OutPortPullConnectorTests.cpp
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00001 // -*- C++ -*-
00022 #ifndef OutPortPullConnector_cpp
00023 #define OutPortPullConnector_cpp
00024 
00025 #include <cppunit/ui/text/TestRunner.h>
00026 #include <cppunit/TextOutputter.h>
00027 #include <cppunit/extensions/TestFactoryRegistry.h>
00028 #include <cppunit/extensions/HelperMacros.h>
00029 #include <cppunit/TestAssert.h>
00030 
00031 #include <coil/Properties.h>
00032 
00033 #include <rtm/idl/BasicDataTypeSkel.h>
00034 #include <rtm/idl/DataPortSkel.h>
00035 #include <rtm/Typename.h>
00036 #include <rtm/OutPortPullConnector.h>
00037 #include <rtm/CdrBufferBase.h>
00038 #include <rtm/CORBA_SeqUtil.h>
00039 #include <rtm/NVUtil.h>
00040 #include <rtm/ConnectorBase.h>
00041 #include <rtm/DataPortStatus.h>
00042 #include <rtm/InPortBase.h>
00043 #include <rtm/InPortConsumer.h>
00044 #include <rtm/OutPortBase.h>
00045 #include <rtm/PortAdmin.h>
00046 #include <rtm/CorbaConsumer.h>
00047 #include <rtm/PublisherBase.h>
00048 
00053 namespace OutPortPullConnector
00054 {
00055 
00056   class DataListener
00057     : public RTC::ConnectorDataListenerT<RTC::TimedLong>
00058   {
00059   public:
00060     DataListener(const char* name) : m_name(name) {}
00061     virtual ~DataListener()
00062     {
00063       //std::cout << "dtor of " << m_name << std::endl;
00064     }
00065 
00066     virtual void operator()(const RTC::ConnectorInfo& info,
00067                             const RTC::TimedLong& data)
00068     {
00069       //std::cout << "------------------------------"   << std::endl;
00070       //std::cout << "Data Listener: " << m_name       << std::endl;
00071       //std::cout << "Profile::name: " << info.name    << std::endl;
00072       //std::cout << "------------------------------"   << std::endl;
00073     };
00074     std::string m_name;
00075   };
00076 
00077 
00078   class ConnListener
00079     : public RTC::ConnectorListener
00080   {
00081   public:
00082     ConnListener(const char* name) : m_name(name) {}
00083     virtual ~ConnListener()
00084     {
00085       //std::cout << "dtor of " << m_name << std::endl;
00086     }
00087 
00088     virtual void operator()(const RTC::ConnectorInfo& info)
00089     {
00090       std::cout << "------------------------------"   << std::endl;
00091       std::cout << "Connector Listener: " << m_name       << std::endl;
00092       std::cout << "Profile::name:      " << info.name    << std::endl;
00093       std::cout << "------------------------------"   << std::endl;
00094     };
00095     std::string m_name;
00096   };
00097 
00103   class Logger
00104   {
00105   public:
00106     void log(const std::string& msg)
00107     {
00108       m_log.push_back(msg);
00109     }
00110 
00111     int countLog(const std::string& msg)
00112     {
00113       int count = 0;
00114       for (int i = 0; i < (int) m_log.size(); ++i)
00115         {
00116           if (m_log[i] == msg) ++count;
00117         }
00118      return count;
00119     }
00120                 
00121   private:
00122     std::vector<std::string> m_log;
00123   };
00124 
00130   template <class DataType>
00131   class RingBufferMock
00132     : public RTC::BufferBase<DataType>
00133   {
00134   public:
00135     BUFFERSTATUS_ENUM
00136       RingBufferMock(long int length = 8)
00137       {
00138           m_logger = NULL;
00139           logger.log("RingBufferMock::Constructor");
00140           m_read_return_value = BUFFER_OK;
00141       }
00142       virtual ~RingBufferMock(void)
00143       {
00144       }
00145   
00146     
00151       void set_read_return_value(::RTC::BufferStatus::Enum value)
00152       {
00153           m_read_return_value = value;
00154       }
00159       virtual void init(const coil::Properties& prop)
00160       {
00161       }
00166       virtual size_t length(void) const
00167       {
00168           return 0;
00169       }
00174       virtual ReturnCode length(size_t n)
00175       {
