openrtm_aist: ModuleManagerTests.cpp Source File

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00001 // -*- C++ -*-
00011 #include <cppunit/ui/text/TestRunner.h>
00012 #include <cppunit/TextOutputter.h>
00013 #include <cppunit/extensions/TestFactoryRegistry.h>
00014 #include <cppunit/extensions/HelperMacros.h>
00015 #include <cppunit/TestAssert.h>
00016 
00017 #include "../ModuleManager.h"
00018 #include "../Properties.h"
00019 
00020 using namespace std;
00021 
00022 // ModuleManagerTests をテストする [3]
00023 class ModuleManagerTests
00024   : public CppUnit::TestFixture
00025 {
00026   CPPUNIT_TEST_SUITE(ModuleManagerTests);
00027   CPPUNIT_TEST(test_load);
00028   CPPUNIT_TEST(test_unload);
00029   CPPUNIT_TEST(test_unloadAll);
00030   CPPUNIT_TEST(test_symbol);
00031   CPPUNIT_TEST(test_setLoadpath);
00032   CPPUNIT_TEST(test_getLoadPath);
00033   CPPUNIT_TEST(test_addLoadpath);
00034   CPPUNIT_TEST(test_getLoadedModules);
00035   CPPUNIT_TEST(test_getLoadableModules);
00036   CPPUNIT_TEST(test_allowAbsolutePath);
00037   CPPUNIT_TEST(test_disallowAbsolutePath);
00038   CPPUNIT_TEST(test_allowModuleDownload);
00039   CPPUNIT_TEST(test_disallowModuleDownload);
00040   CPPUNIT_TEST(test_findFile);
00041   CPPUNIT_TEST(test_fileExist);
00042   CPPUNIT_TEST(test_getInitFuncName);
00043   CPPUNIT_TEST_SUITE_END();
00044 
00045 private:
00046 
00047   RTC::ModuleManager* m_pModMgr;
00048 
00049 public:
00050   
00051   /*
00052    * コンストラクタ/デストラクタ [7]
00053    */
00054   ModuleManagerTests()
00055   {
00056     
00057   }
00058   
00059   ~ModuleManagerTests()
00060   {
00061   }
00062   
00063 
00064   /*
00065    * 初期化/後始末 [8]
00066    */
00067   virtual void setUp()
00068   {
00069 
00070     const char* default_properties[] = {
00071       "manager.modules.config_ext", "so",
00072       "manager.modules.config_path", "/etc/rtc",
00073       "manager.modules.detect_loadable", "Yes",
00074       "manager.modules.load_path", "/usr/lib, /usr/local/lib, /usr/local/lib/rtc",
00075       "manager.modules.init_func_suffix", "Init",
00076       "manager.modules.init_func_prefix", "",
00077       "manager.modules.abs_path_allowed", "Yes",
00078       "manager.modules.download_allowed", "Yes",
00079       "manager.modules.download_dir", "/tmp/rtc",
00080       "manager.modules.download_cleanup", "Yes",
00081       "manager.modules.preload", "",
00082       ""
00083     };
00084     
00085     RTC::Properties prop(default_properties);
00086     m_pModMgr = new RTC::ModuleManager(prop);
00087     m_pModMgr->load("libRTC.so");
00088     m_pModMgr->load("libm.so");
00089   }
00090   
00091 
00092   virtual void tearDown()
00093   { 
00094     m_pModMgr->unloadAll();
00095     delete m_pModMgr;
00096   }
00097 
00098 
00099   /* tests for string load(const string& file_name) */
00100   void test_load() {
00101     string libname;
00102 
00103     try {
00104 
00105       // Success case
00106       // ファイル名だけ与える。
00107       libname = m_pModMgr->load("libRTC.so");
00108       CPPUNIT_ASSERT(libname == "/usr/lib/libRTC.so");
00109 
00110       libname = m_pModMgr->load("libRTC.so");
00111       CPPUNIT_ASSERT(libname == "/usr/lib/libRTC.so");
00112 
00113       libname = m_pModMgr->load("libRTC.so");
00114       CPPUNIT_ASSERT(libname == "/usr/lib/libRTC.so");
00115 
00116       // ファイル名を絶対パスで与える。
00117       libname = m_pModMgr->load("/usr/lib/libRTC.so");
00118       CPPUNIT_ASSERT(libname == "/usr/lib/libRTC.so");
00119 
00120       // ディレクトリの区切り文字に"//"や"../"がある場合。 -> OK.
