OutPortPullConnectorTests.cpp

Go to the documentation of this file.

// -*- C++ -*-
#ifndef OutPortPullConnector_cpp
#define OutPortPullConnector_cpp

#include <cppunit/ui/text/TestRunner.h>
#include <cppunit/TextOutputter.h>
#include <cppunit/extensions/TestFactoryRegistry.h>
#include <cppunit/extensions/HelperMacros.h>
#include <cppunit/TestAssert.h>

#include <coil/Properties.h>

#include <rtm/idl/BasicDataTypeSkel.h>
#include <rtm/idl/DataPortSkel.h>
#include <rtm/Typename.h>
#include <rtm/OutPortPullConnector.h>
#include <rtm/CdrBufferBase.h>
#include <rtm/CORBA_SeqUtil.h>
#include <rtm/NVUtil.h>
#include <rtm/ConnectorBase.h>
#include <rtm/DataPortStatus.h>
#include <rtm/InPortBase.h>
#include <rtm/InPortConsumer.h>
#include <rtm/OutPortBase.h>
#include <rtm/PortAdmin.h>
#include <rtm/CorbaConsumer.h>
#include <rtm/PublisherBase.h>

namespace OutPortPullConnector
{

  class DataListener
    : public RTC::ConnectorDataListenerT<RTC::TimedLong>
  {
  public:
    DataListener(const char* name) : m_name(name) {}
    virtual ~DataListener()
    {
      //std::cout << "dtor of " << m_name << std::endl;
    }

    virtual void operator()(const RTC::ConnectorInfo& info,
                            const RTC::TimedLong& data)
    {
      //std::cout << "------------------------------"   << std::endl;
      //std::cout << "Data Listener: " << m_name       << std::endl;
      //std::cout << "Profile::name: " << info.name    << std::endl;
      //std::cout << "------------------------------"   << std::endl;
    };
    std::string m_name;
  };


  class ConnListener
    : public RTC::ConnectorListener
  {
  public:
    ConnListener(const char* name) : m_name(name) {}
    virtual ~ConnListener()
    {
      //std::cout << "dtor of " << m_name << std::endl;
    }

    virtual void operator()(const RTC::ConnectorInfo& info)
    {
      std::cout << "------------------------------"   << std::endl;
      std::cout << "Connector Listener: " << m_name       << std::endl;
      std::cout << "Profile::name:      " << info.name    << std::endl;
      std::cout << "------------------------------"   << std::endl;
    };
    std::string m_name;
  };

  class Logger
  {
  public:
    void log(const std::string& msg)
    {
      m_log.push_back(msg);
    }

    int countLog(const std::string& msg)
    {
      int count = 0;
      for (int i = 0; i < (int) m_log.size(); ++i)
        {
          if (m_log[i] == msg) ++count;
        }
     return count;
    }
                
  private:
    std::vector<std::string> m_log;
  };

  template <class DataType>
  class RingBufferMock
    : public RTC::BufferBase<DataType>
  {
  public:
    BUFFERSTATUS_ENUM
      RingBufferMock(long int length = 8)
      {
          m_logger = NULL;
          logger.log("RingBufferMock::Constructor");
          m_read_return_value = BUFFER_OK;
      }
      virtual ~RingBufferMock(void)
      {
      }
  