00176           return ::RTC::BufferStatus::BUFFER_OK; //BUFFER_OK;
00177       }
00182       virtual ReturnCode reset()
00183       {
00184           return ::RTC::BufferStatus::BUFFER_OK; //BUFFER_OK;
00185       }
00190       virtual DataType* wptr(long int n = 0)
00191       {
00192           return &m_data;
00193       }
00198       virtual ReturnCode advanceWptr(long int n = 1)
00199       {
00200           return ::RTC::BufferStatus::BUFFER_OK; //BUFFER_OK;
00201       }
00206       virtual ReturnCode put(const DataType& value)
00207       {
00208           return ::RTC::BufferStatus::BUFFER_OK; //BUFFER_OK;
00209       }
00214       virtual ReturnCode write(const DataType& value,
00215                                long int sec = -1, long int nsec = -1)
00216       {
00217           return ::RTC::BufferStatus::BUFFER_OK; //BUFFER_OK;
00218       }
00223       virtual size_t writable() const
00224       {
00225           return 0;
00226       }
00231       virtual bool full(void) const
00232       {
00233           return true;
00234       }
00239       virtual DataType* rptr(long int n = 0)
00240       {
00241           return &m_data;
00242       }
00247       virtual ReturnCode advanceRptr(long int n = 1)
00248       {
00249           return ::RTC::BufferStatus::BUFFER_OK; //BUFFER_OK;
00250       }
00255       virtual ReturnCode get(DataType& value)
00256       {
00257           return ::RTC::BufferStatus::BUFFER_OK; //BUFFER_OK;
00258       }
00263       virtual DataType&  get()
00264       {
00265           return m_data;
00266       }
00271       virtual ReturnCode read(DataType& value,
00272                               long int sec = -1, long int nsec = -1)
00273       {
00274           if (m_logger != NULL)
00275           {
00276               m_logger->log("RingBufferMock::read");
00277           }
00278           logger.log("RingBufferMock::read");
00279           return m_read_return_value; //BUFFER_OK;
00280       }
00285       virtual size_t readable() const
00286       {
00287           return 0;
00288       }
00293       virtual bool empty(void) const
00294       {
00295           return true;
00296       }
00301       void setLogger(Logger* logger)
00302       {
00303           m_logger = logger;
00304       }
00305 
00306       static Logger logger;
00307   private:
00308       DataType m_data;
00309       std::vector<DataType> m_buffer;
00310       Logger* m_logger;
00311       ::RTC::BufferStatus::Enum m_read_return_value;
00312   };
00313 
00314   template <class DataType>
00315   Logger RingBufferMock<DataType>::logger;
00316   typedef RingBufferMock<cdrMemoryStream> CdrRingBufferMock;
00317 
00323   class OutPortCorbaCdrProviderMock
00324     : public RTC::OutPortProvider,
00325       public virtual ::POA_OpenRTM::OutPortCdr,
00326       public virtual PortableServer::RefCountServantBase
00327   {
00328 
00329   public:
00330       OutPortCorbaCdrProviderMock(void)
00331        {
00332           m_logger = NULL;
00333        }
00334       virtual ~OutPortCorbaCdrProviderMock(void)
00335       {
00336       }
00341       void init(coil::Properties& prop)
00342       {
00343           if (m_logger != NULL)
00344           {
00345               m_logger->log("OutPortCorbaCdrProviderMock::init");
00346           }
00347       }
00352       virtual ::OpenRTM::PortStatus get(::OpenRTM::CdrData_out data)
00353       {
00354           return ::OpenRTM::PORT_OK;
00355       }
00360       RTC::InPortConsumer::ReturnCode put(const cdrMemoryStream& data)
00361       {
00362           return PORT_OK;
00363       }
00368       void publishInterfaceProfile(SDOPackage::NVList& properties)
00369       {
00370           return;
00371       }
00372 
00377       bool subscribeInterface(const SDOPackage::NVList& properties)
00378       {
00379     
00380           return true;;
00381       }
00382   
00387       void unsubscribeInterface(const SDOPackage::NVList& properties)
00388       {
00389       }
