor";
+    }
+
+    return "";
+  }
+};
+
+// StaticSingleThreadedExecutor is not included in these tests for now, due to:
+// https://github.com/ros2/rclcpp/issues/1219
+using StandardExecutors =
+  ::testing::Types<
+  rclcpp::executors::SingleThreadedExecutor,
+  rclcpp::executors::MultiThreadedExecutor,
+  rclcpp::experimental::executors::EventsExecutor>;
+
+#endif  // RCLCPP__EXECUTORS__EXECUTOR_TYPES_HPP_