    
      void set_read_return_value(::RTC::BufferStatus::Enum value)
      {
          m_read_return_value = value;
      }
      virtual void init(const coil::Properties& prop)
      {
      }
      virtual size_t length(void) const
      {
          return 0;
      }
      virtual ReturnCode length(size_t n)
      {
          return ::RTC::BufferStatus::BUFFER_OK; //BUFFER_OK;
      }
      virtual ReturnCode reset()
      {
          return ::RTC::BufferStatus::BUFFER_OK; //BUFFER_OK;
      }
      virtual DataType* wptr(long int n = 0)
      {
          return &m_data;
      }
      virtual ReturnCode advanceWptr(long int n = 1)
      {
          return ::RTC::BufferStatus::BUFFER_OK; //BUFFER_OK;
      }
      virtual ReturnCode put(const DataType& value)
      {
          return ::RTC::BufferStatus::BUFFER_OK; //BUFFER_OK;
      }
      virtual ReturnCode write(const DataType& value,
                               long int sec = -1, long int nsec = -1)
      {
          return ::RTC::BufferStatus::BUFFER_OK; //BUFFER_OK;
      }
      virtual size_t writable() const
      {
          return 0;
      }
      virtual bool full(void) const
      {
          return true;
      }
      virtual DataType* rptr(long int n = 0)
      {
          return &m_data;
      }
      virtual ReturnCode advanceRptr(long int n = 1)
      {
          return ::RTC::BufferStatus::BUFFER_OK; //BUFFER_OK;
      }
      virtual ReturnCode get(DataType& value)
      {
          return ::RTC::BufferStatus::BUFFER_OK; //BUFFER_OK;
      }
      virtual DataType&  get()
      {
          return m_data;
      }
      virtual ReturnCode read(DataType& value,
                              long int sec = -1, long int nsec = -1)
      {
          if (m_logger != NULL)
          {
              m_logger->log("RingBufferMock::read");
          }
          logger.log("RingBufferMock::read");
          return m_read_return_value; //BUFFER_OK;
      }
      virtual size_t readable() const
      {
          return 0;
      }
      virtual bool empty(void) const
      {
          return true;
      }
      void setLogger(Logger* logger)
      {
          m_logger = logger;
      }

      static Logger logger;
  private:
      DataType m_data;
      std::vector<DataType> m_buffer;
      Logger* m_logger;
      ::RTC::BufferStatus::Enum m_read_return_value;
  };

  template <class DataType>
  Logger RingBufferMock<DataType>::logger;
  typedef RingBufferMock<cdrMemoryStream> CdrRingBufferMock;

  class OutPortCorbaCdrProviderMock
    : public RTC::OutPortProvider,
      public virtual ::POA_OpenRTM::OutPortCdr,
      public virtual PortableServer::RefCountServantBase
  {

  public:
      OutPortCorbaCdrProviderMock(void)
       {
          m_logger = NULL;
       }
      virtual ~OutPortCorbaCdrProviderMock(void)
      {
      }
      void init(coil::Properties& prop)
      {
          if (m_logger != NULL)
          {
              m_logger->log("OutPortCorbaCdrProviderMock::init");
          }
      }
      virtual ::OpenRTM::PortStatus get(::OpenRTM::CdrData_out data)
      {
          return ::OpenRTM::PORT_OK;
      }
      RTC::InPortConsumer::ReturnCode put(const cdrMemoryStream& data)
      {
          return PORT_OK;
      }
      void publishInterfaceProfile(SDOPackage::NVList& properties)
      {
          return;
      }

      bool subscribeInterface(const SDOPackage::NVList& properties)
      {
    
          return true;;
      }
  
      void unsubscribeInterface(const SDOPackage::NVList& properties)
      {
      }
  
  
      void setLogger(Logger* logger)
      {
          m_logger = logger;
      }

      void setBuffer(RTC::CdrBufferBase* buffer)
      {
      }

      void setListener(RTC::ConnectorInfo& info, RTC::ConnectorListeners* listeners)
      {
      }
      void setConnector(RTC::OutPortConnector* connector)
      {
      }

  private:
    Logger* m_logger;

  };

  class OutPortPullConnectorTests
    : public CppUnit::TestFixture
  {
    CPPUNIT_TEST_SUITE(OutPortPullConnectorTests);

    CPPUNIT_TEST(test_OutPortPullConnector);
    CPPUNIT_TEST(test_write);
    CPPUNIT_TEST(test_disconnect_getBuffer);
    CPPUNIT_TEST(test_activate_deactivate);

    CPPUNIT_TEST_SUITE_END();
                
  private:
    CORBA::ORB_ptr m_pORB;
    PortableServer::POA_ptr m_pPOA;


  public:
        RTC::ConnectorListeners m_listeners;
        
    OutPortPullConnectorTests()
    {

        int argc(0);
        char** argv(NULL);
        m_pORB = CORBA::ORB_init(argc, argv);
        m_pPOA = PortableServer::POA::_narrow(
                    m_pORB->resolve_initial_references("RootPOA"));
        m_pPOA->the_POAManager()->activate();

