PublisherNewTests.cpp
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00001 // -*- C++ -*-
00012 /*
00013  * $Log: PublisherNewTests.cpp,v $
00014  * Revision 1.2  2008/01/23 09:19:31  arafune
00015  * added some tests.
00016  *
00017  * Revision 1.1  2007/12/20 07:50:16  arafune
00018  * *** empty log message ***
00019  *
00020  * Revision 1.2  2007/01/12 14:54:39  n-ando
00021  * The constructor's signature was changed.
00022  * InPortConsumer base class is now abstruct class. It needs concrete class.
00023  *
00024  * Revision 1.1  2006/12/18 06:51:43  n-ando
00025  * The first commitment.
00026  *
00027  *
00028  */
00029 
00030 #ifndef PublisherNew_cpp
00031 #define PublisherNew_cpp
00032 
00033 #include <cppunit/ui/text/TestRunner.h>
00034 #include <cppunit/TextOutputter.h>
00035 #include <cppunit/extensions/TestFactoryRegistry.h>
00036 #include <cppunit/extensions/HelperMacros.h>
00037 #include <cppunit/TestAssert.h>
00038 
00039 #include <coil/Properties.h>
00040 #include <rtm/InPortConsumer.h>
00041 #include <rtm/PublisherNew.h>
00042 #include <coil/Time.h>
00043 #include <rtm/CORBA_SeqUtil.h>
00044 #include <rtm/NVUtil.h>
00045 #include <rtm/InPortCorbaCdrConsumer.h>
00046 #include <rtm/CdrRingBuffer.h>
00047 
00048 #include <rtm/idl/BasicDataTypeSkel.h>
00049 #include <rtm/ConnectorListener.h>
00050 
00055 namespace PublisherNew
00056 {
00057   int m_OnCheck = 0;
00058 
00062   class DataListener
00063     : public RTC::ConnectorDataListenerT<RTC::TimedLong>
00064   {
00065   public:
00066     DataListener(const char* name) : m_name(name) {}
00067     virtual ~DataListener()
00068     {
00069     }
00070 
00071     virtual void operator()(const RTC::ConnectorInfo& info,
00072                             const RTC::TimedLong& data)
00073     {
00074       std::cout << "------------------------------" << std::endl;
00075       std::cout << "Listener: " << m_name << std::endl;
00076       std::cout << "    Data: " << data.data << std::endl;
00077       std::cout << "------------------------------" << std::endl;
00078     };
00079     std::string m_name;
00080   };
00081 
00086   class PublisherNewMock
00087     : public RTC::PublisherNew
00088   {
00089   public:
00090     PublisherNewMock(void)
00091     {
00092         ;
00093     }
00094     virtual ~PublisherNewMock(void)
00095     {
00096         ;
00097     }
00098   };
00103   class InPortCorbaCdrConsumerMock
00104     : public RTC::InPortCorbaCdrConsumer
00105   {
00106   public:
00111       InPortCorbaCdrConsumerMock(void)
00112       {
00113           m_buffer = new RTC::CdrRingBuffer();
00114           m_test_mode = 0;
00115       }
00120       virtual ~InPortCorbaCdrConsumerMock()
00121       {
00122           delete m_buffer;
00123       }
00128       virtual ReturnCode put(const cdrMemoryStream& data)
00129       {
00130           if(m_test_mode == 0)
00131           {
00132               if (m_buffer->full())
00133               {
00134                    return RTC::PublisherNew::SEND_FULL;
00135               }
00136 
00137               RTC::BufferStatus::Enum ret = m_buffer->write(data);
00138 
00139               //Listener check
00140               if(m_OnCheck == 0) {
00141                   switch(ret)
00142                   {
00143                        case RTC::BufferStatus::BUFFER_OK:
00144                            return RTC::PublisherNew::PORT_OK;
00145                            break;
00146                        case RTC::BufferStatus::BUFFER_ERROR:
00147                            return RTC::PublisherNew::PORT_ERROR;
00148                            break;
00149                        case RTC::BufferStatus::BUFFER_FULL:
00150                            return RTC::PublisherNew::SEND_FULL;
00151                            break;
00152                        case RTC::BufferStatus::BUFFER_EMPTY:
00153                            return RTC::PublisherNew::BUFFER_EMPTY;
00154                            break;
00155                        case RTC::BufferStatus::TIMEOUT:
00156                            return RTC::PublisherNew::SEND_TIMEOUT;
00157                            break;
00158                        default:
00159                            return RTC::PublisherNew::UNKNOWN_ERROR;
00160                    }
00161                    return RTC::PublisherNew::UNKNOWN_ERROR;
00162               }
00163               else if(m_OnCheck == 1) {
00164                    return RTC::PublisherNew::PORT_OK;
00165               }
00166               else if(m_OnCheck == 2) {
00167                    return RTC::PublisherNew::PORT_ERROR;
00168               }
00169               else if(m_OnCheck == 3) {
00170                    return RTC::PublisherNew::SEND_FULL;
00171               }
00172               else if(m_OnCheck == 4) {
00173                    return RTC::PublisherNew::SEND_TIMEOUT;
00174               }
00175               else if(m_OnCheck == 5) {
00176                    return RTC::PublisherNew::UNKNOWN_ERROR;
00177               }
00178               else if(m_OnCheck == 6) {
00179                    return RTC::PublisherNew::CONNECTION_LOST;
00180               }
00181           }
00182           else if(m_test_mode == 1)
00183           {
00184                std::string str("test");
00185                throw str;
00186           }
00187           else
00188           {
00189           }
00190       }
00195       cdrMemoryStream get_m_put_data(void)
00196       {
00197           cdrMemoryStream cdr;
00198           m_buffer->read(cdr);
00199 
00200           return cdr;
00201       }
00206       int get_m_put_data_len(void)
00207       {
00208           int ic;
00209           ic = (int)m_buffer->readable();
00210 
00211           return ic;
00212       }
00213 
00218       void set_m_mode(int mode)
00219       {
00220           m_test_mode = mode;
00221       }
00222   private:
00223        RTC::CdrBufferBase* m_buffer;
00224        ::OpenRTM::CdrData  m_put_data;
00225        int m_test_mode;
00226   };
00227         
00228   class PublisherNewTests
00229     : public CppUnit::TestFixture
00230   {
00231     CPPUNIT_TEST_SUITE(PublisherNewTests);
00232 
00233     //CPPUNIT_TEST(test_init);  // OK
00234     CPPUNIT_TEST(test_setConsumer);
00235     CPPUNIT_TEST(test_setBuffer);
00236     CPPUNIT_TEST(test_activate_deactivate_isActive);
00237     CPPUNIT_TEST(test_pushAll);
00238     CPPUNIT_TEST(test_pushAll_2);
00239     CPPUNIT_TEST(test_pushFifo);
00240     CPPUNIT_TEST(test_pushFifo_2);
00241     CPPUNIT_TEST(test_pushSkip);
00242     CPPUNIT_TEST(test_pushSkip_2);
00243     CPPUNIT_TEST(test_pushNew);
00244     CPPUNIT_TEST(test_write);
00245 
00246     CPPUNIT_TEST_SUITE_END();
00247                 
00248   private:
00249 
00250   public:
00251     RTC::ConnectorListeners m_listeners;
00252 
00256     PublisherNewTests()
00257     {
00258     }
00259                 
00263     ~PublisherNewTests()
00264     {
00265     }
00266                 
00270     virtual void setUp()
00271     {
00272 //      coil::usleep(1000000);
00273     }
00274                 
00278     virtual void tearDown()
00279     { 
00280     }
00281                 
00286     void test_init(void)
00287     {
00288         PublisherNewMock publisher;
00289         RTC::PublisherBase::ReturnCode retcode;
00290         coil::Properties prop;
00291 
00292         //Propertiesが空の状態でも正常に動作することを確認する
00293         retcode = publisher.init(prop);
00294         coil::usleep(10000);
00295         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::PORT_OK, retcode);
00296 
00297         prop.setProperty("publisher.push_policy","new");
00298         prop.setProperty("thread_type","bar");
00299         prop.setProperty("measurement.exec_time","default");
00300         prop.setProperty("measurement.period_count","1");
00301 
00302         //thread_type が不正の場合 INVALID_ARGS を返すことを確認する。
00303         retcode = publisher.init(prop);
00304         coil::usleep(10000);
00305         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::INVALID_ARGS, retcode);
00306 
00307         //以下のpropertiesの設定で動作することを確認する。
00308         prop.setProperty("publisher.push_policy","all");
00309         prop.setProperty("publisher.skip_count","0");
00310         prop.setProperty("thread_type","default");
00311         prop.setProperty("measurement.exec_time","enable");
00312         prop.setProperty("measurement.exec_count","0");
00313         prop.setProperty("measurement.period_time","enable");
00314         prop.setProperty("measurement.period_count","0");
00315         retcode = publisher.init(prop);
00316         coil::usleep(10000);
00317         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::PORT_OK, retcode);
00318 
00319         prop.setProperty("publisher.push_policy","fifo");
00320         prop.setProperty("publisher.skip_count","1");
00321         prop.setProperty("thread_type","default");
00322         prop.setProperty("measurement.exec_time","disable");
00323         prop.setProperty("measurement.exec_count","1");