00390   
00391   
00396       void setLogger(Logger* logger)
00397       {
00398           m_logger = logger;
00399       }
00400 
00401       void setBuffer(RTC::CdrBufferBase* buffer)
00402       {
00403       }
00404 
00405       void setListener(RTC::ConnectorInfo& info, RTC::ConnectorListeners* listeners)
00406       {
00407       }
00408       void setConnector(RTC::OutPortConnector* connector)
00409       {
00410       }
00411 
00412   private:
00413     Logger* m_logger;
00414 
00415   };
00416 
00417   class OutPortPullConnectorTests
00418     : public CppUnit::TestFixture
00419   {
00420     CPPUNIT_TEST_SUITE(OutPortPullConnectorTests);
00421 
00422     CPPUNIT_TEST(test_OutPortPullConnector);
00423     CPPUNIT_TEST(test_write);
00424     CPPUNIT_TEST(test_disconnect_getBuffer);
00425     CPPUNIT_TEST(test_activate_deactivate);
00426 
00427     CPPUNIT_TEST_SUITE_END();
00428                 
00429   private:
00430     CORBA::ORB_ptr m_pORB;
00431     PortableServer::POA_ptr m_pPOA;
00432 
00433 
00434   public:
00435         RTC::ConnectorListeners m_listeners;
00436         
00440     OutPortPullConnectorTests()
00441     {
00442 
00443         int argc(0);
00444         char** argv(NULL);
00445         m_pORB = CORBA::ORB_init(argc, argv);
00446         m_pPOA = PortableServer::POA::_narrow(
00447                     m_pORB->resolve_initial_references("RootPOA"));
00448         m_pPOA->the_POAManager()->activate();
00449 
00450     }
00451                 
00455     ~OutPortPullConnectorTests()
00456     {
00457     }
00458     
00462     virtual void setUp()
00463     {
00464         //ConnectorDataListeners
00465         m_listeners.connectorData_[RTC::ON_BUFFER_WRITE].addListener(
00466                                    new DataListener("ON_BUFFER_WRITE"), true);
00467         m_listeners.connectorData_[RTC::ON_BUFFER_FULL].addListener(
00468                                    new DataListener("ON_BUFFER_FULL"), true);
00469         m_listeners.connectorData_[RTC::ON_BUFFER_WRITE_TIMEOUT].addListener(
00470                                    new DataListener("ON_BUFFER_WRITE_TIMEOUT"), true);
00471         m_listeners.connectorData_[RTC::ON_BUFFER_OVERWRITE].addListener(
00472                                    new DataListener("ON_BUFFER_OVERWRITE"), true);
00473         m_listeners.connectorData_[RTC::ON_BUFFER_READ].addListener(
00474                                    new DataListener("ON_BUFFER_READ"), true);
00475         m_listeners.connectorData_[RTC::ON_SEND].addListener(
00476                                    new DataListener("ON_SEND"), true);
00477         m_listeners.connectorData_[RTC::ON_RECEIVED].addListener(
00478                                    new DataListener("ON_RECEIVED"), true);
00479         m_listeners.connectorData_[RTC::ON_RECEIVER_FULL].addListener(
00480                                    new DataListener("ON_RECEIVER_FULL"), true);
00481         m_listeners.connectorData_[RTC::ON_RECEIVER_TIMEOUT].addListener(
00482                                    new DataListener("ON_RECEIVER_TIMEOUT"), true);
00483         m_listeners.connectorData_[RTC::ON_RECEIVER_ERROR].addListener(
00484                                    new DataListener("ON_RECEIVER_ERROR"), true);
00485 
00486         //ConnectorListeners
00487         m_listeners.connector_[RTC::ON_BUFFER_EMPTY].addListener(
00488                                     new ConnListener("ON_BUFFER_EMPTY"), true);
00489         m_listeners.connector_[RTC::ON_BUFFER_READ_TIMEOUT].addListener(
00490                                     new ConnListener("ON_BUFFER_READ_TIMEOUT"), true);
00491         m_listeners.connector_[RTC::ON_SENDER_EMPTY].addListener(
00492                                     new ConnListener("ON_SENDER_EMPTY"), true);
00493         m_listeners.connector_[RTC::ON_SENDER_TIMEOUT].addListener(
00494                                     new ConnListener("ON_SENDER_TIMEOUT"), true);