    }
                
    ~OutPortPullConnectorTests()
    {
    }
    
    virtual void setUp()
    {
        //ConnectorDataListeners
        m_listeners.connectorData_[RTC::ON_BUFFER_WRITE].addListener(
                                   new DataListener("ON_BUFFER_WRITE"), true);
        m_listeners.connectorData_[RTC::ON_BUFFER_FULL].addListener(
                                   new DataListener("ON_BUFFER_FULL"), true);
        m_listeners.connectorData_[RTC::ON_BUFFER_WRITE_TIMEOUT].addListener(
                                   new DataListener("ON_BUFFER_WRITE_TIMEOUT"), true);
        m_listeners.connectorData_[RTC::ON_BUFFER_OVERWRITE].addListener(
                                   new DataListener("ON_BUFFER_OVERWRITE"), true);
        m_listeners.connectorData_[RTC::ON_BUFFER_READ].addListener(
                                   new DataListener("ON_BUFFER_READ"), true);
        m_listeners.connectorData_[RTC::ON_SEND].addListener(
                                   new DataListener("ON_SEND"), true);
        m_listeners.connectorData_[RTC::ON_RECEIVED].addListener(
                                   new DataListener("ON_RECEIVED"), true);
        m_listeners.connectorData_[RTC::ON_RECEIVER_FULL].addListener(
                                   new DataListener("ON_RECEIVER_FULL"), true);
        m_listeners.connectorData_[RTC::ON_RECEIVER_TIMEOUT].addListener(
                                   new DataListener("ON_RECEIVER_TIMEOUT"), true);
        m_listeners.connectorData_[RTC::ON_RECEIVER_ERROR].addListener(
                                   new DataListener("ON_RECEIVER_ERROR"), true);

        //ConnectorListeners
        m_listeners.connector_[RTC::ON_BUFFER_EMPTY].addListener(
                                    new ConnListener("ON_BUFFER_EMPTY"), true);
        m_listeners.connector_[RTC::ON_BUFFER_READ_TIMEOUT].addListener(
                                    new ConnListener("ON_BUFFER_READ_TIMEOUT"), true);
        m_listeners.connector_[RTC::ON_SENDER_EMPTY].addListener(
                                    new ConnListener("ON_SENDER_EMPTY"), true);
        m_listeners.connector_[RTC::ON_SENDER_TIMEOUT].addListener(
                                    new ConnListener("ON_SENDER_TIMEOUT"), true);
        m_listeners.connector_[RTC::ON_SENDER_ERROR].addListener(
                                    new ConnListener("ON_SENDER_ERROR"), true);
        m_listeners.connector_[RTC::ON_CONNECT].addListener(
                                    new ConnListener("ON_CONNECT"), true);
        m_listeners.connector_[RTC::ON_DISCONNECT].addListener(
                                    new ConnListener("ON_DISCONNECT"), true);
    }
                
    virtual void tearDown()
    {
    }
                
    void test_OutPortPullConnector()
    {
        CdrRingBufferMock* pbuffer = new CdrRingBufferMock();

        RTC::ConnectorProfile prof;
        CORBA_SeqUtil::push_back(prof.properties,
                               NVUtil::newNV("dataport.interface_type",
                                             "corba_cdr"));
        CORBA_SeqUtil::push_back(prof.properties,
                               NVUtil::newNV("dataport.dataflow_type",
                                             "push"));
        CORBA_SeqUtil::push_back(prof.properties,
                               NVUtil::newNV("dataport.subscription_type",
                                             "new"));
        coil::Properties prop;
        {
            coil::Properties conn_prop;
            NVUtil::copyToProperties(conn_prop, prof.properties);
            prop << conn_prop.getNode("dataport"); // marge ConnectorProfile
        }
        OutPortCorbaCdrProviderMock* provider = new OutPortCorbaCdrProviderMock();
        Logger logger;
        provider->setLogger(&logger);
        RTC::ConnectorInfo profile_new(prof.name,
                                       prof.connector_id,
                                       CORBA_SeqUtil::refToVstring(prof.ports),
                                       prop); 
        RTC::OutPortConnector* connector(0);
        connector = new RTC::OutPortPullConnector(profile_new, provider, m_listeners, pbuffer);

        delete connector;

