Wait for daemon shutdown before testing NodeStrategy

ros2cli/ros2cli/node/daemon.py

@@ -132,5 +132,24 @@ def __exit__(self, exc_type, exc_value, traceback):
         self._proxy.__exit__(exc_type, exc_value, traceback)
 
 
+def shutdown_daemon(args, wait_until_shutdown=None):
+    with DaemonNode(args) as node:
+        node.system.shutdown()
+
+    if wait_until_shutdown is None:
+        return True
+
+    if wait_until_shutdown > 0.0:
+        timeout = time.time() + wait_until_shutdown
+    else:
+        timeout = None
+
+    while is_daemon_running(args):
+        time.sleep(0.1)
+        if timeout and time.time() >= timeout:
+            return False
+    return True
+
+
 def add_arguments(parser):
     pass

ros2cli/test/test_strategy.py

@@ -16,17 +16,16 @@
 
 import pytest
 
-from ros2cli.node.daemon import DaemonNode
 from ros2cli.node.daemon import is_daemon_running
+from ros2cli.node.daemon import shutdown_daemon
 from ros2cli.node.daemon import spawn_daemon
 from ros2cli.node.strategy import NodeStrategy
 
 
 @pytest.fixture
 def enforce_no_daemon_is_running():
     if is_daemon_running(args=[]):
-        with DaemonNode(args=[]) as node:
-            node.system.shutdown()
+        assert shutdown_daemon(args=[], wait_until_shutdown=5.0)
     yield
 
 
@@ -53,8 +52,6 @@ def test_with_no_daemon_running(enforce_no_daemon_is_running):
 
 
 def test_enforce_no_daemon(enforce_daemon_is_running):
-    if not is_daemon_running(args=[]):
-        assert spawn_daemon(args=[], wait_until_spawned=5.0)
     args = argparse.Namespace(no_daemon=True)
     with NodeStrategy(args=args) as node:
         assert node._daemon_node is None