00121       libname = m_pModMgr->load("/usr//users/kurihara/../kurihara/Components/test/test.so");
00122       CPPUNIT_ASSERT(libname == "/usr//users/kurihara/../kurihara/Components/test/test.so");
00123 
00124 
00125 
00126       // Failure case
00127       // 
00128       // ファイル名だけ与える。 -> Error DLL open failed.
00129       //      libname = m_pModMgr->load("libm.a");
00130       //      CPPUNIT_ASSERT(libname == "/usr/lib/libm.a");
00131 
00132       // ディレクトリ名を与える。 -> Error DLL open failed.
00133       //      libname = m_pModMgr->load("OpenRTM");
00134       //      CPPUNIT_ASSERT(libname == "/usr/lib/OpenRTM");
00135 
00136       // 実行ファイルを与える。  -> Error Invalid file name.
00137       //      libname = m_pModMgr->load("rtm-naming");
00138       //      CPPUNIT_ASSERT(libname == "/usr/bin/rtm-naming");
00139       
00140       // 存在しないファイル名を与える。-> Error Invalid file name.
00141       //      libname = m_pModMgr->load("test.test");
00142       //      cout << "libname: " << libname << endl;
00143       //    CPPUNIT_ASSERT(libname == "/usr/lib/libRTC.so");
00144     }
00145     catch (RTC::ModuleManager::Error& e)
00146       {
00147         std::cout << "Error " << e.reason << std::endl;
00148       }
00149     catch (RTC::ModuleManager::NotFound& e)
00150       {
00151         std::cout << "NotFound " << e.name << std::endl;
00152       }
00153     catch (...)
00154       {
00155         std::cout << "other exception" << std::endl;
00156       }
00157 
00158   }
00159 
00160 
00161   /* tests for void unload(const string& file_name) */
00162   void test_unload() {
00163     try {
00164       string libname;
00165       libname = m_pModMgr->load("libRTC.so");
00166       CPPUNIT_ASSERT(libname == "/usr/lib/libRTC.so");
00167 
00168       // Success case
00169       m_pModMgr->unload("/usr/lib/libRTC.so");
00170       m_pModMgr->unload("/usr/lib/libm.so");
00171 
00172 
00173 
00174       // Failure case
00175       // ファイル名だけを与える。 -> NotFound. 絶対パスで与える必要がある。
00176       //      m_pModMgr->unload("libRTC.so");
00177 
00178       // loadしていないファイルをunloadする。 -> NotFound.
00179       //      m_pModMgr->unload("usr/users/kurihara/Components/test/test.so");
00180 
00181       // 一度unloadしたファイルをunloadする。 ->  NotFound.
00182       //      m_pModMgr->unload("/usr/lib/libRTC.so");
00183       
00184     }
00185     catch (RTC::ModuleManager::Error& e)
00186       {
00187         std::cout << "Error " << e.reason << std::endl;
00188       }
00189     catch (RTC::ModuleManager::NotFound& e)
00190       {
00191         std::cout << "NotFound " << e.name << std::endl;
00192       }
00193     catch (...)
00194       {
00195         std::cout << "other exception" << std::endl;
00196       }
00197   }
00198 
00199 
00200   /* tests for void unloadAll() */
00201   void test_unloadAll() {
00202     try {
00203       m_pModMgr->unloadAll();
00204       m_pModMgr->unloadAll();
00205       m_pModMgr->unloadAll();
00206     }
00207     catch (RTC::ModuleManager::Error& e)
00208       {
00209         std::cout << "Error " << e.reason << std::endl;
00210       }
00211     catch (RTC::ModuleManager::NotFound& e)
00212       {
00213         std::cout << "NotFound " << e.name << std::endl;
00214       }
00215     catch (...)