00495         m_listeners.connector_[RTC::ON_SENDER_ERROR].addListener(
00496                                     new ConnListener("ON_SENDER_ERROR"), true);
00497         m_listeners.connector_[RTC::ON_CONNECT].addListener(
00498                                     new ConnListener("ON_CONNECT"), true);
00499         m_listeners.connector_[RTC::ON_DISCONNECT].addListener(
00500                                     new ConnListener("ON_DISCONNECT"), true);
00501     }
00502                 
00506     virtual void tearDown()
00507     {
00508     }
00509                 
00514     void test_OutPortPullConnector()
00515     {
00516         CdrRingBufferMock* pbuffer = new CdrRingBufferMock();
00517 
00518         RTC::ConnectorProfile prof;
00519         CORBA_SeqUtil::push_back(prof.properties,
00520                                NVUtil::newNV("dataport.interface_type",
00521                                              "corba_cdr"));
00522         CORBA_SeqUtil::push_back(prof.properties,
00523                                NVUtil::newNV("dataport.dataflow_type",
00524                                              "push"));
00525         CORBA_SeqUtil::push_back(prof.properties,
00526                                NVUtil::newNV("dataport.subscription_type",
00527                                              "new"));
00528         coil::Properties prop;
00529         {
00530             coil::Properties conn_prop;
00531             NVUtil::copyToProperties(conn_prop, prof.properties);
00532             prop << conn_prop.getNode("dataport"); // marge ConnectorProfile
00533         }
00534         OutPortCorbaCdrProviderMock* provider = new OutPortCorbaCdrProviderMock();
00535         Logger logger;
00536         provider->setLogger(&logger);
00537         RTC::ConnectorInfo profile_new(prof.name,
00538                                        prof.connector_id,
00539                                        CORBA_SeqUtil::refToVstring(prof.ports),
00540                                        prop); 
00541         RTC::OutPortConnector* connector(0);
00542         connector = new RTC::OutPortPullConnector(profile_new, provider, m_listeners, pbuffer);
00543 
00544         delete connector;
00545 
00546         //subscription_type
00547         //Flush
00548         CORBA_SeqUtil::push_back(prof.properties,
00549                                NVUtil::newNV("dataport.subscription_type",
00550                                              ""));
00551         {
00552             coil::Properties conn_prop;
00553             NVUtil::copyToProperties(conn_prop, prof.properties);
00554             prop << conn_prop.getNode("dataport"); // marge ConnectorProfile
00555         }
00556         RTC::ConnectorInfo profile_flush(prof.name,
00557                                          prof.connector_id,
00558                                          CORBA_SeqUtil::refToVstring(prof.ports),
00559                                          prop); 
00560         connector = new RTC::OutPortPullConnector(profile_flush, provider, m_listeners, 0);
00561 
00562         delete connector;
00563         delete provider;
00564         delete pbuffer;
00565     }
00566 
00571     void test_write()
00572     {
00573         CdrRingBufferMock* pbuffer = new CdrRingBufferMock();
00574         RTC::ConnectorProfile prof;
00575         CORBA_SeqUtil::push_back(prof.properties,
00576                                NVUtil::newNV("dataport.interface_type",
00577                                              "corba_cdr"));
00578         CORBA_SeqUtil::push_back(prof.properties,
00579                                NVUtil::newNV("dataport.dataflow_type",
00580                                              "push"));
00581         CORBA_SeqUtil::push_back(prof.properties,
00582                                NVUtil::newNV("dataport.subscription_type",
00583                                              "new"));
00584         coil::Properties prop;
00585         {
00586             coil::Properties conn_prop;
