def test_clock_change(self):
time_source = TimeSource(node=self.node)
clock = ROSClock()
time_source.attach_clock(clock)
time_source.ros_time_is_active = True
pre_cb = Mock()
post_cb = Mock()
threshold = JumpThreshold(min_forward=None, min_backward=None, on_clock_change=True)
handler = clock.create_jump_callback(
threshold, pre_callback=pre_cb, post_callback=post_cb)
time_source.ros_time_is_active = False
pre_cb.assert_called()
post_cb.assert_called()
assert post_cb.call_args[0][0].clock_change == ClockChange.ROS_TIME_DEACTIVATED
pre_cb.reset_mock()
post_cb.reset_mock()
time_source.ros_time_is_active = True
pre_cb.assert_called()
post_cb.assert_called()
assert post_cb.call_args[0][0].clock_change == ClockChange.ROS_TIME_ACTIVATED
handler.unregister()
def test_no_post_callback(self):
time_source = TimeSource(node=self.node)
clock = ROSClock()
time_source.attach_clock(clock)
time_source.ros_time_is_active = True
pre_cb = Mock()
threshold = JumpThreshold(min_forward=None, min_backward=None, on_clock_change=True)
handler = clock.create_jump_callback(
threshold, pre_callback=pre_cb, post_callback=None)
time_source.ros_time_is_active = False
pre_cb.assert_called_once()
handler.unregister()
def test_time_source_using_sim_time(self):
time_source = TimeSource(node=self.node)
clock = ROSClock()
time_source.attach_clock(clock)
# Setting ROS time active on a time source should also cause attached clocks' use of ROS
# time to be set to active.
self.assertFalse(time_source.ros_time_is_active)
self.assertFalse(clock.ros_time_is_active)
time_source.ros_time_is_active = True
self.assertTrue(time_source.ros_time_is_active)
self.assertTrue(clock.ros_time_is_active)
# A subscriber should have been created
assert time_source._clock_sub is not None
# When using sim time, ROS time should look like the messages received on /clock
self.publish_clock_messages()
assert clock.now() > Time(seconds=0, clock_type=ClockType.ROS_TIME)
assert clock.now() <= Time(seconds=5, clock_type=ClockType.ROS_TIME)
# Check that attached clocks get the cached message
clock2 = Clock(clock_type=ClockType.ROS_TIME)
time_source.attach_clock(clock2)
assert clock2.now() > Time(seconds=0, clock_type=ClockType.ROS_TIME)
assert clock2.now() <= Time(seconds=5, clock_type=ClockType.ROS_TIME)
# Check detaching the node
time_source.detach_node()
node2 = rclpy.create_node('TestTimeSource2', namespace='/rclpy')
time_source.attach_node(node2)
node2.destroy_node()
assert time_source._node == node2
assert time_source._clock_sub is not None
def test_log_throttle_ros_clock(self):
message_was_logged = []
ros_clock = ROSClock()
time_source = TimeSource()
time_source.attach_clock(ros_clock)
time_source.ros_time_is_active = True
for i in range(5):
message_was_logged.append(
rclpy.logging._root_logger.log(
'message_' + inspect.stack()[0][3] + '_' + str(i),
LoggingSeverity.INFO,
throttle_duration_sec=1,
throttle_time_source_type=ros_clock,
))
time.sleep(0.4)
self.assertEqual(
message_was_logged,
[
False, # t=0, throttled
False, # t=0.4, throttled
False, # t=0.8, throttled
False, # t=1.2, throttled
False # t=1.6, throttled
])
message_was_logged = []
for i in range(5):
message_was_logged.append(
rclpy.logging._root_logger.log(
'message_' + inspect.stack()[0][3] + '_' + str(i),
LoggingSeverity.INFO,
throttle_duration_sec=2,
throttle_time_source_type=ros_clock,
))
ros_clock.set_ros_time_override(
Time(
seconds=i + 1,
nanoseconds=0,
clock_type=ros_clock.clock_type,
))
self.assertEqual(
message_was_logged,
[
False, # t=0, throttled
False, # t=1.0, throttled
True, # t=2.0, not throttled
False, # t=3.0, throttled
True # t=4.0, not throttled
])
def test_backwards_jump(self):
time_source = TimeSource(node=self.node)
clock = ROSClock()
time_source.attach_clock(clock)
time_source.ros_time_is_active = True
pre_cb = Mock()
post_cb = Mock()
threshold = JumpThreshold(
min_forward=None, min_backward=Duration(seconds=-0.5), on_clock_change=False)
handler = clock.create_jump_callback(
threshold, pre_callback=pre_cb, post_callback=post_cb)
self.publish_reversed_clock_messages()
pre_cb.assert_called()
post_cb.assert_called()
assert post_cb.call_args[0][0].clock_change == ClockChange.ROS_TIME_NO_CHANGE
handler.unregister()