feat(published_time_publisher): add unit test (#6610)

* feat(published_time_publisher): add unit test

Signed-off-by: Berkay Karaman <brkay54@gmail.com>

* feat: add nullpointer test

Signed-off-by: Berkay Karaman <brkay54@gmail.com>

* feat: simplify node and topic names

Signed-off-by: Berkay Karaman <brkay54@gmail.com>

* feat: modify to test multiple PublishedTime publishers

Signed-off-by: Berkay Karaman <brkay54@gmail.com>

* feat: change function name publish() -> publish_if_subscribed()

Signed-off-by: Berkay Karaman <brkay54@gmail.com>

* feat: update

Signed-off-by: Berkay Karaman <brkay54@gmail.com>

---------

Signed-off-by: Berkay Karaman <brkay54@gmail.com>

Author: brkay54

common/tier4_autoware_utils/test/src/ros/test_published_time_publisher.cpp

@@ -0,0 +1,272 @@
+// Copyright 2024 The Autoware Contributors
+//
+// 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.
+
+#include <rclcpp/rclcpp.hpp>
+#include <tier4_autoware_utils/ros/published_time_publisher.hpp>
+
+#include <autoware_internal_msgs/msg/published_time.hpp>
+#include <std_msgs/msg/header.hpp>
+
+#include <gtest/gtest.h>
+
+class PublishedTimePublisherWithSubscriptionTest : public ::testing::Test
+{
+protected:
+  std::shared_ptr<rclcpp::Node> node_{nullptr};
+  std::shared_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_ptr_{
+    nullptr};
+
+  std::shared_ptr<rclcpp::Publisher<std_msgs::msg::Header>> first_test_publisher_ptr_{nullptr};
+  std::shared_ptr<rclcpp::Publisher<std_msgs::msg::Header>> second_test_publisher_ptr_{nullptr};
+
+  std::shared_ptr<rclcpp::Subscription<autoware_internal_msgs::msg::PublishedTime>>
+    first_test_subscriber_ptr_{nullptr};
+  std::shared_ptr<rclcpp::Subscription<autoware_internal_msgs::msg::PublishedTime>>
+    second_test_subscriber_ptr_{nullptr};
+
+  autoware_internal_msgs::msg::PublishedTime::ConstSharedPtr first_published_time_ptr_{nullptr};
+  autoware_internal_msgs::msg::PublishedTime::ConstSharedPtr second_published_time_ptr_{nullptr};
+
+  std_msgs::msg::Header first_header_;
+  std_msgs::msg::Header second_header_;
+
+  void SetUp() override
+  {
+    // Simplify node and topic names for brevity and uniqueness
+    const std::string test_name = ::testing::UnitTest::GetInstance()->current_test_info()->name();
+    const std::string base_name =
+      "published_time_publisher_" + test_name;           // Base name for node and topics
+    const std::string suffix = "/debug/published_time";  // Suffix for published time topics
+
+    // Initialize ROS node
+    node_ = std::make_shared<rclcpp::Node>(base_name + "_node");
+
+    ASSERT_TRUE(rclcpp::ok());
+
+    // init headers which will be used to publish
+    first_header_.stamp = rclcpp::Time(0);
+    first_header_.frame_id = "frame_id_1";
+    second_header_.stamp = rclcpp::Time(1);
+    second_header_.frame_id = "frame_id_2";
+
+    // Create the first publisher
+    first_test_publisher_ptr_ =
+      node_->create_publisher<std_msgs::msg::Header>(base_name + "_topic1", 1);
+
+    // Create the second publisher
+    second_test_publisher_ptr_ =
+      node_->create_publisher<std_msgs::msg::Header>(base_name + "_topic2", 1);
+
+    // Create a PublishedTimePublisher
+    published_time_publisher_ptr_ =
+      std::make_shared<tier4_autoware_utils::PublishedTimePublisher>(node_.get());
+
+    // Create the first subscriber
+    first_test_subscriber_ptr_ =
+      node_->create_subscription<autoware_internal_msgs::msg::PublishedTime>(
+        base_name + "_topic1" + suffix, 1,
+        [this](autoware_internal_msgs::msg::PublishedTime::ConstSharedPtr msg) {
+          this->first_published_time_ptr_ = std::move(msg);
+        });
+
+    // Create the second subscriber
+    second_test_subscriber_ptr_ =
+      node_->create_subscription<autoware_internal_msgs::msg::PublishedTime>(
