def test_sleep_for_ros_time_enabled(default_context):
clock = ROSClock()
clock._set_ros_time_is_active(True)
start_time = Time(seconds=1, clock_type=ClockType.ROS_TIME)
sleep_duration = Duration(seconds=10)
stop_time = start_time + sleep_duration
clock.set_ros_time_override(start_time)
retval = None
def run():
nonlocal retval
retval = clock.sleep_for(sleep_duration)
t = threading.Thread(target=run)
t.start()
# wait for thread to get inside sleep_for call
time.sleep(0.2)
clock.set_ros_time_override(stop_time)
# wait for thread to exit
start = clock.now()
t.join()
stop = clock.now()
assert stop - start < A_SMALL_AMOUNT_OF_TIME
assert retval
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_triggered_time_jump_callbacks(self):
one_second = Duration(seconds=1)
half_second = Duration(seconds=0.5)
negative_half_second = Duration(seconds=-0.5)
negative_one_second = Duration(seconds=-1)
threshold1 = JumpThreshold(min_forward=one_second,
min_backward=negative_half_second,
on_clock_change=False)
threshold2 = JumpThreshold(min_forward=half_second,
min_backward=negative_one_second,
on_clock_change=False)
pre_callback1 = Mock()
post_callback1 = Mock()
pre_callback2 = Mock()
post_callback2 = Mock()
clock = ROSClock()
handler1 = clock.create_jump_callback(threshold1,
pre_callback=pre_callback1,
post_callback=post_callback1)
handler2 = clock.create_jump_callback(threshold2,
pre_callback=pre_callback2,
post_callback=post_callback2)
clock.set_ros_time_override(Time(seconds=1))
clock._set_ros_time_is_active(True)
pre_callback1.assert_not_called()
post_callback1.assert_not_called()
pre_callback2.assert_not_called()
post_callback2.assert_not_called()
# forward jump
clock.set_ros_time_override(Time(seconds=1.75))
pre_callback1.assert_not_called()
post_callback1.assert_not_called()
pre_callback2.assert_called()
post_callback2.assert_called()
pre_callback1.reset_mock()
post_callback1.reset_mock()
pre_callback2.reset_mock()
post_callback2.reset_mock()
# backwards jump
clock.set_ros_time_override(Time(seconds=1))
pre_callback1.assert_called()
post_callback1.assert_called()
pre_callback2.assert_not_called()
post_callback2.assert_not_called()
handler1.unregister()
handler2.unregister()
