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Add tests for TimeSource (osrf#22)
* Notify clocks when use_sim_time parameter changes Signed-off-by: Jacob Perron <[email protected]> * Add unit tests for TimeSource class Introduce Mockito dependency to help with creating mock objects. Signed-off-by: Jacob Perron <[email protected]> * Add test dependency on libmockito-java Depends on ros/rosdistro#26308 Signed-off-by: Jacob Perron <[email protected]> * Minor refactor - Switch to using @mock annotation. - Cleanup Signed-off-by: Jacob Perron <[email protected]> * Depend on mockito_vendor package Signed-off-by: Jacob Perron <[email protected]> * Add mockito_vendor to repos file This should make CI green. Signed-off-by: Jacob Perron <[email protected]> * Update branch for mockito_vendor Signed-off-by: Jacob Perron <[email protected]>
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‎rcljava/CMakeLists.txt‎

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@@ -214,6 +214,7 @@ ament_export_jars("share/${PROJECT_NAME}/java/${PROJECT_NAME}.jar")
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(mockito_vendor REQUIRED)
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ament_lint_auto_find_test_dependencies()
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set(${PROJECT_NAME}_message_files
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"src/test/java/org/ros2/rcljava/publisher/PublisherTest.java"
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"src/test/java/org/ros2/rcljava/qos/QoSProfileTest.java"
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"src/test/java/org/ros2/rcljava/subscription/SubscriptionTest.java"
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"src/test/java/org/ros2/rcljava/time/TimeSourceTest.java"
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"src/test/java/org/ros2/rcljava/timer/TimerTest.java"
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)
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"org.ros2.rcljava.publisher.PublisherTest"
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"org.ros2.rcljava.qos.QoSProfileTest"
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"org.ros2.rcljava.subscription.SubscriptionTest"
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"org.ros2.rcljava.time.TimeSourceTest"
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"org.ros2.rcljava.timer.TimerTest"
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)
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@@ -356,6 +359,7 @@ if(BUILD_TESTING)
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"${builtin_interfaces_JARS}"
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"${rcl_interfaces_JARS}"
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"${rosgraph_msgs_JARS}"
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"${mockito_vendor_JARS}"
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"${_${PROJECT_NAME}_jar_file}"
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"${_${PROJECT_NAME}_messages_jar_file}"
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APPEND_LIBRARY_DIRS

‎rcljava/package.xml‎

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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<test_depend>builtin_interfaces</test_depend>
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<test_depend>mockito_vendor</test_depend>
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<test_depend>rcl_interfaces</test_depend>
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<test_depend>rcljava_common</test_depend>
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<test_depend>rmw_implementation_cmake</test_depend>

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

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@@ -171,7 +171,7 @@ public rcl_interfaces.msg.SetParametersResult callback(List<ParameterVariant> pa
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for (ParameterVariant param : parameters) {
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if (param.getName() == "use_sim_time") {
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if (param.getType() == ParameterType.PARAMETER_BOOL) {
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this.timeSource.rosTimeIsActive = param.asBool();
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this.timeSource.setRosTimeIsActive(param.asBool());
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} else {
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result.setSuccessful(false);
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result.setReason("'use_sim_time' parameter must be a boolean");

