adding unit tests to cover #43

tf2_ros/CMakeLists.txt

@@ -108,14 +108,24 @@ find_package(catkin REQUIRED COMPONENTS
 # tf2_ros_test_listener
 add_executable(${PROJECT_NAME}_test_listener EXCLUDE_FROM_ALL test/listener_unittest.cpp)
 add_dependencies(${PROJECT_NAME}_test_listener tf2_msgs_gencpp)
+add_executable(${PROJECT_NAME}_test_time_reset EXCLUDE_FROM_ALL test/time_reset_test.cpp)
+add_dependencies(${PROJECT_NAME}_test_time_reset tf2_msgs_gencpp)
 target_link_libraries(${PROJECT_NAME}_test_listener
   ${PROJECT_NAME}
   ${catkin_LIBRARIES}
   ${GTEST_LIBRARIES}
 )
 
+target_link_libraries(${PROJECT_NAME}_test_time_reset
+  ${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+  ${GTEST_LIBRARIES}
+)
+
 add_dependencies(tests ${PROJECT_NAME}_test_listener)
+add_dependencies(tests ${PROJECT_NAME}_test_time_reset)
 
 add_rostest(test/transform_listener_unittest.launch)
+add_rostest(test/transform_listener_time_reset_test.launch)
 
 endif()

tf2_ros/test/time_reset_test.cpp

@@ -0,0 +1,90 @@
+/*
+ * Copyright (c) 2014, Open Source Robotics Foundation
+ * All rights reserved.
+ * 
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ * 
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the Willow Garage, Inc. nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ * 
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <gtest/gtest.h>
+#include <tf2_ros/transform_broadcaster.h>
+#include <tf2_ros/transform_listener.h>
+#include <sys/time.h>
+#include <rosgraph_msgs/Clock.h>
+
+using namespace tf2;
+
+TEST(tf2_ros_transform_listener, time_backwards)
+{
+
+  tf2_ros::Buffer buffer;
+  tf2_ros::TransformListener tfl(buffer);
+  tf2_ros::TransformBroadcaster tfb;
+
+  ros::NodeHandle nh = ros::NodeHandle();
+
+  ros::Publisher clock = nh.advertise<rosgraph_msgs::Clock>("/clock", 5);
+
+  rosgraph_msgs::Clock c;
+  c.clock = ros::Time(100);
+  clock.publish(c);
+
+  // basic test
+  ASSERT_FALSE(buffer.canTransform("foo", "bar", ros::Time(101, 0)));
+
+  // set the transform
+  geometry_msgs::TransformStamped msg;
+  msg.header.stamp = ros::Time(100, 0);
+  msg.header.frame_id = "foo";
+  msg.child_frame_id = "bar";
+  msg.transform.rotation.x = 1.0;
+  tfb.sendTransform(msg);
+  msg.header.stamp = ros::Time(102, 0);
+  tfb.sendTransform(msg);
+  sleep(1);
+  // verify it's been set
+  ASSERT_TRUE(buffer.canTransform("foo", "bar", ros::Time(101, 0)));
+
+  c.clock = ros::Time(90);
+  clock.publish(c);
+
+  //Send anoterh message to trigger clock test
+  msg.header.stamp = ros::Time(110, 0);
+  msg.header.frame_id = "foo2";
+  msg.child_frame_id = "bar2";
+  tfb.sendTransform(msg);
+  sleep(1);
+  //verify the data's been cleared
+  ASSERT_FALSE(buffer.canTransform("foo", "bar", ros::Time(101, 0)));
+
+}
+
+
+
+
+int main(int argc, char **argv){
+  testing::InitGoogleTest(&argc, argv);
+  ros::init(argc, argv, "transform_listener_backwards_reset");
+  return RUN_ALL_TESTS();
+}

tf2_ros/test/transform_listener_time_reset_test.launch

@@ -0,0 +1,4 @@
+<launch>
+  <test test-name="transform_listener_time_reset_test" pkg="tf2_ros" type="tf2_ros_test_time_reset" />
+  <param name="/use_sim_time" value="True"/>
+</launch>