00216       {
00217         std::cout << "other exception" << std::endl;
00218       }
00219   }
00220 
00221 
00222   /* tests for void* symbol(const string& file_name, const string& func_name) */
00223   void test_symbol() {
00224 
00225     //============ 安藤氏作成のテストプログラムより抜粋 ==============================
00226     string libname;
00227 
00228     try
00229       {
00230         libname = m_pModMgr->load("libm.so");
00231       }
00232     catch (RTC::ModuleManager::Error& e)
00233       {
00234         std::cout << "Error " << e.reason << std::endl;
00235       }
00236     catch (RTC::ModuleManager::NotFound& e)
00237       {
00238         std::cout << "NotFound " << e.name << std::endl;
00239       }
00240     catch (...)
00241       {
00242         std::cout << "other exception" << std::endl;
00243       }
00244 
00245     typedef double (*cosine)(double);
00246     typedef double (*sine)(double);
00247 
00248     cosine _cos;
00249     sine   _sin;
00250 
00251     _cos = (cosine) m_pModMgr->symbol(libname, "cos");
00252     //    std::cout << (*_cos)(0.0) << std::endl;
00253     //    std::cout << (*_cos)(3.141592653589793238462643383279/2) << std::endl;
00254     CPPUNIT_ASSERT_MESSAGE("load error: cos(0.0)",
00255                            (*_cos)(0.0) == 1.0);
00256     CPPUNIT_ASSERT_MESSAGE("load error: cos(pi/2)",
00257                            (*_cos)(3.141592653589793238462643383279/2) < 0.01);
00258 
00259     _sin = (sine) m_pModMgr->symbol(libname, "sin");
00260     //    std::cout << (*_sin)(0.0) << std::endl;
00261     //    std::cout << (*_sin)(3.141592653589793238462643383279/2) << std::endl;
00262     CPPUNIT_ASSERT_MESSAGE("load error: sin(0.0)",
00263                            (*_sin)(0.0) == 0.0);
00264     CPPUNIT_ASSERT_MESSAGE("load error: sin(pi/2)",
00265                            (*_sin)(3.141592653589793238462643383279/2) == 1.0);   
00266 
00267     //===============================================================================
00268 
00269     libname = m_pModMgr->load("/usr/users/kurihara/RTM/Components/test/test.so");
00270     typedef void (*testHello)();
00271 
00272     testHello _th;
00273     // nm --dynamic test.soで"hello"が含まれる文字列(シンボル)を探して使用した。
00274     _th = (testHello) m_pModMgr->symbol(libname, "_ZN4test5helloEv");
00275     (*_th)();
00276   }
00277 
00278 
00279   /* tests for void setLoadpath(const vector<string>& load_path) */
00280   void test_setLoadpath() {
00281     vector<string> set_loadpath, get_loadpath;
00282     set_loadpath.push_back("/usr");
00283     set_loadpath.push_back("/usr/lib");
00284     set_loadpath.push_back("/usr/local/lib");
00285     set_loadpath.push_back("/tmp");
00286     set_loadpath.push_back("/usr/users/aaaaaaaaaaa/bbbbbbbbbbbb/ccccccccccccc/ddddddddddddd/eeeeeeeeeeeee/ffffffffffffffff/ggggggggggggg/hhhhhhhhhhhhh/iiiiiiiiiii");
00287 
00288     m_pModMgr->setLoadpath(set_loadpath);
00289     get_loadpath = m_pModMgr->getLoadPath();
00290 
00291     unsigned int size = get_loadpath.size();
00292 
00293     for (unsigned int i = 0; i < size; i++) {
00294       CPPUNIT_ASSERT(set_loadpath[i] == get_loadpath[i]);
00295     }
00296   }
00297 
00298 