00587             NVUtil::copyToProperties(conn_prop, prof.properties);
00588             prop << conn_prop.getNode("dataport"); // marge ConnectorProfile
00589         }
00590         OutPortCorbaCdrProviderMock* provider = new OutPortCorbaCdrProviderMock();
00591         Logger logger;
00592         provider->setLogger(&logger);
00593         RTC::ConnectorInfo profile_new(prof.name,
00594                                        prof.connector_id,
00595                                        CORBA_SeqUtil::refToVstring(prof.ports),
00596                                        prop); 
00597         RTC::OutPortConnector* connector(0);
00598         connector = new RTC::OutPortPullConnector(profile_new, provider, m_listeners, pbuffer);
00599         cdrMemoryStream cdr;
00600         RTC::TimedLong td;
00601         td.data = 12345;
00602         td >>= cdr;
00603 
00604         RTC::ConnectorBase::ReturnCode ret;
00605         ret = connector->write(cdr);
00606         CPPUNIT_ASSERT_EQUAL(RTC::DataPortStatus::PORT_OK, ret);
00607 
00608         delete connector;
00609         delete provider;
00610         delete pbuffer;
00611 
00612     }
00613 
00618     void test_disconnect_getBuffer()
00619     {
00620         CdrRingBufferMock* pbuffer = new CdrRingBufferMock();
00621         RTC::ConnectorProfile prof;
00622         CORBA_SeqUtil::push_back(prof.properties,
00623                                NVUtil::newNV("dataport.interface_type",
00624                                              "corba_cdr"));
00625         CORBA_SeqUtil::push_back(prof.properties,
00626                                NVUtil::newNV("dataport.dataflow_type",
00627                                              "push"));
00628         CORBA_SeqUtil::push_back(prof.properties,
00629                                NVUtil::newNV("dataport.subscription_type",
00630                                              "new"));
00631         coil::Properties prop;
00632         {
00633             coil::Properties conn_prop;
00634             NVUtil::copyToProperties(conn_prop, prof.properties);
00635             prop << conn_prop.getNode("dataport"); // marge ConnectorProfile
00636         }
00637         OutPortCorbaCdrProviderMock* provider = new OutPortCorbaCdrProviderMock();
00638         Logger logger;
00639         provider->setLogger(&logger);
00640         RTC::ConnectorInfo profile_new(prof.name,
00641                                        prof.connector_id,
00642                                        CORBA_SeqUtil::refToVstring(prof.ports),
00643                                        prop); 
00644         RTC::OutPortConnector* connector(0);
00645         connector = new RTC::OutPortPullConnector(profile_new, provider, m_listeners, pbuffer);
00646         CPPUNIT_ASSERT(pbuffer == connector->getBuffer());
00647 
00648         RTC::ConnectorBase::ReturnCode ret;
00649         ret = connector->disconnect();
00650         CPPUNIT_ASSERT_EQUAL(RTC::DataPortStatus::PORT_OK, ret);
00651 
00652         delete connector;
00653         delete provider;
00654         delete pbuffer;
00655     }
00656 
00661     void test_activate_deactivate()
00662     {
00663         CdrRingBufferMock* pbuffer = new CdrRingBufferMock();
00664         RTC::ConnectorProfile prof;
00665         CORBA_SeqUtil::push_back(prof.properties,
00666                                NVUtil::newNV("dataport.interface_type",
00667                                              "corba_cdr"));
00668         CORBA_SeqUtil::push_back(prof.properties,
00669                                NVUtil::newNV("dataport.dataflow_type",
00670                                              "push"));
00671         CORBA_SeqUtil::push_back(prof.properties,
00672                                NVUtil::newNV("dataport.subscription_type",
00673                                              "new"));
00674         coil::Properties prop;
00675         {
00676             coil::Properties conn_prop;
