feat(published_time_publisher): add unit test

[brkay54]

Description

Part of:

• Make it possible to detect publishing times of the messages in the pipelines #6255

Required from:

• feat(tier4_autoware_utils): add published time debug class into utils #6440 (review)

Depends on:

• feat: add published_time publisher debug to packages #6490
  because of renaming of publish() function

Tests performed

Not applicable.

Effects on system behavior

Not applicable.

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[codecov]

Codecov Report

Attention: Patch coverage is 20.20202% with 79 lines in your changes are missing coverage. Please review.

Project coverage is 14.77%. Comparing base (a993a06) to head (7c775fa).
Report is 3 commits behind head on main.

Files	Patch %	Lines
...ils/test/src/ros/test_published_time_publisher.cpp	20.20%	0 Missing and 79 partials ⚠️

Additional details and impacted files

@@           Coverage Diff            @@
##             main    #6610    +/-   ##
========================================
  Coverage   14.77%   14.77%            
========================================
  Files        1923     1925     +2     
  Lines      132533   132754   +221     
  Branches    39398    39545   +147     
========================================
+ Hits        19586    19620    +34     
- Misses      91070    91166    +96     
- Partials    21877    21968    +91     

Flag	Coverage Δ		*Carryforward flag
differential	16.76% <20.20%> (?)
total	14.77% <ø> (ø)		Carriedforward from a993a06

*This pull request uses carry forward flags. Click here to find out more.

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[xmfcx]

Thanks for the work❇️
Once the build-and-test-differential jobs pass, we can merge this.
It checks most of its functionality.

[github-actions]

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[github-actions]

CodeRabbit

Commits

Files that changed from the base of the PR and between 7f36c52 and 1e28666 commits.

Files selected (1)

• common/tier4_autoware_utils/test/src/ros/test_published_time_publisher.cpp (1)

Files not summarized due to errors (1)

• common/tier4_autoware_utils/test/src/ros/test_published_time_publisher.cpp (nothing obtained from openai)

Files not reviewed due to errors (1)

• common/tier4_autoware_utils/test/src/ros/test_published_time_publisher.cpp (no response)

Review comments generated (0)

• Review: 0
• LGTM: 0

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[xmfcx]

/review

[github-actions]

PR Review

(Review updated until commit 7c775fa)

⏱️ Estimated effort to review [1-5]	4, due to the extensive amount of test code added, which requires careful review to ensure correctness, coverage, and adherence to best practices.
🧪 Relevant tests	Yes
🔍 Possible issues	Test Redundancy: The tests for PublishedTimePublisherWithSubscriptionTest and PublishedTimePublisherWithoutSubscriptionTest share a lot of similar setup and teardown code, as well as similar test logic. This redundancy could be reduced by using test fixtures more effectively or by parameterizing tests.
	Missing Edge Case Tests: The tests cover basic functionality but may miss edge cases, such as handling of invalid timestamps or frame IDs, and behavior under unusual conditions (e.g., extremely high publishing rates, system clock changes).
🔒 Security concerns	No

Code feedback:

---

relevant file	common/tier4_autoware_utils/test/src/ros/test_published_time_publisher.cpp
suggestion	Consider using a test fixture class for common setup and teardown code to reduce redundancy and improve maintainability. This can be achieved by moving shared setup code into the SetUp() method of a base test fixture class, and shared teardown code into the TearDown() method. [important]
relevant line	class PublishedTimePublisherWithSubscriptionTest : public ::testing::Test

---

relevant file	common/tier4_autoware_utils/test/src/ros/test_published_time_publisher.cpp
suggestion	Add tests for edge cases, such as invalid timestamps or frame IDs, to ensure robustness. This could involve testing with negative timestamps, empty frame IDs, or extremely large timestamps to verify correct behavior under all conditions. [important]
relevant line	TEST_F(PublishedTimePublisherWithSubscriptionTest, PublishMsgWithHeader)

---

relevant file	common/tier4_autoware_utils/test/src/ros/test_published_time_publisher.cpp
suggestion	Consider parameterizing tests to avoid code duplication and to cover more scenarios with less code. Google Test's TEST_P and INSTANTIATE_TEST_CASE_P can be used to run the same test logic with different inputs, reducing redundancy and making the tests easier to extend. [medium]
relevant line	TEST_F(PublishedTimePublisherWithSubscriptionTest, PublishMsgWithHeader)

---

relevant file	common/tier4_autoware_utils/test/src/ros/test_published_time_publisher.cpp
suggestion	To ensure that the system behaves correctly under high load, add stress tests that simulate a high rate of messages being published. This can help identify performance issues or race conditions that may not be evident under normal operation. [medium]
relevant line	TEST_F(PublishedTimePublisherWithSubscriptionTest, MultiplePublishMsgWithHeader)

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[brkay54]

/review

[github-actions]

Persistent review updated to latest commit 7c775fa

[brkay54]

@xmfcx I implemented some of the the automated review suggestions. I think it is ready to merge.

[brkay54]

@takayuki5168 Thank you 🙏🏼