From 5827423bd3dd24f9c9b6717c7edc1574dace080f Mon Sep 17 00:00:00 2001
From: "Takagi, Isamu" <isamu.takagi@tier4.jp>
Date: Thu, 6 Mar 2025 20:16:40 +0900
Subject: [PATCH] add mock node

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
---
 .../autoware_utils_testing/mock_node.hpp      | 28 ++++++++++
 .../include/autoware_utils_testing/runner.hpp | 23 --------
 .../autoware_utils_testing/spin_thread.hpp    | 54 +++++++++++++++++++
 3 files changed, 82 insertions(+), 23 deletions(-)
 delete mode 100644 autoware_utils_testing/include/autoware_utils_testing/runner.hpp
 create mode 100644 autoware_utils_testing/include/autoware_utils_testing/spin_thread.hpp

diff --git a/autoware_utils_testing/include/autoware_utils_testing/mock_node.hpp b/autoware_utils_testing/include/autoware_utils_testing/mock_node.hpp
index d56f734..b17d079 100644
--- a/autoware_utils_testing/include/autoware_utils_testing/mock_node.hpp
+++ b/autoware_utils_testing/include/autoware_utils_testing/mock_node.hpp
@@ -17,19 +17,47 @@
 
 #include <rclcpp/rclcpp.hpp>
 
+#include <memory>
 #include <string>
+#include <unordered_map>
+#include <vector>
 
 namespace autoware_utils_testing
 {
 
+template <class T>
+struct Topic
+{
+  int count;
+  std::vector<T> data;
+};
+
 class MockNode : public rclcpp::Node
 {
 public:
   explicit MockNode(const std::string & name) : Node(name) {}
 
+  template <class T>
+  std::shared_ptr<Topic<T>> sub(const std::string & name, const rclcpp::QoS & qos);
+
 private:
+  std::unordered_map<std::string, std::shared_ptr<void>> topics_;
+  std::unordered_map<std::string, rclcpp::SubscriptionBase::SharedPtr> subs_;
 };
 
+template <class T>
+std::shared_ptr<Topic<T>> MockNode::sub(const std::string & name, const rclcpp::QoS & qos)
+{
+  const auto topic = std::make_shared<Topic<T>>();
+  const auto sub = create_subscription<T>(name, qos, [this, topic](const T & msg) {
+    topic->count += 1;
+    topic->data.push_back(msg);
+  });
+  subs_[name] = sub;
+  topics_[name] = topic;
+  return topic;
+}
+
 }  // namespace autoware_utils_testing
 
 #endif  // AUTOWARE_UTILS_TESTING__MOCK_NODE_HPP_
diff --git a/autoware_utils_testing/include/autoware_utils_testing/runner.hpp b/autoware_utils_testing/include/autoware_utils_testing/runner.hpp
deleted file mode 100644
index 80bb819..0000000
--- a/autoware_utils_testing/include/autoware_utils_testing/runner.hpp
+++ /dev/null
@@ -1,23 +0,0 @@
-// Copyright 2025 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.
-
-#ifndef AUTOWARE_UTILS_TESTING__RUNNER_HPP_
-#define AUTOWARE_UTILS_TESTING__RUNNER_HPP_
-
-namespace autoware_utils_testing
-{
-
-}  // namespace autoware_utils_testing
-
-#endif  // AUTOWARE_UTILS_TESTING__RUNNER_HPP_
diff --git a/autoware_utils_testing/include/autoware_utils_testing/spin_thread.hpp b/autoware_utils_testing/include/autoware_utils_testing/spin_thread.hpp
new file mode 100644
index 0000000..6e5cdee
--- /dev/null
+++ b/autoware_utils_testing/include/autoware_utils_testing/spin_thread.hpp
@@ -0,0 +1,54 @@
+// Copyright 2025 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.
+
+#ifndef AUTOWARE_UTILS_TESTING__SPIN_THREAD_HPP_
+#define AUTOWARE_UTILS_TESTING__SPIN_THREAD_HPP_
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <chrono>
+#include <optional>
+#include <thread>
+
+namespace autoware_utils_testing
+{
+
+template <class Executor = rclcpp::executors::SingleThreadedExecutor>
+class SpinThread
+{
+public:
+  void start()
+  {
+    thread_ = std::thread([this] { executor_.spin(); });
+    while (rclcpp::ok() && !executor_.is_spinning()) {
+      std::this_thread::sleep_for(std::chrono::milliseconds(10));
+    }
+  }
+
+  void stop()
+  {
+    executor_.cancel();
+    thread_.join();
+  }
+
+  void add_node(std::shared_ptr<rclcpp::Node> node) { executor_.add_node(node); }
+
+private:
+  Executor executor_;
+  std::thread thread_;
+};
+
+}  // namespace autoware_utils_testing
+
+#endif  // AUTOWARE_UTILS_TESTING__SPIN_THREAD_HPP_