00324         prop.setProperty("measurement.period_time","disable");
00325         prop.setProperty("measurement.period_count","1");
00326         retcode = publisher.init(prop);
00327         coil::usleep(10000);
00328         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::PORT_OK, retcode);
00329 
00330         prop.setProperty("publisher.push_policy","skip");
00331         prop.setProperty("publisher.skip_count","-1");
00332         prop.setProperty("thread_type","default");
00333         prop.setProperty("measurement.exec_time","bar");
00334         prop.setProperty("measurement.exec_count","-1");
00335         prop.setProperty("measurement.period_time","bar");
00336         prop.setProperty("measurement.period_count","-1");
00337         retcode = publisher.init(prop);
00338         coil::usleep(10000);
00339         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::PORT_OK, retcode);
00340 
00341         prop.setProperty("publisher.push_policy","new");
00342         prop.setProperty("publisher.skip_count","foo");
00343         prop.setProperty("thread_type","default");
00344         prop.setProperty("measurement.exec_time","enable");
00345         prop.setProperty("measurement.exec_count","foo");
00346         prop.setProperty("measurement.period_time","enable");
00347         prop.setProperty("measurement.period_count","foo");
00348         retcode = publisher.init(prop);
00349         coil::usleep(10000);
00350         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::PORT_OK, retcode);
00351 
00352         prop.setProperty("publisher.push_policy","bar");
00353         prop.setProperty("publisher.skip_count","0");
00354         prop.setProperty("thread_type","default");
00355         prop.setProperty("measurement.exec_time","enable");
00356         prop.setProperty("measurement.exec_count","0");
00357         prop.setProperty("measurement.period_time","enable");
00358         prop.setProperty("measurement.period_count","0");
00359         retcode = publisher.init(prop);
00360         coil::usleep(10000);
00361         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::PORT_OK, retcode);
00362 
00363     }
00368     void test_setConsumer(void)
00369     {
00370         RTC::InPortCorbaCdrConsumer *consumer0 
00371                                     = new RTC::InPortCorbaCdrConsumer();
00372         RTC::InPortCorbaCdrConsumer *consumer1 
00373                                     = new RTC::InPortCorbaCdrConsumer();
00374         RTC::PublisherNew publisher;
00375 
00376         //NULLを渡した場合INVALID_ARGSとなることを確認する。
00377         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::INVALID_ARGS, 
00378                              publisher.setConsumer(NULL));
00379 
00380         //
00381         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::PORT_OK, 
00382                              publisher.setConsumer(consumer0));
00383 
00384         //
00385         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::PORT_OK, 
00386                              publisher.setConsumer(consumer1));
00387 
00388         delete consumer0;
00389         delete consumer1;
00390     }
00395     void test_setBuffer(void)
00396     {
00397         RTC::CdrBufferBase* buffer0 = new RTC::CdrRingBuffer();
00398         RTC::CdrBufferBase* buffer1 = new RTC::CdrRingBuffer();
00399         RTC::PublisherNew publisher;
00400 
00401         //NULLを渡した場合INVALID_ARGSとなることを確認する。
00402         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::INVALID_ARGS, 
00403                              publisher.setBuffer(NULL));
00404 
00405         //
00406         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::PORT_OK, 
00407                              publisher.setBuffer(buffer0));
00408 
00409         //
00410         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::PORT_OK, 
00411                              publisher.setBuffer(buffer1));
00412 
00413         delete buffer0;
00414         delete buffer1;
00415     }
00420     void test_activate_deactivate_isActive(void)
00421     {
00422         RTC::InPortCorbaCdrConsumer *consumer 
00423                                     = new RTC::InPortCorbaCdrConsumer();
00424         RTC::PublisherNew publisher;
00425         publisher.setConsumer(consumer);
00426 
00427         CPPUNIT_ASSERT_EQUAL(false, 
00428                              publisher.isActive());
00429         
00430         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::PORT_OK, 
00431                              publisher.activate());
00432 
00433         CPPUNIT_ASSERT_EQUAL(true, 
00434                              publisher.isActive());
00435         
00436         //既に activate されている場合は 
00437         //activateすると
00438         //PORT_OK を返すことを確認する。
00439         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::PORT_OK, 
00440                              publisher.activate());
00441 
00442         CPPUNIT_ASSERT_EQUAL(true, 
00443                              publisher.isActive());
00444         
00445         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::PORT_OK, 
00446                              publisher.deactivate());
00447 
00448         CPPUNIT_ASSERT_EQUAL(false, 
00449                              publisher.isActive());
00450         
00451         //activate されていない状態で、
00452         //deactivateすると
00453         //PORT_OK を返すことを確認する。
00454         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::PORT_OK, 
00455                              publisher.deactivate());
00456         
00457         CPPUNIT_ASSERT_EQUAL(false, 
00458                              publisher.isActive());
00459         
00460         coil::usleep(10000);
00461         delete consumer;
00462     }
00468     void test_pushAll(void)
00469     {
00470         InPortCorbaCdrConsumerMock *consumer 
00471                                     = new InPortCorbaCdrConsumerMock();
00472         RTC::CdrBufferBase* buffer = new RTC::CdrRingBuffer();
00473         PublisherNewMock publisher;
00474 
00475         coil::Properties prop;
00476         prop.setProperty("publisher.push_policy","all");
00477         prop.setProperty("publisher.skip_count","0");
00478         prop.setProperty("thread_type","default");
00479         prop.setProperty("measurement.exec_time","enable");
00480         prop.setProperty("measurement.exec_count","0");
00481         prop.setProperty("measurement.period_time","enable");
00482         prop.setProperty("measurement.period_count","0");
00483         publisher.init(prop);
00484         coil::usleep(10000);
00485 
00486         //ConnectorInfo
00487         coil::vstring ports;
00488         RTC::ConnectorInfo info("name", "id", ports, prop);
00489 
00490         //ConnectorListeners
00491         m_listeners.connectorData_[RTC::ON_BUFFER_WRITE].addListener(
00492                                    new DataListener("ON_BUFFER_WRITE"), true);
00493         m_listeners.connectorData_[RTC::ON_BUFFER_FULL].addListener(
00494                                    new DataListener("ON_BUFFER_FULL"), true);
00495         m_listeners.connectorData_[RTC::ON_BUFFER_WRITE_TIMEOUT].addListener(
00496                                    new DataListener("ON_BUFFER_WRITE_TIMEOUT"), true);
00497         m_listeners.connectorData_[RTC::ON_BUFFER_OVERWRITE].addListener(
00498                                    new DataListener("ON_BUFFER_OVERWRITE"), true);
00499         m_listeners.connectorData_[RTC::ON_BUFFER_READ].addListener(
00500                                    new DataListener("ON_BUFFER_READ"), true);
00501         m_listeners.connectorData_[RTC::ON_SEND].addListener(
00502                                    new DataListener("ON_SEND"), true);
00503         m_listeners.connectorData_[RTC::ON_RECEIVED].addListener(
00504                                    new DataListener("ON_RECEIVED"), true);
00505         m_listeners.connectorData_[RTC::ON_RECEIVER_FULL].addListener(
00506                                    new DataListener("ON_RECEIVER_FULL"), true);
00507         m_listeners.connectorData_[RTC::ON_RECEIVER_TIMEOUT].addListener(
00508                                    new DataListener("ON_RECEIVER_TIMEOUT"), true);
00509         m_listeners.connectorData_[RTC::ON_RECEIVER_ERROR].addListener(
00510                                    new DataListener("ON_RECEIVER_ERROR"), true);
00511 
00512         // setListener
00513         CPPUNIT_ASSERT_EQUAL(RTC::DataPortStatus::INVALID_ARGS, 
00514                              publisher.setListener(info, 0));
00515         CPPUNIT_ASSERT_EQUAL(RTC::DataPortStatus::PORT_OK, 
00516                              publisher.setListener(info, &m_listeners));
00517 
00518         publisher.setConsumer(consumer);
00519         publisher.setBuffer(buffer);
00520         publisher.activate();
00521 
00522         for(int icc(0);icc<8;++icc)
00523         {
00524             cdrMemoryStream cdr;
00525             RTC::TimedLong td;
00526             td.data = icc;
00527             td >>= cdr;