00299   /* tests for vector<string> getLoadPath() */
00300   void test_getLoadPath() {
00301     vector<string> getlist, expectation;
00302     expectation.push_back("/usr/lib");
00303     expectation.push_back("/usr/local/lib");
00304     expectation.push_back("/usr/local/lib/rtc");
00305     getlist = m_pModMgr->getLoadPath();
00306     
00307     for (unsigned int i = 0; i < getlist.size(); i++) {
00308       CPPUNIT_ASSERT(getlist[i] == expectation[i]);
00309     }
00310   }
00311 
00312 
00313   /* tests for void addLoadpath(const vector<string>& load_path) */
00314   void test_addLoadpath() {
00315     vector<string> getlist, expectation, add_path;
00316     expectation.push_back("/usr/lib");
00317     expectation.push_back("/usr/local/lib");
00318     expectation.push_back("/usr/local/lib/rtc");
00319     expectation.push_back("/tmp");
00320     expectation.push_back("/hoge");
00321     expectation.push_back("/hoge/hoge");
00322 
00323     add_path.push_back("/tmp");
00324     add_path.push_back("/hoge");
00325     add_path.push_back("/hoge/hoge");
00326     m_pModMgr->addLoadpath(add_path);
00327 
00328     getlist = m_pModMgr->getLoadPath();
00329     for (unsigned int i = 0; i < getlist.size(); i++) {
00330       CPPUNIT_ASSERT(getlist[i] == expectation[i]);
00331     }
00332   }
00333 
00334 
00335   /* tests for vector<string> getLoadedModules() */
00336   void test_getLoadedModules() {
00337     vector<string> get_modlist;
00338 
00339     get_modlist = m_pModMgr->getLoadedModules();
00340     CPPUNIT_ASSERT(get_modlist[0] == "/usr/lib/libRTC.so");
00341     CPPUNIT_ASSERT(get_modlist[1] == "/usr/lib/libm.so");
00342   }
00343 
00344 
00345   /* tests for vector<string> getLoadableModules() */
00346   void test_getLoadableModules() {
00347     // ModuelManager.cppで実装されていないl。
00348 
00349     vector<string> get_modlist;
00350     get_modlist = m_pModMgr->getLoadableModules();
00351     for (unsigned int i = 0; i < get_modlist.size(); i++) {
00352       cout << get_modlist[i] << endl;
00353     }
00354     
00355   }
00356 
00357 
00358   /* tests for void allowAbsolutePath() */
00359   void test_allowAbsolutePath() {
00360     string libname;
00361     try {
00362 
00363       // Success case
00364       m_pModMgr->allowAbsolutePath();
00365       libname = m_pModMgr->load("libRTC.so");
00366       m_pModMgr->unload(libname);
00367 
00368       libname = m_pModMgr->load("/usr/lib/libm.so");
00369       m_pModMgr->unload(libname);
00370 
00371       libname = m_pModMgr->load("../lib/libm.so");
00372       m_pModMgr->unload(libname);
00373       
00374 
00375       m_pModMgr->disallowAbsolutePath();
00376       libname = m_pModMgr->load("../lib/libRTC.so");
00377       m_pModMgr->unload(libname);
00378 
00379       // Failure case
00380       //      libname = m_pModMgr->load("/usr/lib/libRTC.so");
00381       //      m_pModMgr->unload(libname);
00382     }
00383     catch (RTC::ModuleManager::Error& e)
00384       {
00385         std::cout << "Error " << e.reason << std::endl;
00386       }
00387     catch (RTC::ModuleManager::NotFound& e)
00388       {
00389         std::cout << "NotFound " << e.name << std::endl;
00390       }
00391     catch (...)