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

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/* Copyright 2020 Open Source Robotics Foundation, Inc.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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package org.ros2.rcljava.time;
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import static org.junit.Assert.assertTrue;
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import static org.junit.Assert.assertFalse;
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import org.junit.AfterClass;
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import org.junit.BeforeClass;
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import org.junit.Test;
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import org.junit.runner.RunWith;
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import static org.mockito.Mockito.*;
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import org.mockito.Mock;
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import org.mockito.junit.MockitoJUnitRunner;
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import org.ros2.rcljava.consumers.Consumer;
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import org.ros2.rcljava.RCLJava;
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import org.ros2.rcljava.node.Node;
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import org.ros2.rcljava.parameters.ParameterVariant;
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import org.ros2.rcljava.subscription.Subscription;
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import org.ros2.rcljava.time.TimeSource;
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@RunWith(MockitoJUnitRunner.StrictStubs.class)
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public class TimeSourceTest {
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@Mock
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private Node mockedNode;
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@Mock
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private Clock mockedClock;
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@Mock
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private Subscription mockSubscription;
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@BeforeClass
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public static void setupOnce() throws Exception {
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// Just to quiet down warnings
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org.apache.log4j.BasicConfigurator.configure();
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RCLJava.rclJavaInit();
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}
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@AfterClass
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public static void tearDownOnce() {
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RCLJava.shutdown();
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}
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@Test
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public final void testEmptyConstructor() {
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TimeSource timeSource = new TimeSource();
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assertFalse(timeSource.getRosTimeIsActive());
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}
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@Test
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public final void testConstructorWithNode() {
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when(mockedNode.getParameter("use_sim_time")).thenReturn(new ParameterVariant("use_sim_time", false));
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TimeSource timeSource = new TimeSource(mockedNode);
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assertFalse(timeSource.getRosTimeIsActive());
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}
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@Test
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public final void testAttachNodeUseSimTimeFalse() {
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when(mockedNode.getParameter("use_sim_time")).thenReturn(new ParameterVariant("use_sim_time", false));
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TimeSource timeSource = new TimeSource();
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timeSource.attachNode(mockedNode);
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assertFalse(timeSource.getRosTimeIsActive());
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}
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@Test
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public final void testAttachNodeUseSimTimeTrue() {
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when(mockedNode.getParameter("use_sim_time")).thenReturn(new ParameterVariant("use_sim_time", true));
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TimeSource timeSource = new TimeSource();
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timeSource.attachNode(mockedNode);
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assertTrue(timeSource.getRosTimeIsActive());
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}
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@Test
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public final void testAttachNodeTwice() {
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when(mockedNode.getParameter("use_sim_time")).thenReturn(new ParameterVariant("use_sim_time", true));
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TimeSource timeSource = new TimeSource();
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timeSource.attachNode(mockedNode);
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assertTrue(timeSource.getRosTimeIsActive());
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// Attach the same node again
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timeSource.attachNode(mockedNode);
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assertTrue(timeSource.getRosTimeIsActive());
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}
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@Test
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public final void testDetachNode() {
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when(mockedNode.getParameter("use_sim_time")).thenReturn(new ParameterVariant("use_sim_time", true));
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// Attaches node with ROS time active
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TimeSource timeSource = new TimeSource(mockedNode);
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assertTrue(timeSource.getRosTimeIsActive());
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timeSource.detachNode();
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assertFalse(timeSource.getRosTimeIsActive());
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// Calling detach again shouldn't change anything
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timeSource.detachNode();
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assertFalse(timeSource.getRosTimeIsActive());
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}
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@Test
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public final void testAttachClock() {
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when(mockedClock.getClockType()).thenReturn(ClockType.ROS_TIME);
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TimeSource timeSource = new TimeSource();
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// Attaching a clock should notifiy the clock
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timeSource.attachClock(mockedClock);
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verify(mockedClock).setRosTimeIsActive(false);
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// Setting ROS time active should notify clock
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timeSource.setRosTimeIsActive(true);
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verify(mockedClock).setRosTimeIsActive(true);
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}
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@Test(expected = IllegalArgumentException.class)
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public final void testAttachClockInvalidType() {
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TimeSource timeSource = new TimeSource();
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timeSource.attachClock(mockedClock);
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}
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@Test
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public final void testDetachClock() {
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when(mockedClock.getClockType()).thenReturn(ClockType.ROS_TIME);
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TimeSource timeSource = new TimeSource();
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timeSource.attachClock(mockedClock);
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timeSource.detachClock(mockedClock);
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// Setting ROS time active should not notify a detached clock
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timeSource.setRosTimeIsActive(true);
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verify(mockedClock, never()).setRosTimeIsActive(true);
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}
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@Test
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public final void testSetRosTimeIsActiveNoNode() {
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TimeSource timeSource = new TimeSource();
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timeSource.setRosTimeIsActive(false);
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assertFalse(timeSource.getRosTimeIsActive());
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timeSource.setRosTimeIsActive(true);
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assertTrue(timeSource.getRosTimeIsActive());
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}
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@Test
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public final void testSetRosTimeIsActiveWithNode() {
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when(mockedNode.getParameter("use_sim_time")).thenReturn(new ParameterVariant("use_sim_time", false));
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when(mockedNode.createSubscription(eq(rosgraph_msgs.msg.Clock.class), anyString(), any(Consumer.class)))
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.thenReturn(mockSubscription);
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TimeSource timeSource = new TimeSource(mockedNode);
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timeSource.setRosTimeIsActive(false);
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assertFalse(timeSource.getRosTimeIsActive());
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timeSource.setRosTimeIsActive(true);
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assertTrue(timeSource.getRosTimeIsActive());
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// Expect subscription for the "/clock" topic when set active
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verify(mockedNode).createSubscription(eq(rosgraph_msgs.msg.Clock.class), eq("/clock"), any(Consumer.class));
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timeSource.setRosTimeIsActive(false);
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assertFalse(timeSource.getRosTimeIsActive());
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// Expect subscription removed when set not active
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verify(mockedNode).removeSubscription(any(Subscription.class));
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}
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}

‎ros2_java_desktop.repos‎

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type: git
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url: https://github.com/ros2-java/ament_java.git
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version: main
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ros2-java/ros2_java:
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ros2_java/mockito_vendor:
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type: git
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url: https://github.com/ros2-java/mockito_vendor.git
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version: main
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ros2_java/ros2_java:
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type: git
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url: https://github.com/ros2-java/ros2_java.git
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version: main

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