00528 
00529             CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::PORT_OK,
00530                                  publisher.write(cdr,0,0));
00531 
00532         }
00533 
00534         //provider 側のバッファ full の状態でコール(full)
00535         {
00536         cdrMemoryStream cdr;
00537         RTC::TimedLong td;
00538         td.data = 8;
00539         td >>= cdr;
00540         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::PORT_OK,
00541                                  publisher.write(cdr,0,0));
00542         coil::usleep(10000);
00543         }
00544         {
00545         cdrMemoryStream cdr;
00546         RTC::TimedLong td;
00547         td.data = 9;
00548         td >>= cdr;
00549         RTC::PublisherBase::ReturnCode ret = publisher.write(cdr,0,0);
00550         bool bret = false;
00551         if( (ret == RTC::PublisherNew::PORT_OK) || 
00552             (ret == RTC::PublisherNew::BUFFER_FULL) ) bret = true;
00553         CPPUNIT_ASSERT(bret);
00554         coil::usleep(10000);
00555         }
00556 
00557         //provider 側のバッファから 4 件取得
00558         //(full ではない状態にする )
00559         for(int icc(0);icc<4;++icc)
00560         {
00561             cdrMemoryStream data;
00562             data = consumer->get_m_put_data();
00563             CORBA::ULong inlen = data.bufSize();
00564             CPPUNIT_ASSERT_EQUAL(12,(int)inlen);
00565 
00566             RTC::TimedLong rtd;
00567             rtd <<= data;
00568             CPPUNIT_ASSERT_EQUAL((long)icc, (long)rtd.data);
00569         }
00570 
00571         //provider 側のバッファ full ではない状態でコール
00572         {
00573         cdrMemoryStream cdr;
00574         RTC::TimedLong td;
00575         td.data = 10;
00576         td >>= cdr;
00577         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::BUFFER_FULL,
00578                                  publisher.write(cdr,0,0));
00579         coil::usleep(10000);
00580         }
00581         {
00582         cdrMemoryStream cdr;
00583         RTC::TimedLong td;
00584         td.data = 11;
00585         td >>= cdr;
00586         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::PORT_OK,
00587                                  publisher.write(cdr,0,0));
00588         coil::usleep(10000);
00589         }
00590 
00591         //データ抜けががないことを確認する。
00592         for(int icc(0);icc<8;++icc)
00593         {
00594             cdrMemoryStream data;
00595             data = consumer->get_m_put_data();
00596             CORBA::ULong inlen = data.bufSize();
00597             CPPUNIT_ASSERT_EQUAL(12,(int)inlen);
00598 
00599             RTC::TimedLong rtd;
00600             rtd <<= data;
00601             CPPUNIT_ASSERT_EQUAL((long)icc+4, (long)rtd.data);
00602         }
00603         publisher.deactivate();
00604         
00605         coil::usleep(10000);
00606         delete buffer;
00607         delete consumer;
00608         
00609     }
00615     void test_pushAll_2(void)
00616     {
00617         InPortCorbaCdrConsumerMock *consumer 
00618                                     = new InPortCorbaCdrConsumerMock();
00619         RTC::CdrBufferBase* buffer = new RTC::CdrRingBuffer();
00620         PublisherNewMock publisher;
00621 
00622         coil::Properties prop;
00623         prop.setProperty("publisher.push_policy","all");
00624         prop.setProperty("publisher.skip_count","0");
00625         prop.setProperty("thread_type","default");
00626         prop.setProperty("measurement.exec_time","enable");
00627         prop.setProperty("measurement.exec_count","0");
00628         prop.setProperty("measurement.period_time","enable");
00629         prop.setProperty("measurement.period_count","0");
00630         publisher.init(prop);
00631         coil::usleep(10000);
00632 
00633         //ConnectorInfo
00634         coil::vstring ports;
00635         RTC::ConnectorInfo info("name", "id", ports, prop);
00636 
00637         //ConnectorListeners
00638         m_listeners.connectorData_[RTC::ON_BUFFER_WRITE].addListener(
00639                                    new DataListener("ON_BUFFER_WRITE"), true);
00640         m_listeners.connectorData_[RTC::ON_BUFFER_FULL].addListener(
00641                                    new DataListener("ON_BUFFER_FULL"), true);
00642         m_listeners.connectorData_[RTC::ON_BUFFER_WRITE_TIMEOUT].addListener(
00643                                    new DataListener("ON_BUFFER_WRITE_TIMEOUT"), true);
00644         m_listeners.connectorData_[RTC::ON_BUFFER_OVERWRITE].addListener(
00645                                    new DataListener("ON_BUFFER_OVERWRITE"), true);
00646         m_listeners.connectorData_[RTC::ON_BUFFER_READ].addListener(
00647                                    new DataListener("ON_BUFFER_READ"), true);
00648         m_listeners.connectorData_[RTC::ON_SEND].addListener(
00649                                    new DataListener("ON_SEND"), true);
00650         m_listeners.connectorData_[RTC::ON_RECEIVED].addListener(
00651                                    new DataListener("ON_RECEIVED"), true);
00652         m_listeners.connectorData_[RTC::ON_RECEIVER_FULL].addListener(
00653                                    new DataListener("ON_RECEIVER_FULL"), true);
00654         m_listeners.connectorData_[RTC::ON_RECEIVER_TIMEOUT].addListener(
00655                                    new DataListener("ON_RECEIVER_TIMEOUT"), true);
00656         m_listeners.connectorData_[RTC::ON_RECEIVER_ERROR].addListener(
00657                                    new DataListener("ON_RECEIVER_ERROR"), true);
00658 
00659         // setListener
00660         CPPUNIT_ASSERT_EQUAL(RTC::DataPortStatus::INVALID_ARGS, 
00661                              publisher.setListener(info, 0));
00662         CPPUNIT_ASSERT_EQUAL(RTC::DataPortStatus::PORT_OK, 
00663                              publisher.setListener(info, &m_listeners));
00664 
00665         publisher.setConsumer(consumer);
00666         publisher.setBuffer(buffer);
00667         publisher.activate();
00668 
00669         for(int icc(0);icc<16;++icc)
00670         {
00671             cdrMemoryStream cdr;
00672             RTC::TimedLong td;
00673             td.data = icc;
00674             td >>= cdr;
00675 
00676             RTC::PublisherBase::ReturnCode ret;
00677             ret = publisher.write(cdr,0,0);
00678             if(icc<9)
00679             {
00680                 CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::PORT_OK,
00681                                      ret);
00682             }
00683             else
00684             {
00685                 CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::BUFFER_FULL,
00686                                      ret);
00687             }
00688             coil::usleep(10000);
00689 
00690         }
00691 
00692         //consumer と provider 両方の buffer が full 状態のため、
00693         // この weite データは抜ける。
00694         {
00695         cdrMemoryStream cdr;
00696         RTC::TimedLong td;
00697         td.data = 16;
00698         td >>= cdr;
00699         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::BUFFER_FULL,
00700                                  publisher.write(cdr,0,0));
00701         coil::usleep(10000);
00702         }
00703 
00704         //データを確認する。
00705         for(int icc(0);icc<8;++icc)
00706         {
00707             cdrMemoryStream data;
00708             data = consumer->get_m_put_data();
00709             CORBA::ULong inlen = data.bufSize();
00710             CPPUNIT_ASSERT_EQUAL(12,(int)inlen);
00711 
00712             RTC::TimedLong rtd;
00713             rtd <<= data;
00714             CPPUNIT_ASSERT_EQUAL((long)icc, (long)rtd.data);
00715         }
00716 
00717         //consumer の buffer が full 状態のため、
00718         // この weite データは抜ける。
00719         {
00720         cdrMemoryStream cdr;
00721         RTC::TimedLong td;
00722         td.data = 17;
00723         td >>= cdr;
00724         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::BUFFER_FULL,
00725                                  publisher.write(cdr,0,0));
00726         coil::usleep(10000);
00727         }
00728         //データを確認する。
00729         for(int icc(0);icc<8;++icc)
00730         {
00731             cdrMemoryStream data;
00732             data = consumer->get_m_put_data();
00733             CORBA::ULong inlen = data.bufSize();
00734             CPPUNIT_ASSERT_EQUAL(12,(int)inlen);
00735 
00736             RTC::TimedLong rtd;
00737             rtd <<= data;
00738             CPPUNIT_ASSERT_EQUAL((long)icc+8, (long)rtd.data);
00739         }
00740         {
00741         cdrMemoryStream cdr;
00742         RTC::TimedLong td;
00743         td.data = 18;
00744         td >>= cdr;
00745         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::PORT_OK,
00746                                  publisher.write(cdr,0,0));
00747         coil::usleep(10000);
00748         }
00749         //データを確認する。
00750         {
00751         cdrMemoryStream data;
00752         data = consumer->get_m_put_data();
00753         CORBA::ULong inlen = data.bufSize();
