test-runner-corba.cpp

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/***************************************************************************
  tag: Peter Soetens  Mon Jan 10 15:59:50 CET 2005  test-runner.cpp

                        test-runner.cpp -  description
                           -------------------
    begin                : Mon January 10 2005
    copyright            : (C) 2005 Peter Soetens
    email                : peter.soetens@mech.kuleuven.ac.be

 ***************************************************************************
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 ***************************************************************************/

// need access to all TLSF functions embedded in RTT
// this call must occur before ALL RTT include's!!
#define ORO_MEMORY_POOL
#include <rtt/os/tlsf/tlsf.h>

#include <os/main.h>
#include <Logger.hpp>
#include <iostream>

#include <os/StartStopManager.hpp>
#include <transports/corba/TaskContextServer.hpp>
#include <transports/corba/CorbaDispatcher.hpp>

#include "test-runner.hpp"
#include <boost/test/unit_test.hpp>
#include <boost/test/included/unit_test.hpp>

using boost::unit_test::test_suite;

using namespace RTT;
using namespace RTT::corba;
using namespace std;

struct InitOrocos {
public:
        InitOrocos(){  }
        ~InitOrocos(){
            corba::CorbaDispatcher::ReleaseAll();
            corba::TaskContextServer::ShutdownOrb(true);
            corba::TaskContextServer::DestroyOrb();

            // If we call __os_exit() in Xenomai, we get an ABORT
            // because the main task is cleaned up too early.
            // The work around for now is to stop all threads but
            // the main thread. To be fixed if boost::test allows it.
#ifndef OROCOS_TARGET_XENOMAI
        __os_exit();
#else
        os::StartStopManager::Instance()->stop();
        os::StartStopManager::Release();
#endif
}

};

BOOST_GLOBAL_FIXTURE( InitOrocos )

boost::unit_test::test_suite* init_unit_test_suite(int argc, char** const argv)
{
    if ( argc > 1 && strncmp(argv[1],"--help",6) == 0 ) {
        cout << "This unit test executable takes the following options:" <<endl<<endl;
        cout << "The starred option is the default, available options depend on Boost UTF library version." <<endl<<endl;
        cout << "  --build_info[=<yes|no*>]          "<<endl;
        cout << "  --catch_system_errors[=<yes*|no>  "<<endl;
        cout << "  --detect_memory_leaks[=<yes*|no>  "<<endl;
        cout << "  --log_format[=<HRF*|XML>          "<<endl;
        cout << "  --log_level[=<all|success|test_suite|message|warning|error*|cpp_exception|system_error|fatal_error|nothing>"<<endl;
        cout << "  --result_code[=<yes*|no>          "<<endl;
        cout << "  --output_format[=<HRF*|XML>       "<<endl;
        cout << "  --random[=<0*|1|>1>               "<<endl;
        cout << "  --report_format[=<HRF*|XML>       "<<endl;
        cout << "  --report level[=<no|confirm*|short|detailed>"<<endl;
        cout << "  --show_progress[=<yes|no*>        "<<endl<<endl;
        cout << "  --use_alt_stack[=<yes*|no>        "<<endl<<endl;

        cout << "Select tests by using the form:"<<endl;
        cout << "  " << argv[0] << " --run_test=suite/testX"<<endl;
        cout << "Wildcards are accepted:"<<endl;
        cout << "  " << argv[0] << " --run_test=*/testX"<<endl;
        exit(0);
    }

    // sets environment if not set by user.
    setenv("RTT_COMPONENT_PATH","../rtt", 0);
#ifdef OS_RT_MALLOC
        void*   rtMem=0;
        size_t  freeMem=0;

        rtMem           = malloc(BUILD_TEST_RT_MEM_POOL_SIZE);  // don't calloc() as is first thing TLSF does.
        assert(0 != rtMem);
        freeMem         = init_memory_pool(BUILD_TEST_RT_MEM_POOL_SIZE, rtMem);
        assert((size_t)-1 != freeMem); // increase MEMORY_SIZE above most likely, as TLSF has a several kilobyte overhead
#endif
        __os_init(argc, argv);

    corba::TaskContextServer::InitOrb(argc,argv);
    corba::TaskContextServer::ThreadOrb();


    // disable logging of errors or warnings if no ORO_LOGLEVEL was set.
    if ( log().getLogLevel() == Logger::Warning ) {
        log(Info) << "Lowering LogLevel to Critical." << endlog();
        log().setLogLevel(Logger::Critical);
    } else {
        log(Info) << "LogLevel unaltered by test-runner." << endlog();
    }

    return 0;
}