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00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00036 00037 #include <gtest/gtest.h> 00038 #include <actionlib/destruction_guard.h> 00039 #include <boost/thread.hpp> 00040 #include <boost/bind.hpp> 00041 00042 using namespace actionlib; 00043 00044 class TestRunner : public testing::Test 00045 { 00046 public: 00047 TestRunner() : done_protecting_(false) 00048 { 00049 00050 } 00051 00052 void protectingThread() 00053 { 00054 DestructionGuard::ScopedProtector protector_1(guard_); 00055 EXPECT_TRUE(protector_1.isProtected()); 00056 00057 DestructionGuard::ScopedProtector protector_2(guard_); 00058 EXPECT_TRUE(protector_2.isProtected()); 00059 00060 // Let the main thread know that we've successfully created to protectors 00061 { 00062 boost::mutex::scoped_lock lock(mutex_); 00063 done_protecting_ = true; 00064 cond_.notify_all(); 00065 } 00066 00067 // Don't destruct the protectors immeadiately. Sleep for a little bit, and then destruct. 00068 // This will force the main thread to have to wait in it's destruct() call 00069 printf("protecting thread is sleeping\n"); 00070 usleep(5000000); 00071 printf("protecting thread is exiting\n"); 00072 } 00073 00074 protected: 00075 DestructionGuard guard_; 00076 00077 bool done_protecting_; 00078 boost::mutex mutex_; 00079 boost::condition cond_; 00080 }; 00081 00082 00083 TEST_F(TestRunner, threaded_test) 00084 { 00085 boost::thread spin_thread(boost::bind(&TestRunner::protectingThread, this)); 00086 00087 { 00088 boost::mutex::scoped_lock lock(mutex_); 00089 while (!done_protecting_) 00090 { 00091 cond_.timed_wait(lock, boost::posix_time::milliseconds(100.0f)); 00092 } 00093 } 00094 00095 printf("About to destruct\n"); 00096 guard_.destruct(); 00097 printf("Done destructing\n"); 00098 00099 // Already 'destructed', so protector should fail 00100 DestructionGuard::ScopedProtector protector(guard_); 00101 EXPECT_FALSE(protector.isProtected()); 00102 00103 spin_thread.join(); 00104 } 00105 00106 00107 TEST(DestructionGuard, easy_test) 00108 { 00109 DestructionGuard guard; 00110 00111 { 00112 DestructionGuard::ScopedProtector protector_1(guard); 00113 EXPECT_TRUE(protector_1.isProtected()); 00114 00115 DestructionGuard::ScopedProtector protector_2(guard); 00116 EXPECT_TRUE(protector_2.isProtected()); 00117 } 00118 00119 guard.destruct(); 00120 00121 { 00122 DestructionGuard::ScopedProtector protector_3(guard); 00123 EXPECT_FALSE(protector_3.isProtected()); 00124 } 00125 } 00126 00127 00128 int main(int argc, char **argv){ 00129 testing::InitGoogleTest(&argc, argv); 00130 00131 00132 return RUN_ALL_TESTS(); 00133 }