Add tests for TimeSource

.github/workflows/build_and_test.yml

@@ -14,7 +14,7 @@ jobs:
     - uses: ros-tooling/setup-ros@0.0.25
       with:
         required-ros-distributions: foxy
-    - uses: ros-tooling/action-ros-ci@0.0.19
+    - uses: ros-tooling/action-ros-ci@master
       with:
         package-name: rosidl_generator_java rcljava_common rcljava
         target-ros2-distro: foxy

rcljava/CMakeLists.txt

@@ -188,6 +188,7 @@ ament_export_jars("share/${PROJECT_NAME}/java/${PROJECT_NAME}.jar")
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   find_package(std_msgs REQUIRED)
+  find_package(mockito_vendor REQUIRED)
   ament_lint_auto_find_test_dependencies()
 
   set(${PROJECT_NAME}_message_files
@@ -243,6 +244,7 @@ if(BUILD_TESTING)
     # "src/test/java/org/ros2/rcljava/parameters/SyncParametersClientTest.java"
     "src/test/java/org/ros2/rcljava/publisher/PublisherTest.java"
     "src/test/java/org/ros2/rcljava/subscription/SubscriptionTest.java"
+    "src/test/java/org/ros2/rcljava/time/TimeSourceTest.java"
     "src/test/java/org/ros2/rcljava/timer/TimerTest.java"
   )
 
@@ -258,6 +260,7 @@ if(BUILD_TESTING)
     # "org.ros2.rcljava.parameters.SyncParametersClientTest"
     "org.ros2.rcljava.publisher.PublisherTest"
     "org.ros2.rcljava.subscription.SubscriptionTest"
+    "org.ros2.rcljava.time.TimeSourceTest"
     "org.ros2.rcljava.timer.TimerTest"
   )
 
@@ -328,6 +331,7 @@ if(BUILD_TESTING)
       "${builtin_interfaces_JARS}"
       "${rcl_interfaces_JARS}"
       "${rosgraph_msgs_JARS}"
+      "${mockito_vendor_JARS}"
       "${_${PROJECT_NAME}_jar_file}"
       "${_${PROJECT_NAME}_messages_jar_file}"
       APPEND_LIBRARY_DIRS

rcljava/package.xml

@@ -40,6 +40,7 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>builtin_interfaces</test_depend>
+  <test_depend>mockito_vendor</test_depend>
   <test_depend>rcl_interfaces</test_depend>
   <test_depend>rcljava_common</test_depend>
   <test_depend>rmw_implementation_cmake</test_depend>

rcljava/src/main/java/org/ros2/rcljava/time/TimeSource.java

@@ -131,7 +131,7 @@ public rcl_interfaces.msg.SetParametersResult callback(List<ParameterVariant> pa
         for (ParameterVariant param : parameters) {
           if (param.getName() == "use_sim_time") {
             if (param.getType() == ParameterType.PARAMETER_BOOL) {
-              this.timeSource.rosTimeIsActive = param.asBool();
+              this.timeSource.setRosTimeIsActive(param.asBool());
             } else {
               result.setSuccessful(false);
               result.setReason("'use_sim_time' parameter must be a boolean");