00677             NVUtil::copyToProperties(conn_prop, prof.properties);
00678             prop << conn_prop.getNode("dataport"); // marge ConnectorProfile
00679         }
00680         OutPortCorbaCdrProviderMock* provider = new OutPortCorbaCdrProviderMock();
00681         Logger logger;
00682         provider->setLogger(&logger);
00683         RTC::ConnectorInfo profile_new(prof.name,
00684                                        prof.connector_id,
00685                                        CORBA_SeqUtil::refToVstring(prof.ports),
00686                                        prop); 
00687         RTC::OutPortConnector* connector(0);
00688         connector = new RTC::OutPortPullConnector(profile_new, provider, m_listeners, pbuffer);
00689         connector->activate();
00690         delete connector;
00691 
00692         connector = new RTC::OutPortPullConnector(profile_new, provider, m_listeners, pbuffer);
00693 
00694         delete connector;
00695         delete provider;
00696         delete pbuffer;
00697     }
00698   };
00699 }; // namespace OutPortPullConnector
00700 
00701 /*
00702  * Register test suite
00703  */
00704 CPPUNIT_TEST_SUITE_REGISTRATION(OutPortPullConnector::OutPortPullConnectorTests);
00705 
00706 #ifdef LOCAL_MAIN
00707 int main(int argc, char* argv[])
00708 {
00709 
00710   FORMAT format = TEXT_OUT;
00711   int target = 0;
00712   std::string xsl;
00713   std::string ns;
00714   std::string fname;
00715   std::ofstream ofs;
00716 
00717   int i(1);
00718   while (i < argc)
00719     {
00720       std::string arg(argv[i]);
00721       std::string next_arg;
00722       if (i + 1 < argc) next_arg = argv[i + 1];
00723       else              next_arg = "";
00724 
00725       if (arg == "--text") { format = TEXT_OUT; break; }
00726       if (arg == "--xml")
00727         {
00728           if (next_arg == "")
00729             {
00730               fname = argv[0];
00731               fname += ".xml";
00732             }
00733           else
00734             {
00735               fname = next_arg;
00736             }
00737           format = XML_OUT;
00738           ofs.open(fname.c_str());
00739         }
00740       if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
00741       if ( arg == "--cerr"      ) { target = 1; break; }
00742       if ( arg == "--xsl"       )
00743         {
00744           if (next_arg == "") xsl = "default.xsl"; 
00745           else                xsl = next_arg;
00746         }
00747       if ( arg == "--namespace" )
00748         {
00749           if (next_arg == "")
00750             {
00751               std::cerr << "no namespace specified" << std::endl;
00752               exit(1); 
00753             }
00754           else
00755             {
00756               xsl = next_arg;
00757             }
00758         }
00759       ++i;
00760     }
00761   CppUnit::TextUi::TestRunner runner;
00762   if ( ns.empty() )
00763     runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
00764   else
00765     runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
00766   CppUnit::Outputter* outputter = 0;
00767   std::ostream* stream = target ? &std::cerr : &std::cout;
00768   switch ( format )
00769     {
00770     case TEXT_OUT :
00771       outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
00772       break;
00773     case XML_OUT :
00774       std::cout << "XML_OUT" << std::endl;
00775       outputter = new CppUnit::XmlOutputter(&runner.result(),
00776                                             ofs, "shift_jis");
00777       static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
00778       break;
00779     case COMPILER_OUT :
00780       outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
00781       break;
00782     }
00783   runner.setOutputter(outputter);
00784   runner.run();
00785   return 0; // runner.run() ? 0 : 1;
00786 }
00787 #endif // MAIN
00788 #endif // InPort_cpp


openrtm_aist
Author(s): Noriaki Ando
autogenerated on Sun Mar 26 2017 03:37:16