        //subscription_type
        //Flush
        CORBA_SeqUtil::push_back(prof.properties,
                               NVUtil::newNV("dataport.subscription_type",
                                             ""));
        {
            coil::Properties conn_prop;
            NVUtil::copyToProperties(conn_prop, prof.properties);
            prop << conn_prop.getNode("dataport"); // marge ConnectorProfile
        }
        RTC::ConnectorInfo profile_flush(prof.name,
                                         prof.connector_id,
                                         CORBA_SeqUtil::refToVstring(prof.ports),
                                         prop); 
        connector = new RTC::OutPortPullConnector(profile_flush, provider, m_listeners, 0);

        delete connector;
        delete provider;
        delete pbuffer;
    }

    void test_write()
    {
        CdrRingBufferMock* pbuffer = new CdrRingBufferMock();
        RTC::ConnectorProfile prof;
        CORBA_SeqUtil::push_back(prof.properties,
                               NVUtil::newNV("dataport.interface_type",
                                             "corba_cdr"));
        CORBA_SeqUtil::push_back(prof.properties,
                               NVUtil::newNV("dataport.dataflow_type",
                                             "push"));
        CORBA_SeqUtil::push_back(prof.properties,
                               NVUtil::newNV("dataport.subscription_type",
                                             "new"));
        coil::Properties prop;
        {
            coil::Properties conn_prop;
            NVUtil::copyToProperties(conn_prop, prof.properties);
            prop << conn_prop.getNode("dataport"); // marge ConnectorProfile
        }
        OutPortCorbaCdrProviderMock* provider = new OutPortCorbaCdrProviderMock();
        Logger logger;
        provider->setLogger(&logger);
        RTC::ConnectorInfo profile_new(prof.name,
                                       prof.connector_id,
                                       CORBA_SeqUtil::refToVstring(prof.ports),
                                       prop); 
        RTC::OutPortConnector* connector(0);
        connector = new RTC::OutPortPullConnector(profile_new, provider, m_listeners, pbuffer);
        cdrMemoryStream cdr;
        RTC::TimedLong td;
        td.data = 12345;
        td >>= cdr;

        RTC::ConnectorBase::ReturnCode ret;
        ret = connector->write(cdr);
        CPPUNIT_ASSERT_EQUAL(RTC::DataPortStatus::PORT_OK, ret);

        delete connector;
        delete provider;
        delete pbuffer;

    }

    void test_disconnect_getBuffer()
    {
        CdrRingBufferMock* pbuffer = new CdrRingBufferMock();
        RTC::ConnectorProfile prof;
        CORBA_SeqUtil::push_back(prof.properties,
                               NVUtil::newNV("dataport.interface_type",
                                             "corba_cdr"));
        CORBA_SeqUtil::push_back(prof.properties,
                               NVUtil::newNV("dataport.dataflow_type",
                                             "push"));
        CORBA_SeqUtil::push_back(prof.properties,
                               NVUtil::newNV("dataport.subscription_type",
                                             "new"));
        coil::Properties prop;
        {
            coil::Properties conn_prop;
            NVUtil::copyToProperties(conn_prop, prof.properties);
            prop << conn_prop.getNode("dataport"); // marge ConnectorProfile
        }
        OutPortCorbaCdrProviderMock* provider = new OutPortCorbaCdrProviderMock();
        Logger logger;
        provider->setLogger(&logger);
        RTC::ConnectorInfo profile_new(prof.name,
                                       prof.connector_id,
                                       CORBA_SeqUtil::refToVstring(prof.ports),
                                       prop); 
        RTC::OutPortConnector* connector(0);
        connector = new RTC::OutPortPullConnector(profile_new, provider, m_listeners, pbuffer);
        CPPUNIT_ASSERT(pbuffer == connector->getBuffer());