00754         CPPUNIT_ASSERT_EQUAL(12,(int)inlen);
00755 
00756         RTC::TimedLong rtd;
00757         rtd <<= data;
00758         CPPUNIT_ASSERT_EQUAL((long)18, (long)rtd.data);
00759         }
00760 
00761         coil::usleep(10000);
00762         publisher.deactivate();
00763         
00764         coil::usleep(10000);
00765         delete buffer;
00766         delete consumer;
00767         
00768     }
00773     void test_pushFifo(void)
00774     {
00775         InPortCorbaCdrConsumerMock *consumer 
00776                                     = new InPortCorbaCdrConsumerMock();
00777         RTC::CdrBufferBase* buffer = new RTC::CdrRingBuffer();
00778         PublisherNewMock publisher;
00779 
00780         coil::Properties prop;
00781         prop.setProperty("publisher.push_policy","fifo");
00782         prop.setProperty("publisher.skip_count","0");
00783         prop.setProperty("thread_type","default");
00784         prop.setProperty("measurement.exec_time","enable");
00785         prop.setProperty("measurement.exec_count","0");
00786         prop.setProperty("measurement.period_time","enable");
00787         prop.setProperty("measurement.period_count","0");
00788         publisher.init(prop);
00789         coil::usleep(10000);
00790 
00791         //ConnectorInfo
00792         coil::vstring ports;
00793         RTC::ConnectorInfo info("name", "id", ports, prop);
00794 
00795         //ConnectorListeners
00796         m_listeners.connectorData_[RTC::ON_BUFFER_WRITE].addListener(
00797                                    new DataListener("ON_BUFFER_WRITE"), true);
00798         m_listeners.connectorData_[RTC::ON_BUFFER_FULL].addListener(
00799                                    new DataListener("ON_BUFFER_FULL"), true);
00800         m_listeners.connectorData_[RTC::ON_BUFFER_WRITE_TIMEOUT].addListener(
00801                                    new DataListener("ON_BUFFER_WRITE_TIMEOUT"), true);
00802         m_listeners.connectorData_[RTC::ON_BUFFER_OVERWRITE].addListener(
00803                                    new DataListener("ON_BUFFER_OVERWRITE"), true);
00804         m_listeners.connectorData_[RTC::ON_BUFFER_READ].addListener(
00805                                    new DataListener("ON_BUFFER_READ"), true);
00806         m_listeners.connectorData_[RTC::ON_SEND].addListener(
00807                                    new DataListener("ON_SEND"), true);
00808         m_listeners.connectorData_[RTC::ON_RECEIVED].addListener(
00809                                    new DataListener("ON_RECEIVED"), true);
00810         m_listeners.connectorData_[RTC::ON_RECEIVER_FULL].addListener(
00811                                    new DataListener("ON_RECEIVER_FULL"), true);
00812         m_listeners.connectorData_[RTC::ON_RECEIVER_TIMEOUT].addListener(
00813                                    new DataListener("ON_RECEIVER_TIMEOUT"), true);
00814         m_listeners.connectorData_[RTC::ON_RECEIVER_ERROR].addListener(
00815                                    new DataListener("ON_RECEIVER_ERROR"), true);
00816 
00817         // setListener
00818         CPPUNIT_ASSERT_EQUAL(RTC::DataPortStatus::INVALID_ARGS, 
00819                              publisher.setListener(info, 0));
00820         CPPUNIT_ASSERT_EQUAL(RTC::DataPortStatus::PORT_OK, 
00821                              publisher.setListener(info, &m_listeners));
00822 
00823         publisher.setConsumer(consumer);
00824         publisher.setBuffer(buffer);
00825         publisher.activate();
00826 
00827         for(int icc(0);icc<8;++icc)
00828         {
00829             cdrMemoryStream cdr;
00830             RTC::TimedLong td;
00831             td.data = icc;
00832             td >>= cdr;
00833 
00834             CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::PORT_OK,
00835                                  publisher.write(cdr,0,0));
00836 
00837             coil::usleep(10000);
00838         }
00839 
00840         //provider 側のバッファ full の状態でコール(full)
00841         {
00842         cdrMemoryStream cdr;
00843         RTC::TimedLong td;
00844         td.data = 8;
00845         td >>= cdr;
00846         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::PORT_OK,
00847                                  publisher.write(cdr,0,0));
00848         coil::usleep(50000);
00849         }
00850         {
00851         cdrMemoryStream cdr;
00852         RTC::TimedLong td;
00853         td.data = 9;
00854         td >>= cdr;
00855         //CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::BUFFER_FULL,
00856         //                         publisher.write(cdr,0,0));
00857         publisher.write(cdr,0,0);
00858         coil::usleep(10000);
00859         }
00860 
00861         //provider 側のバッファから 4 件取得
00862         //(full ではない状態にする )
00863         coil::usleep(10000);
00864         for(int icc(0);icc<4;++icc)
00865         {
00866             cdrMemoryStream data;
00867             data = consumer->get_m_put_data();
00868             CORBA::ULong inlen = data.bufSize();
00869             CPPUNIT_ASSERT_EQUAL(12,(int)inlen);
00870 
00871             RTC::TimedLong rtd;
00872             rtd <<= data;
00873             CPPUNIT_ASSERT_EQUAL((long)icc, (long)rtd.data);
00874         }
00875 
00876         //provider 側のバッファ full ではない状態でコール
00877         {
00878         cdrMemoryStream cdr;
00879         RTC::TimedLong td;
00880         td.data = 10;
00881         td >>= cdr;
00882         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::BUFFER_FULL,
00883                                  publisher.write(cdr,0,0));
00884         coil::usleep(30000);
00885         }
00886         {
00887         cdrMemoryStream cdr;
00888         RTC::TimedLong td;
00889         td.data = 11;
00890         td >>= cdr;
00891         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::PORT_OK,
00892                                  publisher.write(cdr,0,0));
00893         coil::usleep(10000);
00894         }
00895         {
00896         cdrMemoryStream cdr;
00897         RTC::TimedLong td;
00898         td.data = 12;
00899         td >>= cdr;
00900         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::PORT_OK,
00901                                  publisher.write(cdr,0,0));
00902         coil::usleep(10000);
00903         }
00904         {
00905         cdrMemoryStream cdr;
00906         RTC::TimedLong td;
00907         td.data = 13;
00908         td >>= cdr;
00909         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::PORT_OK,
00910                                  publisher.write(cdr,0,0));
00911         coil::usleep(10000);
00912         }
00913 
00914         //データ抜けががないことを確認する。
00915         for(int icc(0);icc<8;++icc)
00916         {
00917             cdrMemoryStream data;
00918             data = consumer->get_m_put_data();
00919             CORBA::ULong inlen = data.bufSize();
00920             CPPUNIT_ASSERT_EQUAL(12,(int)inlen);
00921 
00922             RTC::TimedLong rtd;
00923             rtd <<= data;
00924             CPPUNIT_ASSERT_EQUAL((long)icc+4, (long)rtd.data);
00925         }
00926 
00927         //この時点で consumer 側のバッファにデータが 2 件格納されている状態
00928 
00929         coil::usleep(10000);
00930         publisher.deactivate();
00931         coil::usleep(10000);
00932         delete buffer;
00933         delete consumer;
00934         
00935     }
00941     void test_pushFifo_2(void)
00942     {
00943         InPortCorbaCdrConsumerMock *consumer 
00944                                     = new InPortCorbaCdrConsumerMock();
00945         RTC::CdrBufferBase* buffer = new RTC::CdrRingBuffer();
00946         PublisherNewMock publisher;
00947 
00948         coil::Properties prop;
00949         prop.setProperty("publisher.push_policy","fifo");
00950         prop.setProperty("publisher.skip_count","0");
00951         prop.setProperty("thread_type","default");
00952         prop.setProperty("measurement.exec_time","enable");
00953         prop.setProperty("measurement.exec_count","0");
00954         prop.setProperty("measurement.period_time","enable");
00955         prop.setProperty("measurement.period_count","0");
00956         publisher.init(prop);
00957         coil::usleep(10000);
00958 
00959         //ConnectorInfo
00960         coil::vstring ports;
00961         RTC::ConnectorInfo info("name", "id", ports, prop);
00962 
00963         //ConnectorListeners
00964         m_listeners.connectorData_[RTC::ON_BUFFER_WRITE].addListener(
00965                                    new DataListener("ON_BUFFER_WRITE"), true);
00966         m_listeners.connectorData_[RTC::ON_BUFFER_FULL].addListener(
00967                                    new DataListener("ON_BUFFER_FULL"), true);
00968         m_listeners.connectorData_[RTC::ON_BUFFER_WRITE_TIMEOUT].addListener(
00969                                    new DataListener("ON_BUFFER_WRITE_TIMEOUT"), true);
00970         m_listeners.connectorData_[RTC::ON_BUFFER_OVERWRITE].addListener(
00971                                    new DataListener("ON_BUFFER_OVERWRITE"), true);