+        base_name + "_topic2" + suffix, 1,
+        [this](autoware_internal_msgs::msg::PublishedTime::ConstSharedPtr msg) {
+          this->second_published_time_ptr_ = std::move(msg);
+        });
+
+    rclcpp::spin_some(node_);
+  }
+
+  void TearDown() override {}
+};
+
+class PublishedTimePublisherWithoutSubscriptionTest : public ::testing::Test
+{
+protected:
+  std::shared_ptr<rclcpp::Node> node_{nullptr};
+  std::shared_ptr<tier4_autoware_utils::PublishedTimePublisher> published_time_publisher_ptr_{
+    nullptr};
+
+  std::shared_ptr<rclcpp::Publisher<std_msgs::msg::Header>> first_test_publisher_ptr_{nullptr};
+  std::shared_ptr<rclcpp::Publisher<std_msgs::msg::Header>> second_test_publisher_ptr_{nullptr};
+
+  std_msgs::msg::Header first_header_;
+  std_msgs::msg::Header second_header_;
+
+  void SetUp() override
+  {
+    // Simplify node and topic names for brevity and uniqueness
+    const std::string test_name = ::testing::UnitTest::GetInstance()->current_test_info()->name();
+    const std::string base_name =
+      "published_time_publisher_" + test_name;  // Base name for node and topics
+
+    // Initialize ROS node
+    node_ = std::make_shared<rclcpp::Node>(base_name + "_node");
+
+    ASSERT_TRUE(rclcpp::ok());
+
+    // init headers which will be used to publish
+    first_header_.stamp = rclcpp::Time(0);
+    first_header_.frame_id = "frame_id_1";
+    second_header_.stamp = rclcpp::Time(1);
+    second_header_.frame_id = "frame_id_2";
+
+    // Create the first publisher
+    first_test_publisher_ptr_ =
+      node_->create_publisher<std_msgs::msg::Header>(base_name + "_topic1", 1);
+
+    // Create the second publisher
+    second_test_publisher_ptr_ =
+      node_->create_publisher<std_msgs::msg::Header>(base_name + "_topic2", 1);
+
+    // Create a PublishedTimePublisher
+    published_time_publisher_ptr_ =
+      std::make_shared<tier4_autoware_utils::PublishedTimePublisher>(node_.get());
+
+    rclcpp::spin_some(node_);
+  }
+
+  void TearDown() override {}
+};
+
+TEST_F(PublishedTimePublisherWithSubscriptionTest, PublishMsgWithHeader)
+{
+  // Check if the PublishedTimePublisher is created
+  ASSERT_TRUE(published_time_publisher_ptr_ != nullptr);
+
+  // Use Published Time Publisher .publish_if_subscribed() with a header
+  published_time_publisher_ptr_->publish_if_subscribed(first_test_publisher_ptr_, first_header_);
+  rclcpp::spin_some(node_);
+
+  // Check if the published_time_ is created
+  ASSERT_TRUE(first_published_time_ptr_ != nullptr);
+
+  // Check if the published time is the same as the header
+  EXPECT_EQ(first_published_time_ptr_->header.stamp, first_header_.stamp);
+  EXPECT_EQ(first_published_time_ptr_->header.frame_id, first_header_.frame_id);
+}
+
+TEST_F(PublishedTimePublisherWithSubscriptionTest, PublishMsgWithTimestamp)
+{
+  // Check if the PublishedTimePublisher is created
+  ASSERT_TRUE(published_time_publisher_ptr_ != nullptr);
+
+  // Use Published Time Publisher .publish_if_subscribed() with a timestamp
+  published_time_publisher_ptr_->publish_if_subscribed(
+    first_test_publisher_ptr_, first_header_.stamp);
+  rclcpp::spin_some(node_);
+
+  // Check if the published_time_ is created
+  ASSERT_TRUE(first_published_time_ptr_ != nullptr);
+
+  // Check if the published time is the same as the header
+  EXPECT_EQ(first_published_time_ptr_->header.stamp, first_header_.stamp);
+  EXPECT_EQ(first_published_time_ptr_->header.frame_id, std::string(""));
+}
+
+TEST_F(PublishedTimePublisherWithSubscriptionTest, MultiplePublishMsgWithHeader)
+{
+  // Check if the PublishedTimePublisher is created
+  ASSERT_TRUE(published_time_publisher_ptr_ != nullptr);
+
+  // Use Published Time Publisher .publish_if_subscribed() with a header for multiple publishers
+  published_time_publisher_ptr_->publish_if_subscribed(first_test_publisher_ptr_, first_header_);