rcljava/src/test/java/org/ros2/rcljava/time/TimeSourceTest.java

@@ -0,0 +1,183 @@
+/* Copyright 2020 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.
+ */
+
+package org.ros2.rcljava.time;
+
+import static org.junit.Assert.assertTrue;
+import static org.junit.Assert.assertFalse;
+
+import org.junit.AfterClass;
+import org.junit.BeforeClass;
+import org.junit.Test;
+
+import org.junit.runner.RunWith;
+
+import static org.mockito.Mockito.*;
+import org.mockito.Mock;
+import org.mockito.junit.MockitoJUnitRunner;
+
+import org.ros2.rcljava.consumers.Consumer;
+import org.ros2.rcljava.RCLJava;
+import org.ros2.rcljava.node.Node;
+import org.ros2.rcljava.parameters.ParameterVariant;
+import org.ros2.rcljava.subscription.Subscription;
+import org.ros2.rcljava.time.TimeSource;
+
+@RunWith(MockitoJUnitRunner.StrictStubs.class)
+public class TimeSourceTest {
+  @Mock
+  private Node mockedNode;
+
+  @Mock
+  private Clock mockedClock;
+
+  @Mock
+  private Subscription mockSubscription;
+
+  @BeforeClass
+  public static void setupOnce() throws Exception {
+    // Just to quiet down warnings
+    org.apache.log4j.BasicConfigurator.configure();
+
+    RCLJava.rclJavaInit();
+  }
+
+  @AfterClass
+  public static void tearDownOnce() {
+    RCLJava.shutdown();
+  }
+
+  @Test
+  public final void testEmptyConstructor() {
+    TimeSource timeSource = new TimeSource();
+    assertFalse(timeSource.getRosTimeIsActive());
+  }
+
+  @Test
+  public final void testConstructorWithNode() {
+    when(mockedNode.getParameter("use_sim_time")).thenReturn(new ParameterVariant("use_sim_time", false));
+
+    TimeSource timeSource = new TimeSource(mockedNode);
+    assertFalse(timeSource.getRosTimeIsActive());
+  }
+
+  @Test
+  public final void testAttachNodeUseSimTimeFalse() {
+    when(mockedNode.getParameter("use_sim_time")).thenReturn(new ParameterVariant("use_sim_time", false));
+
+    TimeSource timeSource = new TimeSource();
+    timeSource.attachNode(mockedNode);
+    assertFalse(timeSource.getRosTimeIsActive());
+  }
+
+  @Test
+  public final void testAttachNodeUseSimTimeTrue() {
+    when(mockedNode.getParameter("use_sim_time")).thenReturn(new ParameterVariant("use_sim_time", true));
+
+    TimeSource timeSource = new TimeSource();
+    timeSource.attachNode(mockedNode);
+    assertTrue(timeSource.getRosTimeIsActive());
+  }
+
+  @Test
+  public final void testAttachNodeTwice() {
+    when(mockedNode.getParameter("use_sim_time")).thenReturn(new ParameterVariant("use_sim_time", true));
+
+    TimeSource timeSource = new TimeSource();
+    timeSource.attachNode(mockedNode);
+    assertTrue(timeSource.getRosTimeIsActive());
+
+    // Attach the same node again
+    timeSource.attachNode(mockedNode);
+    assertTrue(timeSource.getRosTimeIsActive());
+  }
+
+  @Test
+  public final void testDetachNode() {
+    when(mockedNode.getParameter("use_sim_time")).thenReturn(new ParameterVariant("use_sim_time", true));
+
+    // Attaches node with ROS time active
+    TimeSource timeSource = new TimeSource(mockedNode);
+    assertTrue(timeSource.getRosTimeIsActive());
+
+    timeSource.detachNode();
+    assertFalse(timeSource.getRosTimeIsActive());
+
+    // Calling detach again shouldn't change anything
+    timeSource.detachNode();
+    assertFalse(timeSource.getRosTimeIsActive());
+  }
+
+  @Test
+  public final void testAttachClock() {
+    when(mockedClock.getClockType()).thenReturn(ClockType.ROS_TIME);
+
+    TimeSource timeSource = new TimeSource();
+    // Attaching a clock should notifiy the clock
+    timeSource.attachClock(mockedClock);
+    verify(mockedClock).setRosTimeIsActive(false);
+
+    // Setting ROS time active should notify clock
+    timeSource.setRosTimeIsActive(true);
+    verify(mockedClock).setRosTimeIsActive(true);
+  }
+
+  @Test(expected = IllegalArgumentException.class)
+  public final void testAttachClockInvalidType() {
+    TimeSource timeSource = new TimeSource();
+    timeSource.attachClock(mockedClock);
+  }
+
+  @Test
+  public final void testDetachClock() {
+    when(mockedClock.getClockType()).thenReturn(ClockType.ROS_TIME);
+
+    TimeSource timeSource = new TimeSource();
+    timeSource.attachClock(mockedClock);
+    timeSource.detachClock(mockedClock);
+
+    // Setting ROS time active should not notify a detached clock
+    timeSource.setRosTimeIsActive(true);
+    verify(mockedClock, never()).setRosTimeIsActive(true);
+  }
+
+  @Test
+  public final void testSetRosTimeIsActiveNoNode() {
+    TimeSource timeSource = new TimeSource();
+    timeSource.setRosTimeIsActive(false);
+    assertFalse(timeSource.getRosTimeIsActive());
+    timeSource.setRosTimeIsActive(true);
+    assertTrue(timeSource.getRosTimeIsActive());
+  }
+
+  @Test
+  public final void testSetRosTimeIsActiveWithNode() {
+    when(mockedNode.getParameter("use_sim_time")).thenReturn(new ParameterVariant("use_sim_time", false));
+    when(mockedNode.createSubscription(eq(rosgraph_msgs.msg.Clock.class), anyString(), any(Consumer.class)))
+      .thenReturn(mockSubscription);
+
+    TimeSource timeSource = new TimeSource(mockedNode);
+    timeSource.setRosTimeIsActive(false);
+    assertFalse(timeSource.getRosTimeIsActive());
+    timeSource.setRosTimeIsActive(true);
+    assertTrue(timeSource.getRosTimeIsActive());
+    // Expect subscription for the "/clock" topic when set active
+    verify(mockedNode).createSubscription(eq(rosgraph_msgs.msg.Clock.class), eq("/clock"), any(Consumer.class));
+    timeSource.setRosTimeIsActive(false);
+    assertFalse(timeSource.getRosTimeIsActive());
+    // Expect subscription removed when set not active
+    verify(mockedNode).removeSubscription(any(Subscription.class));
+  }
+}

ros2_java_desktop.repos

@@ -19,6 +19,10 @@ repositories:
     type: git
     url: https://github.com/ros2/unique_identifier_msgs
     version: master
+  ros2_java/mockito_vendor:
+    type: git
+    url: https://github.com/ros2-java/mockito_vendor.git
+    version: main
   ros2_java/ros2_java:
     type: git
     url: https://github.com/osrf/ros2_java.git