00392       {
00393         std::cout << "other exception" << std::endl;
00394       }
00395   }
00396 
00397 
00398   /* tests for void disallowAbsolutePath() */
00399   void test_disallowAbsolutePath() {
00400     // test_allowAbsolutePath()にてテスト済み。
00401   }
00402 
00403 
00404   /* tests for void allowModuleDownload() */
00405   void test_allowModuleDownload() {
00406     // テストまだ
00407   }
00408 
00409 
00410   /* tests for void disallowModuleDownload() */
00411   void test_disallowModuleDownload() {
00412     // テストまだ
00413   }
00414 
00415 
00416   /* tests for string findFile(const string& fname, const vector<string>& load_path) */
00417   void test_findFile() {
00418     //============ 安藤氏作成のテストプログラムより抜粋 ==============================
00419     std::string result;
00420     std::vector<std::string> path;
00421     path.push_back("/lib");
00422     path.push_back("/usr/lib");
00423     path.push_back("/usr/local/lib");
00424 
00425     result = m_pModMgr->findFile("libm.so", path);
00426     CPPUNIT_ASSERT_MESSAGE("fileFile error: libm.so",
00427                            result == "/usr/lib/libm.so");
00428 
00429     result = m_pModMgr->findFile("libc.so", path);
00430     CPPUNIT_ASSERT_MESSAGE("fileFile error: libc.so",
00431                            result == "/usr/lib/libc.so");
00432 
00433     result = m_pModMgr->findFile("libACE.so", path);
00434     CPPUNIT_ASSERT_MESSAGE("fileFile error: libACE.so",
00435                            result == "/usr/lib/libACE.so");
00436 
00437     result = m_pModMgr->findFile("hosts", path);
00438     CPPUNIT_ASSERT_MESSAGE("fileFile error: hosts",
00439                            result == "");
00440 
00441     result = m_pModMgr->findFile("munyamunya", path);
00442     CPPUNIT_ASSERT_MESSAGE("fileFile error: munyamunya",
00443                            result == "");
00444    
00445     //================================================================================
00446 
00447     // Failure case
00448     //    path.clear();
00449     //    result = m_pModMgr->findFile("libm.so", path);
00450     //    CPPUNIT_ASSERT_MESSAGE("fileFile error: libm.so",
00451     //                             result == "/usr/lib/libm.so");
00452 
00453   }
00454 
00455 
00456   /* tests for bool fileExist(const string& filename) */
00457   void test_fileExist() {
00458     // Success case
00459     CPPUNIT_ASSERT(m_pModMgr->fileExist("../../../../../../../../usr/lib/libm.so"));
00460     CPPUNIT_ASSERT(m_pModMgr->fileExist("/usr/lib/libm.so"));
00461 
00462     // Failure case
00463     //    CPPUNIT_ASSERT(m_pModMgr->fileExist("libm.so"));
00464   }
00465 
00466 
00467   /* tests for string getInitFuncName(const string& file_path) */
00468   void test_getInitFuncName() {
00469     std::string result;
00470 
00471     //============ 安藤氏作成のテストプログラムより抜粋 ==============================
00472     result = m_pModMgr->getInitFuncName("Manipulator");
00473     CPPUNIT_ASSERT_MESSAGE("getInitFuncName error: Manipulator",
00474                            result == "ManipulatorInit");
00475 
00476     result = m_pModMgr->getInitFuncName("PHANToM");
00477     CPPUNIT_ASSERT_MESSAGE("getInitFuncName error: PHANToM",
00478                            result == "PHANToMInit");
00479     //================================================================================
00480   }
00481 };
00482 
00483 
00484 /*
00485  * register test suite
00486  */
00487 CPPUNIT_TEST_SUITE_REGISTRATION(ModuleManagerTests);
00488 
00489 
00490 
00491 int main(int argc, char* argv[])
00492 {
00493     CppUnit::TextUi::TestRunner runner;
00494 
00495     runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
00496     CppUnit::Outputter* outputter = 
00497       new CppUnit::TextOutputter(&runner.result(), std::cout);
00498     runner.setOutputter(outputter);
00499    
00500     return runner.run();
00501 }