00972         m_listeners.connectorData_[RTC::ON_BUFFER_READ].addListener(
00973                                    new DataListener("ON_BUFFER_READ"), true);
00974         m_listeners.connectorData_[RTC::ON_SEND].addListener(
00975                                    new DataListener("ON_SEND"), true);
00976         m_listeners.connectorData_[RTC::ON_RECEIVED].addListener(
00977                                    new DataListener("ON_RECEIVED"), true);
00978         m_listeners.connectorData_[RTC::ON_RECEIVER_FULL].addListener(
00979                                    new DataListener("ON_RECEIVER_FULL"), true);
00980         m_listeners.connectorData_[RTC::ON_RECEIVER_TIMEOUT].addListener(
00981                                    new DataListener("ON_RECEIVER_TIMEOUT"), true);
00982         m_listeners.connectorData_[RTC::ON_RECEIVER_ERROR].addListener(
00983                                    new DataListener("ON_RECEIVER_ERROR"), true);
00984 
00985         // setListener
00986         CPPUNIT_ASSERT_EQUAL(RTC::DataPortStatus::INVALID_ARGS, 
00987                              publisher.setListener(info, 0));
00988         CPPUNIT_ASSERT_EQUAL(RTC::DataPortStatus::PORT_OK, 
00989                              publisher.setListener(info, &m_listeners));
00990 
00991         publisher.setConsumer(consumer);
00992         publisher.setBuffer(buffer);
00993         publisher.activate();
00994 
00995         //consumer と provider 両方の buffer を full 状態にする
00996         for(int icc(0);icc<16;++icc)
00997         {
00998             cdrMemoryStream cdr;
00999             RTC::TimedLong td;
01000             td.data = icc;
01001             td >>= cdr;
01002 
01003             RTC::PublisherBase::ReturnCode ret;
01004             ret = publisher.write(cdr,0,0);
01005             if(icc<9)
01006             {
01007                 CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::PORT_OK,
01008                                      ret);
01009             }
01010             else
01011             {
01012                 CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::BUFFER_FULL,
01013                                      ret);
01014             }
01015             coil::usleep(10000);
01016 
01017         }
01018 
01019         //consumer と provider 両方の buffer が full 状態のため、
01020         // この weite データは抜ける。
01021         {
01022         cdrMemoryStream cdr;
01023         RTC::TimedLong td;
01024         td.data = 16;
01025         td >>= cdr;
01026         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::BUFFER_FULL,
01027                                  publisher.write(cdr,0,0));
01028         coil::usleep(10000);
01029         }
01030 
01031         //データを確認する。
01032         for(int icc(0);icc<8;++icc)
01033         {
01034             cdrMemoryStream data;
01035             data = consumer->get_m_put_data();
01036             CORBA::ULong inlen = data.bufSize();
01037             CPPUNIT_ASSERT_EQUAL(12,(int)inlen);
01038 
01039             RTC::TimedLong rtd;
01040             rtd <<= data;
01041             CPPUNIT_ASSERT_EQUAL((long)icc, (long)rtd.data);
01042         }
01043 
01044         //consumer の buffer が full 状態のため、
01045         // この weite データは抜ける。
01046         {
01047         cdrMemoryStream cdr;
01048         RTC::TimedLong td;
01049         td.data = 17;
01050         td >>= cdr;
01051         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::BUFFER_FULL,
01052                                  publisher.write(cdr,0,0));
01053         coil::usleep(10000);
01054         }
01055         // この weite データは転送される。
01056         for(int icc(0);icc<7;++icc)
01057         {
01058             cdrMemoryStream cdr;
01059             RTC::TimedLong td;
01060             td.data = (18+icc);
01061             td >>= cdr;
01062             CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::PORT_OK,
01063                                  publisher.write(cdr,0,0));
01064             coil::usleep(10000);
01065         }
01066         //データを確認する。
01067         for(int icc(0);icc<8;++icc)
01068         {
01069             cdrMemoryStream data;
01070             data = consumer->get_m_put_data();
01071             CORBA::ULong inlen = data.bufSize();
01072             CPPUNIT_ASSERT_EQUAL(12,(int)inlen);
01073 
01074             RTC::TimedLong rtd;
01075             rtd <<= data;
01076             CPPUNIT_ASSERT_EQUAL((long)icc+8, (long)rtd.data);
01077         }
01078         {
01079         cdrMemoryStream cdr;
01080         RTC::TimedLong td;
01081         td.data = 26;
01082         td >>= cdr;
01083         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::PORT_OK,
01084                                  publisher.write(cdr,0,0));
01085         coil::usleep(10000);
01086         }
01087         //データを確認する。
01088         {
01089         cdrMemoryStream data;
01090         data = consumer->get_m_put_data();
01091         CORBA::ULong inlen = data.bufSize();
01092         CPPUNIT_ASSERT_EQUAL(12,(int)inlen);
01093 
01094             RTC::TimedLong rtd;
01095             rtd <<= data;
01096             CPPUNIT_ASSERT_EQUAL((long)18, (long)rtd.data);
01097         }
01098 
01099 
01100         coil::usleep(10000);
01101         publisher.deactivate();
01102         
01103         coil::usleep(10000);
01104         delete buffer;
01105         delete consumer;
01106         
01107     }
01112     void test_pushSkip(void)
01113     {
01114         InPortCorbaCdrConsumerMock *consumer 
01115                                     = new InPortCorbaCdrConsumerMock();
01116         RTC::CdrBufferBase* buffer = new RTC::CdrRingBuffer();
01117         PublisherNewMock publisher;
01118 
01119         coil::Properties prop;
01120         prop.setProperty("publisher.push_policy","skip");
01121         prop.setProperty("publisher.skip_count","1");
01122         prop.setProperty("thread_type","default");
01123         prop.setProperty("measurement.exec_time","enable");
01124         prop.setProperty("measurement.exec_count","0");
01125         prop.setProperty("measurement.period_time","enable");
01126         prop.setProperty("measurement.period_count","0");
01127         publisher.init(prop);
01128         coil::usleep(10000);
01129 
01130         //ConnectorInfo
01131         coil::vstring ports;
01132         RTC::ConnectorInfo info("name", "id", ports, prop);
01133 
01134         //ConnectorListeners
01135         m_listeners.connectorData_[RTC::ON_BUFFER_WRITE].addListener(
01136                                    new DataListener("ON_BUFFER_WRITE"), true);
01137         m_listeners.connectorData_[RTC::ON_BUFFER_FULL].addListener(
01138                                    new DataListener("ON_BUFFER_FULL"), true);
01139         m_listeners.connectorData_[RTC::ON_BUFFER_WRITE_TIMEOUT].addListener(
01140                                    new DataListener("ON_BUFFER_WRITE_TIMEOUT"), true);
01141         m_listeners.connectorData_[RTC::ON_BUFFER_OVERWRITE].addListener(
01142                                    new DataListener("ON_BUFFER_OVERWRITE"), true);
01143         m_listeners.connectorData_[RTC::ON_BUFFER_READ].addListener(
01144                                    new DataListener("ON_BUFFER_READ"), true);
01145         m_listeners.connectorData_[RTC::ON_SEND].addListener(
01146                                    new DataListener("ON_SEND"), true);
01147         m_listeners.connectorData_[RTC::ON_RECEIVED].addListener(
01148                                    new DataListener("ON_RECEIVED"), true);
01149         m_listeners.connectorData_[RTC::ON_RECEIVER_FULL].addListener(
01150                                    new DataListener("ON_RECEIVER_FULL"), true);
01151         m_listeners.connectorData_[RTC::ON_RECEIVER_TIMEOUT].addListener(
01152                                    new DataListener("ON_RECEIVER_TIMEOUT"), true);
01153         m_listeners.connectorData_[RTC::ON_RECEIVER_ERROR].addListener(
01154                                    new DataListener("ON_RECEIVER_ERROR"), true);
01155 
01156         // setListener
01157         CPPUNIT_ASSERT_EQUAL(RTC::DataPortStatus::INVALID_ARGS, 
01158                              publisher.setListener(info, 0));
01159         CPPUNIT_ASSERT_EQUAL(RTC::DataPortStatus::PORT_OK, 
01160                              publisher.setListener(info, &m_listeners));
01161 
01162         publisher.setConsumer(consumer);
01163         publisher.setBuffer(buffer);
01164         publisher.activate();
01165 
01166         for(int icc(0);icc<16;++icc)
01167         {
01168             cdrMemoryStream cdr;
01169             RTC::TimedLong td;
01170             td.data = icc;
01171             td >>= cdr;
01172 
01173             //CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::PORT_OK,
01174             //                     publisher.write(cdr,0,0));
01175             publisher.write(cdr,0,0);
01176             coil::usleep(10000);
01177         }
01178 
01179         //provider 側のバッファ full の状態でコール(full)
01180         {
01181         cdrMemoryStream cdr;