        RTC::ConnectorBase::ReturnCode ret;
        ret = connector->disconnect();
        CPPUNIT_ASSERT_EQUAL(RTC::DataPortStatus::PORT_OK, ret);

        delete connector;
        delete provider;
        delete pbuffer;
    }

    void test_activate_deactivate()
    {
        CdrRingBufferMock* pbuffer = new CdrRingBufferMock();
        RTC::ConnectorProfile prof;
        CORBA_SeqUtil::push_back(prof.properties,
                               NVUtil::newNV("dataport.interface_type",
                                             "corba_cdr"));
        CORBA_SeqUtil::push_back(prof.properties,
                               NVUtil::newNV("dataport.dataflow_type",
                                             "push"));
        CORBA_SeqUtil::push_back(prof.properties,
                               NVUtil::newNV("dataport.subscription_type",
                                             "new"));
        coil::Properties prop;
        {
            coil::Properties conn_prop;
            NVUtil::copyToProperties(conn_prop, prof.properties);
            prop << conn_prop.getNode("dataport"); // marge ConnectorProfile
        }
        OutPortCorbaCdrProviderMock* provider = new OutPortCorbaCdrProviderMock();
        Logger logger;
        provider->setLogger(&logger);
        RTC::ConnectorInfo profile_new(prof.name,
                                       prof.connector_id,
                                       CORBA_SeqUtil::refToVstring(prof.ports),
                                       prop); 
        RTC::OutPortConnector* connector(0);
        connector = new RTC::OutPortPullConnector(profile_new, provider, m_listeners, pbuffer);
        connector->activate();
        delete connector;

        connector = new RTC::OutPortPullConnector(profile_new, provider, m_listeners, pbuffer);

        delete connector;
        delete provider;
        delete pbuffer;
    }
  };
}; // namespace OutPortPullConnector

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(OutPortPullConnector::OutPortPullConnectorTests);

#ifdef LOCAL_MAIN
int main(int argc, char* argv[])
{

  FORMAT format = TEXT_OUT;
  int target = 0;
  std::string xsl;
  std::string ns;
  std::string fname;
  std::ofstream ofs;

  int i(1);
  while (i < argc)
    {
      std::string arg(argv[i]);
      std::string next_arg;
      if (i + 1 < argc) next_arg = argv[i + 1];
      else              next_arg = "";

      if (arg == "--text") { format = TEXT_OUT; break; }
      if (arg == "--xml")
        {
          if (next_arg == "")
            {
              fname = argv[0];
              fname += ".xml";
            }
          else
            {
              fname = next_arg;
            }
          format = XML_OUT;
          ofs.open(fname.c_str());
        }
      if ( arg == "--compiler"  ) { format = COMPILER_OUT; break; }
      if ( arg == "--cerr"      ) { target = 1; break; }
      if ( arg == "--xsl"       )
        {
          if (next_arg == "") xsl = "default.xsl"; 
          else                xsl = next_arg;
        }
      if ( arg == "--namespace" )
        {
          if (next_arg == "")
            {
              std::cerr << "no namespace specified" << std::endl;
              exit(1); 
            }
          else
            {
              xsl = next_arg;
            }
        }
      ++i;
    }
  CppUnit::TextUi::TestRunner runner;
  if ( ns.empty() )
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry().makeTest());
  else
    runner.addTest(CppUnit::TestFactoryRegistry::getRegistry(ns).makeTest());
  CppUnit::Outputter* outputter = 0;
  std::ostream* stream = target ? &std::cerr : &std::cout;
  switch ( format )
    {
    case TEXT_OUT :
      outputter = new CppUnit::TextOutputter(&runner.result(),*stream);
      break;
    case XML_OUT :
      std::cout << "XML_OUT" << std::endl;
      outputter = new CppUnit::XmlOutputter(&runner.result(),
                                            ofs, "shift_jis");
      static_cast<CppUnit::XmlOutputter*>(outputter)->setStyleSheet(xsl);
      break;
    case COMPILER_OUT :
      outputter = new CppUnit::CompilerOutputter(&runner.result(),*stream);
      break;
    }
  runner.setOutputter(outputter);
  runner.run();
  return 0; // runner.run() ? 0 : 1;
}
#endif // MAIN
#endif // InPort_cpp