+  published_time_publisher_ptr_->publish_if_subscribed(second_test_publisher_ptr_, second_header_);
+  rclcpp::spin_some(node_);
+
+  // Check if the published_time_ is created
+  ASSERT_TRUE(first_published_time_ptr_ != nullptr);
+  ASSERT_TRUE(second_published_time_ptr_ != nullptr);
+
+  // Check if the published time is the same as the header
+  EXPECT_EQ(first_published_time_ptr_->header.stamp, first_header_.stamp);
+  EXPECT_EQ(second_published_time_ptr_->header.stamp, second_header_.stamp);
+  EXPECT_EQ(first_published_time_ptr_->header.frame_id, first_header_.frame_id);
+  EXPECT_EQ(second_published_time_ptr_->header.frame_id, second_header_.frame_id);
+}
+
+TEST_F(PublishedTimePublisherWithSubscriptionTest, MultiplePublishMsgWithTimestamp)
+{
+  // Check if the PublishedTimePublisher is created
+  ASSERT_TRUE(published_time_publisher_ptr_ != nullptr);
+
+  // Use Published Time Publisher .publish_if_subscribed() with a timestamp for multiple publishers
+  published_time_publisher_ptr_->publish_if_subscribed(
+    first_test_publisher_ptr_, first_header_.stamp);
+  published_time_publisher_ptr_->publish_if_subscribed(
+    second_test_publisher_ptr_, second_header_.stamp);
+  rclcpp::spin_some(node_);
+
+  // Check if the published_time_ is created
+  ASSERT_TRUE(first_published_time_ptr_ != nullptr);
+  ASSERT_TRUE(second_published_time_ptr_ != nullptr);
+
+  // Check if the published time is the same as the header
+  EXPECT_EQ(first_published_time_ptr_->header.stamp, first_header_.stamp);
+  EXPECT_EQ(second_published_time_ptr_->header.stamp, second_header_.stamp);
+  EXPECT_EQ(first_published_time_ptr_->header.frame_id, std::string(""));
+  EXPECT_EQ(second_published_time_ptr_->header.frame_id, std::string(""));
+}
+
+TEST_F(PublishedTimePublisherWithoutSubscriptionTest, PublishMsgWithHeader)
+{
+  // Check if the PublishedTimePublisher is created
+  ASSERT_TRUE(published_time_publisher_ptr_ != nullptr);
+
+  // Use Published Time Publisher .publish_if_subscribed() with a header
+  published_time_publisher_ptr_->publish_if_subscribed(first_test_publisher_ptr_, first_header_);
+  rclcpp::spin_some(node_);
+  ASSERT_TRUE(rclcpp::ok());
+}
+
+TEST_F(PublishedTimePublisherWithoutSubscriptionTest, PublishMsgWithTimestamp)
+{
+  // Check if the PublishedTimePublisher is created
+  ASSERT_TRUE(published_time_publisher_ptr_ != nullptr);
+
+  // Use Published Time Publisher .publish_if_subscribed() with a timestamp
+  published_time_publisher_ptr_->publish_if_subscribed(
+    first_test_publisher_ptr_, first_header_.stamp);
+  rclcpp::spin_some(node_);
+  ASSERT_TRUE(rclcpp::ok());
+}
+
+TEST_F(PublishedTimePublisherWithoutSubscriptionTest, MultiplePublishMsgWithHeader)
+{
+  // Check if the PublishedTimePublisher is created
+  ASSERT_TRUE(published_time_publisher_ptr_ != nullptr);
+
+  // Use Published Time Publisher .publish_if_subscribed() with a header for multiple publishers
+  published_time_publisher_ptr_->publish_if_subscribed(first_test_publisher_ptr_, first_header_);
+  published_time_publisher_ptr_->publish_if_subscribed(second_test_publisher_ptr_, second_header_);
+  rclcpp::spin_some(node_);
+  ASSERT_TRUE(rclcpp::ok());
+}
+
+TEST_F(PublishedTimePublisherWithoutSubscriptionTest, MultiplePublishMsgWithTimestamp)
+{
+  // Check if the PublishedTimePublisher is created
+  ASSERT_TRUE(published_time_publisher_ptr_ != nullptr);
+
+  // Use Published Time Publisher .publish_if_subscribed() with a timestamp for multiple publishers
+  published_time_publisher_ptr_->publish_if_subscribed(
+    first_test_publisher_ptr_, first_header_.stamp);
+  published_time_publisher_ptr_->publish_if_subscribed(
+    second_test_publisher_ptr_, second_header_.stamp);
+  rclcpp::spin_some(node_);
+  ASSERT_TRUE(rclcpp::ok());
+}