01182         RTC::TimedLong td;
01183         td.data = 8;
01184         td >>= cdr;
01185         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::PORT_OK,
01186                                  publisher.write(cdr,0,0));
01187         coil::usleep(10000);
01188         }
01189         {
01190         cdrMemoryStream cdr;
01191         RTC::TimedLong td;
01192         td.data = 9;
01193         td >>= cdr;
01194         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::PORT_OK,
01195                                  publisher.write(cdr,0,0));
01196         coil::usleep(10000);
01197         }
01198 
01199         //provider 側のバッファから 4 件取得
01200         //(full ではない状態にする )
01201         for(int icc(0);icc<4;++icc)
01202         {
01203             cdrMemoryStream data;
01204             data = consumer->get_m_put_data();
01205             CORBA::ULong inlen = data.bufSize();
01206             CPPUNIT_ASSERT_EQUAL(12,(int)inlen);
01207 
01208             RTC::TimedLong rtd;
01209             rtd <<= data;
01210             CPPUNIT_ASSERT_EQUAL((long)icc*2+1, (long)rtd.data);
01211         }
01212 
01213         //provider 側のバッファ full ではない状態でコール
01214         {
01215         cdrMemoryStream cdr;
01216         RTC::TimedLong td;
01217         td.data = 10;
01218         td >>= cdr;
01219         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::BUFFER_FULL,
01220                                  publisher.write(cdr,0,0));
01221         coil::usleep(10000);
01222         }
01223         {
01224         cdrMemoryStream cdr;
01225         RTC::TimedLong td;
01226         td.data = 11;
01227         td >>= cdr;
01228         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::PORT_OK,
01229                                  publisher.write(cdr,0,0));
01230         coil::usleep(10000);
01231         }
01232 
01233         //データ抜けががないことを確認する。
01234         for(int icc(0);icc<2;++icc)
01235         {
01236             cdrMemoryStream data;
01237             data = consumer->get_m_put_data();
01238             CORBA::ULong inlen = data.bufSize();
01239             CPPUNIT_ASSERT_EQUAL(12,(int)inlen);
01240 
01241             RTC::TimedLong rtd;
01242             rtd <<= data;
01243             CPPUNIT_ASSERT_EQUAL((long)icc*2+9, (long)rtd.data);
01244         }
01245        
01246         coil::usleep(100000);
01247         publisher.deactivate();
01248         coil::usleep(10000);
01249         delete buffer;
01250         delete consumer;
01251     }
01257     void test_pushSkip_2(void)
01258     {
01259         InPortCorbaCdrConsumerMock *consumer 
01260                                     = new InPortCorbaCdrConsumerMock();
01261         RTC::CdrBufferBase* buffer = new RTC::CdrRingBuffer();
01262         PublisherNewMock publisher;
01263 
01264         coil::Properties prop;
01265         prop.setProperty("publisher.push_policy","skip");
01266         prop.setProperty("publisher.skip_count","1");
01267         prop.setProperty("thread_type","default");
01268         prop.setProperty("measurement.exec_time","enable");
01269         prop.setProperty("measurement.exec_count","0");
01270         prop.setProperty("measurement.period_time","enable");
01271         prop.setProperty("measurement.period_count","0");
01272         publisher.init(prop);
01273         coil::usleep(10000);
01274 
01275         //ConnectorInfo
01276         coil::vstring ports;
01277         RTC::ConnectorInfo info("name", "id", ports, prop);
01278 
01279         //ConnectorListeners
01280         m_listeners.connectorData_[RTC::ON_BUFFER_WRITE].addListener(
01281                                    new DataListener("ON_BUFFER_WRITE"), true);
01282         m_listeners.connectorData_[RTC::ON_BUFFER_FULL].addListener(
01283                                    new DataListener("ON_BUFFER_FULL"), true);
01284         m_listeners.connectorData_[RTC::ON_BUFFER_WRITE_TIMEOUT].addListener(
01285                                    new DataListener("ON_BUFFER_WRITE_TIMEOUT"), true);
01286         m_listeners.connectorData_[RTC::ON_BUFFER_OVERWRITE].addListener(
01287                                    new DataListener("ON_BUFFER_OVERWRITE"), true);
01288         m_listeners.connectorData_[RTC::ON_BUFFER_READ].addListener(
01289                                    new DataListener("ON_BUFFER_READ"), true);
01290         m_listeners.connectorData_[RTC::ON_SEND].addListener(
01291                                    new DataListener("ON_SEND"), true);
01292         m_listeners.connectorData_[RTC::ON_RECEIVED].addListener(
01293                                    new DataListener("ON_RECEIVED"), true);
01294         m_listeners.connectorData_[RTC::ON_RECEIVER_FULL].addListener(
01295                                    new DataListener("ON_RECEIVER_FULL"), true);
01296         m_listeners.connectorData_[RTC::ON_RECEIVER_TIMEOUT].addListener(
01297                                    new DataListener("ON_RECEIVER_TIMEOUT"), true);
01298         m_listeners.connectorData_[RTC::ON_RECEIVER_ERROR].addListener(
01299                                    new DataListener("ON_RECEIVER_ERROR"), true);
01300 
01301         // setListener
01302         CPPUNIT_ASSERT_EQUAL(RTC::DataPortStatus::INVALID_ARGS, 
01303                              publisher.setListener(info, 0));
01304         CPPUNIT_ASSERT_EQUAL(RTC::DataPortStatus::PORT_OK, 
01305                              publisher.setListener(info, &m_listeners));
01306 
01307         publisher.setConsumer(consumer);
01308         publisher.setBuffer(buffer);
01309         publisher.activate();
01310 
01311         //consumer と provider 両方の buffer を full 状態にする
01312         for(int icc(0);icc<24;++icc)
01313         {
01314             cdrMemoryStream cdr;
01315             RTC::TimedLong td;
01316             td.data = icc;
01317             td >>= cdr;
01318 
01319             RTC::PublisherBase::ReturnCode ret;
01320             ret = publisher.write(cdr,0,0);
01321             if(icc<18)
01322             {
01323                 CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::PORT_OK,
01324                                      ret);
01325             }
01326             else
01327             {
01328                 CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::BUFFER_FULL,
01329                                      ret);
01330             }
01331             coil::usleep(10000);
01332 
01333         }
01334 
01335         //consumer と provider 両方の buffer が full 状態のため、
01336         // この weite データは抜ける。
01337         {
01338         cdrMemoryStream cdr;
01339         RTC::TimedLong td;
01340         td.data = 24;
01341         td >>= cdr;
01342         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::BUFFER_FULL,
01343                                  publisher.write(cdr,0,0));
01344         coil::usleep(10000);
01345         }
01346 
01347         //データを確認する。
01348         for(int icc(0);icc<8;++icc)
01349         {
01350             cdrMemoryStream data;
01351             data = consumer->get_m_put_data();
01352             CORBA::ULong inlen = data.bufSize();
01353             CPPUNIT_ASSERT_EQUAL(12,(int)inlen);
01354 
01355             RTC::TimedLong rtd;
01356             rtd <<= data;
01357             CPPUNIT_ASSERT_EQUAL((long)icc*2+1, (long)rtd.data);
01358         }
01359 
01360         //consumer の buffer が full 状態のため、
01361         // この weite データは抜ける。
01362         {
01363         cdrMemoryStream cdr;
01364         RTC::TimedLong td;
01365         td.data = 25;
01366         td >>= cdr;
01367         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::BUFFER_FULL,
01368                                  publisher.write(cdr,0,0));
01369         coil::usleep(10000);
01370         }
01371         //データを確認する。
01372         int len =consumer->get_m_put_data_len();
01373         CPPUNIT_ASSERT_EQUAL(4,len);
01374         for(int icc(0);icc<len;++icc)
01375         {
01376             cdrMemoryStream data;
01377             data = consumer->get_m_put_data();
01378             CORBA::ULong inlen = data.bufSize();
01379             CPPUNIT_ASSERT_EQUAL(12,(int)inlen);
01380 
01381             RTC::TimedLong rtd;
01382             rtd <<= data;
01383             CPPUNIT_ASSERT_EQUAL((long)icc*2+17, (long)rtd.data);
01384         }
01385         {
01386         cdrMemoryStream cdr;
01387         RTC::TimedLong td;
01388         td.data = 26;
01389         td >>= cdr;
01390         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::PORT_OK,
01391                                  publisher.write(cdr,0,0));
01392         coil::usleep(10000);
01393         }
01394         {
01395         cdrMemoryStream cdr;
01396         RTC::TimedLong td;
01397         td.data = 27;
01398         td >>= cdr;
01399         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::PORT_OK,
01400                                  publisher.write(cdr,0,0));
01401         coil::usleep(10000);
01402         }
01403         //データを確認する。
01404         {
01405         cdrMemoryStream data;
01406         data = consumer->get_m_put_data();
01407         CORBA::ULong inlen = data.bufSize();
01408         CPPUNIT_ASSERT_EQUAL(12,(int)inlen);
01409 
01410             RTC::TimedLong rtd;
01411             rtd <<= data;
01412             CPPUNIT_ASSERT_EQUAL((long)27, (long)rtd.data);
01413         }
01414 
01415         coil::usleep(10000);
01416         publisher.deactivate();
01417         
01418         coil::usleep(10000);
01419         delete buffer;
01420         delete consumer;
01421         
01422     }
01427     void test_pushNew(void)
01428     {
01429         InPortCorbaCdrConsumerMock *consumer 
01430                                     = new InPortCorbaCdrConsumerMock();
01431         RTC::CdrBufferBase* buffer = new RTC::CdrRingBuffer();
01432         PublisherNewMock publisher;
01433 
01434         coil::Properties prop;
01435         prop.setProperty("publisher.push_policy","new");
01436         prop.setProperty("publisher.skip_count","0");
01437         prop.setProperty("thread_type","default");
01438         prop.setProperty("measurement.exec_time","enable");
01439         prop.setProperty("measurement.exec_count","0");
01440         prop.setProperty("measurement.period_time","enable");
01441         prop.setProperty("measurement.period_count","0");
01442         publisher.init(prop);
01443         coil::usleep(10000);
01444 
01445         //ConnectorInfo
01446         coil::vstring ports;
01447         RTC::ConnectorInfo info("name", "id", ports, prop);
01448 
01449         //ConnectorListeners
01450         m_listeners.connectorData_[RTC::ON_BUFFER_WRITE].addListener(
01451                                    new DataListener("ON_BUFFER_WRITE"), true);
01452         m_listeners.connectorData_[RTC::ON_BUFFER_FULL].addListener(
01453                                    new DataListener("ON_BUFFER_FULL"), true);
01454         m_listeners.connectorData_[RTC::ON_BUFFER_WRITE_TIMEOUT].addListener(
01455                                    new DataListener("ON_BUFFER_WRITE_TIMEOUT"), true);
01456         m_listeners.connectorData_[RTC::ON_BUFFER_OVERWRITE].addListener(
01457                                    new DataListener("ON_BUFFER_OVERWRITE"), true);
01458         m_listeners.connectorData_[RTC::ON_BUFFER_READ].addListener(
01459                                    new DataListener("ON_BUFFER_READ"), true);
01460         m_listeners.connectorData_[RTC::ON_SEND].addListener(
01461                                    new DataListener("ON_SEND"), true);
01462         m_listeners.connectorData_[RTC::ON_RECEIVED].addListener(
01463                                    new DataListener("ON_RECEIVED"), true);
01464         m_listeners.connectorData_[RTC::ON_RECEIVER_FULL].addListener(
01465                                    new DataListener("ON_RECEIVER_FULL"), true);
01466         m_listeners.connectorData_[RTC::ON_RECEIVER_TIMEOUT].addListener(
01467                                    new DataListener("ON_RECEIVER_TIMEOUT"), true);
01468         m_listeners.connectorData_[RTC::ON_RECEIVER_ERROR].addListener(
01469                                    new DataListener("ON_RECEIVER_ERROR"), true);
01470 
01471         // setListener
01472         CPPUNIT_ASSERT_EQUAL(RTC::DataPortStatus::INVALID_ARGS, 
01473                              publisher.setListener(info, 0));
01474         CPPUNIT_ASSERT_EQUAL(RTC::DataPortStatus::PORT_OK, 
01475                              publisher.setListener(info, &m_listeners));
01476 
01477         publisher.setConsumer(consumer);
01478         publisher.setBuffer(buffer);
01479         publisher.activate();
01480 
01481         //8件のデータは転送されない
01482         //最新データの7は転送される。
01483         for(int icc(0);icc<7;++icc)
01484         {
01485             cdrMemoryStream cdr;
01486             RTC::TimedLong td;
01487             td.data = icc;
01488             td >>= cdr;
01489 
01490             CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::PORT_OK,
01491                                  publisher.write(cdr,0,0));
01492 
01493         }
01494 
01495         coil::usleep(10000);
01496         {
01497             cdrMemoryStream cdr;
01498             RTC::TimedLong td;
01499             td.data = 7;
01500             td >>= cdr;
01501 
01502             CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::PORT_OK,
01503                                  publisher.write(cdr,0,0));
01504 
01505         }
01506 
01507         coil::usleep(10000);
01508         //provider 側のバッファから取得
01509         //
01510         int len = consumer->get_m_put_data_len() -1;
01511         for(int icc(0);icc<len;++icc)
01512         {
01513             cdrMemoryStream data;
01514             data = consumer->get_m_put_data();
01515             CORBA::ULong inlen = data.bufSize();
01516             CPPUNIT_ASSERT_EQUAL(12,(int)inlen);
01517         }
01518         //最新データが転送されていることを確認する。
01519         {
01520         cdrMemoryStream data;
01521         data = consumer->get_m_put_data();
01522         CORBA::ULong inlen = data.bufSize();
01523         CPPUNIT_ASSERT_EQUAL(12,(int)inlen);
01524 
01525         RTC::TimedLong rtd;
01526         rtd <<= data;
01527         CPPUNIT_ASSERT_EQUAL((long)7, (long)rtd.data);
01528         }
01529 
01530         coil::usleep(1000000);  // ここは長めにしないと落ちます。
01531         publisher.deactivate();
01532         coil::usleep(1000000);  // ここは長めにしないと落ちます。
01533         delete buffer;
01534         delete consumer;
01535     }
01541     void test_write(void)
01542     {
01543         InPortCorbaCdrConsumerMock *consumer 
01544                                     = new InPortCorbaCdrConsumerMock();
01545         RTC::CdrBufferBase* buffer = new RTC::CdrRingBuffer();
01546         PublisherNewMock publisher;
01547 
01548         coil::Properties prop;
01549         prop.setProperty("publisher.push_policy","all");
01550         prop.setProperty("publisher.skip_count","0");
01551         prop.setProperty("thread_type","default");
01552         prop.setProperty("measurement.exec_time","enable");
01553         prop.setProperty("measurement.exec_count","0");
01554         prop.setProperty("measurement.period_time","enable");
01555         prop.setProperty("measurement.period_count","0");
01556         publisher.init(prop);
01557         coil::usleep(10000);
01558 
01559         //ConnectorInfo
01560         coil::vstring ports;
01561         RTC::ConnectorInfo info("name", "id", ports, prop);
01562 
01563         //ConnectorListeners
01564         m_listeners.connectorData_[RTC::ON_BUFFER_WRITE].addListener(
01565                                    new DataListener("ON_BUFFER_WRITE"), true);
01566         m_listeners.connectorData_[RTC::ON_BUFFER_FULL].addListener(
01567                                    new DataListener("ON_BUFFER_FULL"), true);
01568         m_listeners.connectorData_[RTC::ON_BUFFER_WRITE_TIMEOUT].addListener(
01569                                    new DataListener("ON_BUFFER_WRITE_TIMEOUT"), true);
01570         m_listeners.connectorData_[RTC::ON_BUFFER_OVERWRITE].addListener(
01571                                    new DataListener("ON_BUFFER_OVERWRITE"), true);
01572         m_listeners.connectorData_[RTC::ON_BUFFER_READ].addListener(
01573                                    new DataListener("ON_BUFFER_READ"), true);
01574         m_listeners.connectorData_[RTC::ON_SEND].addListener(
01575                                    new DataListener("ON_SEND"), true);
01576         m_listeners.connectorData_[RTC::ON_RECEIVED].addListener(
01577                                    new DataListener("ON_RECEIVED"), true);
01578         m_listeners.connectorData_[RTC::ON_RECEIVER_FULL].addListener(
01579                                    new DataListener("ON_RECEIVER_FULL"), true);
01580         m_listeners.connectorData_[RTC::ON_RECEIVER_TIMEOUT].addListener(
01581                                    new DataListener("ON_RECEIVER_TIMEOUT"), true);
01582         m_listeners.connectorData_[RTC::ON_RECEIVER_ERROR].addListener(
01583                                    new DataListener("ON_RECEIVER_ERROR"), true);
01584 
01585         // setListener
01586         CPPUNIT_ASSERT_EQUAL(RTC::DataPortStatus::INVALID_ARGS, 
01587                              publisher.setListener(info, 0));
01588         CPPUNIT_ASSERT_EQUAL(RTC::DataPortStatus::PORT_OK, 
01589                              publisher.setListener(info, &m_listeners));
01590 
01591         // consumer not set check
01592         {
01593         cdrMemoryStream cdr;
01594         RTC::TimedLong td;
01595         td.data = 101;
01596         td >>= cdr;
01597         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::PRECONDITION_NOT_MET,
01598                                  publisher.write(cdr,0,0));
01599         coil::usleep(10000);
01600         }
01601         publisher.setBuffer(buffer);
01602         {
01603         cdrMemoryStream cdr;
01604         RTC::TimedLong td;
01605         td.data = 102;
01606         td >>= cdr;
01607         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::PRECONDITION_NOT_MET,
01608                                  publisher.write(cdr,0,0));
01609         coil::usleep(10000);
01610         }
01611 
01612         // consumer set
01613         publisher.setConsumer(consumer);
01614         {
01615         cdrMemoryStream cdr;
01616         RTC::TimedLong td;
01617         td.data = 103;
01618         td >>= cdr;
01619         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::PORT_OK,
01620                                  publisher.write(cdr,0,0));
01621         coil::usleep(10000);
01622         }
01623         publisher.activate();
01624 
01625         {
01626         cdrMemoryStream cdr;
01627         RTC::TimedLong td;
01628         td.data = 104;
01629         td >>= cdr;
01630         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::PORT_OK,
01631                                  publisher.write(cdr,0,0));
01632         coil::usleep(10000);
01633         }
01634 
01635         // 例外スローチェック : OK
01636         //consumer->set_m_mode(1);
01637         {
01638         cdrMemoryStream cdr;
01639         RTC::TimedLong td;
01640         td.data = 105;
01641         td >>= cdr;
01642         CPPUNIT_ASSERT_EQUAL(RTC::PublisherNew::PORT_OK,
01643                                  publisher.write(cdr,0,0));
01644         coil::usleep(10000);
01645         }
01646 
01647         //Listener callback check
01648         cdrMemoryStream cdr;
01649         RTC::TimedLong td;
01650         td.data = 777;
01651         td >>= cdr;
01652         //m_OnCheck = 1;  // PORT_OK:onReceived()
01653         //publisher.write(cdr,0,0);
01654         //coil::usleep(10000);
01655         m_OnCheck = 2;  // PORT_ERROR:onReceiverError()
01656         publisher.write(cdr,0,0);
01657         coil::usleep(10000);
01658         m_OnCheck = 3;  // SEND_FULL:onReceiverFull()
01659         publisher.write(cdr,0,0);
01660         coil::usleep(10000);
01661         m_OnCheck = 4;  // SEND_TIMEOUT:onReceiverTimeout()
01662         publisher.write(cdr,0,0);
01663         coil::usleep(10000);
01664         m_OnCheck = 5;  // UNKNOWN_ERROR:onReceiverError()
01665         publisher.write(cdr,0,0);
01666         coil::usleep(10000);
01667         m_OnCheck = 6;  // CONNECTION_LOST:onReceiverError()
01668         publisher.write(cdr,0,0);
01669         coil::usleep(10000);
01670 
01671         delete consumer;
01672         delete buffer;
01673 
01674     }
01682 /*
01683     void test_update_large_interval()
01684     {
01685       long sleepTick = 100000; // 0.1[sec]
01686       long intervalTick = sleepTick * 10;
01687                         
01688       MockConsumer* consumer = new MockConsumer(sleepTick);
01689       coil::Properties prop;
01690       RTC::PublisherNew publisher(consumer, prop);
01691                         
01692       for (int i = 0; i < 10; i++)
01693         {
01694           consumer->setDelayStartTime();
01695           publisher.update();
01696           coil::usleep(intervalTick);
01697         }
01698                         
01699       // Consumer呼出が完了するであろうタイミングまで待つ
01700       coil::usleep(5000000); // 5 [sec]
01701                         
01702       // update()呼出からpush()呼出までの時間間隔が、所定時間内に収まっているか？
01703       // （リアルタイム性が保証されているわけでもなく、仕様上も呼出までの時間を明記しているわけではないので、
01704       // ここでの所定時間はテスト作成者の主観によるものに過ぎない。）
01705       long permissibleDelay = sleepTick + 100000;
01706       const std::vector<long>& delayTicks = consumer->getDelayTicks();
01707       for (std::vector<long>::size_type i = 0; i < delayTicks.size(); i++)
01708         {
01709           //std::cout << "delay tick = " << delayTicks[i] << std::endl;
01710           CPPUNIT_ASSERT(delayTicks[i] < permissibleDelay);
01711         }
01712       publisher.release();
01713     }
01714 */              
01722 /*
01723     void test_update_small_interval()
01724     {
01725       long sleepTick = 100000; // 0.1[sec]
01726       long intervalTick = sleepTick / 10;
01727                         
01728       MockConsumer* consumer = new MockConsumer(sleepTick);
01729       coil::Properties prop;
01730       RTC::PublisherNew publisher(consumer, prop);
01731                         
01732       for (int i = 0; i < 1000; i++)
01733         {
01734           consumer->setDelayStartTime();
01735           publisher.update();
01736           coil::usleep(intervalTick);
01737         }
01738                         
01739       // Consumer呼出が完了するであろうタイミングまで待つ
01740       coil::usleep(5000000); // 5 [sec]
01741                         
01742       // update()呼出からpush()呼出までの時間間隔が、所定時間内に収まっているか？
01743       // （リアルタイム性が保証されているわけでもなく、仕様上も呼出までの時間を明記しているわけではないので、
01744       // ここでの所定時間はテスト作成者の主観によるものに過ぎない。）
01745       long permissibleDelay = sleepTick + 100000;
01746       const std::vector<long>& delayTicks = consumer->getDelayTicks();
01747       for (std::vector<long>::size_type i = 0; i < delayTicks.size(); i++)
01748         {
01749           //std::cout << "delay tick = " << delayTicks[i] << std::endl;
01750           CPPUNIT_ASSERT(delayTicks[i] < permissibleDelay);
01751         }
01752       publisher.release();
01753     }
01754 */
01755                 
01761 /*
01762     void test_release()
01763     {
01764       MockConsumer* consumer = new MockConsumer(1000000); // 1 [sec]
01765       coil::Properties prop;
01766       RTC::PublisherNew publisher(consumer, prop);
01767                         
01768       // update()を呼出して、Consumerを呼び出させる
01769       publisher.update();
01770       coil::usleep(3000000); // Consumerを呼出す時間を与える
01771       publisher.release();
01772                         
01773       CPPUNIT_ASSERT_EQUAL(1, consumer->getCount());
01774                         
01775       // 再度update()を呼出し、Consumerを呼出しうる時間を与える。
01776       // （実際には、前段のrelease()によりPublisherが停止済みであり、
01777       // update()呼出は何ら影響を与えないことを予期している。）
01778       publisher.update();
01779       coil::usleep(3000000);
01780 
01781       // Consumer呼出回数が変わっていないこと、つまりPublisherの動作が停止していることを確認する
01782       CPPUNIT_ASSERT_EQUAL(1, consumer->getCount());
01783     }
01784 */
01785                 
01786   };
01787 }; // namespace PublisherNew
01788 
01789 /*
01790  * Register test suite
01791  */
01792 CPPUNIT_TEST_SUITE_REGISTRATION(PublisherNew::PublisherNewTests);
01793 
01794 #ifdef LOCAL_MAIN
01795 int main(int argc, char* argv[])
01796 {
01797 
01798   FORMAT format = TEXT_OUT;
01799   int target = 0;
01800   std::string xsl;
01801   std::string ns;
01802   std::string fname;
01803   std::ofstream ofs;
01804 
01805   int i(1);
01806   while (i < argc)
01807     {
01808       std::string arg(argv[i]);
01809       std::string next_arg;
01810       if (i + 1 < argc) next_arg = argv[i + 1];
01811       else              next_arg = "";
01812 
01813       if (arg == "--text") { format = TEXT_OUT; break; }
01814       if (arg == "--xml")
01815         {
01816           if (next_arg == "")
01817             {
01818               fname = argv[0];
01819               fname += ".xml";
01820             }
01821           else
01822             {
01823               fname = next_arg;
01824             }
01825           format = XML_OUT;
01826           ofs.open(fname.c_str());
01827         }
01828       if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
01829       if ( arg == "--cerr"      ) { target = 1; break; }
01830       if ( arg == "--xsl"       )
01831         {
01832           if (next_arg == "") xsl = "default.xsl"; 
01833           else                xsl = next_arg;
01834         }
01835       if ( arg == "--namespace" )
01836         {
01837           if (next_arg == "")
01838             {
01839               std::cerr << "no namespace specified" << std::endl;
01840               exit(1); 
01841             }
01842           else
01843             {
01844               xsl = next_arg;
01845             }
01846         }
01847       ++i;
01848     }
01849   CppUnit::TextUi::TestRunner runner;
01850   if ( ns.empty() )
01851     runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
01852   else
01853     runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
01854   CppUnit::Outputter* outputter = 0;
01855   std::ostream* stream = target ? &std::cerr : &std::cout;
01856   switch ( format )
01857     {
01858     case TEXT_OUT :
01859       outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
01860       break;
01861     case XML_OUT :
01862       std::cout << "XML_OUT" << std::endl;
01863       outputter = new CppUnit::XmlOutputter(&runner.result(),
01864                                             ofs, "shift_jis");
01865       static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
01866       break;
01867     case COMPILER_OUT :
01868       outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
01869       break;
01870     }
01871   runner.setOutputter(outputter);
01872   runner.run();
01873   return 0; // runner.run() ? 0 : 1;
01874 }
01875 #endif // MAIN
01876 #endif // PublisherNew_cpp

openrtm_aist
Author(s): Noriaki Ando
autogenerated on Sat Jun 8 2019 18:49:06