tasks_test.cpp

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/***************************************************************************
  tag: Peter Soetens  Mon Jan 10 15:59:49 CET 2005  tasks_test.cpp

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

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


#include "unit.hpp"

#include "tasks_test.hpp"

#include <cstdlib>
#include <cstring>
#include <iostream>
#include <vector>

#include <extras/PeriodicActivity.hpp>
#include <os/TimeService.hpp>
#include <Logger.hpp>

#include <boost/scoped_ptr.hpp>

using namespace std;
using namespace boost;
using namespace RTT;
using namespace RTT::detail;

#define BOOST_CHECK_EQUAL_MESSAGE(v1, v2, M)   BOOST_CHECK_MESSAGE( v1==v2, M)
#define BOOST_REQUIRE_EQUAL_MESSAGE(v1, v2, M) BOOST_REQUIRE_MESSAGE( v1==v2, M)

struct TestOverrun
  : public RunnableInterface
{
  nsecs sleep_time;
  bool fini;
  std::vector<nsecs> wakeup_time;  // record wakeup times
  std::vector<nsecs> additional_sleep_time;  // sleep ... additional nsecs in cycle i
  unsigned int cycle;

  TestOverrun()
          : sleep_time(Seconds_to_nsecs(0.2)), fini(false), wakeup_time(3), additional_sleep_time(), cycle(0)
  {
  }

  bool initialize() {
      sleep_time = Seconds_to_nsecs(0.2);
      fini = false;
      wakeup_time.assign(wakeup_time.size(), 0);
      cycle = 0;
      return true;
  }

  void step() {
      if (cycle < wakeup_time.size())
      {
          wakeup_time[cycle] = os::TimeService::Instance()->getNSecs();
      }
      if (cycle < additional_sleep_time.size() && additional_sleep_time[cycle] > 0) {
          usleep(additional_sleep_time[cycle]/1000);
      }
      ++cycle;

      //requires that getPeriod() << sleep_time
      usleep(sleep_time/1000);
      // Tried to implement it like this for Xenomai, but the
      // underlying rt_task_sleep function always returns immediately
      // and returns zero (success). A plain usleep still works.
#if 0
      TIME_SPEC timevl;
      timevl = ticks2timespec( nano2ticks(sleep_time) );
      rtos_nanosleep( &timevl, 0);
#endif
  }

  void finalize() {
    fini = true;
  }
};

struct TestPeriodic
    : public RunnableInterface
{
    int overfail, underfail, succ;
    bool stepped;

    TimeService::ticks ts;
    // LINUX: cpu of last step(), 0 if not yet set
    // non-LINUX: 0
    int cpu;

    TestPeriodic()
            : overfail(0), underfail(0), succ(0), stepped(false), cpu(0)
    {
    }

    bool initialize() {
        this->reset();
        return true;
    }
    void step() {
        if (stepped == false ) {
            ts = TimeService::Instance()->getTicks();
            stepped = true;
        } else {
            TimeService::Seconds s = TimeService::Instance()->secondsSince( ts );
            if ( s < this->getThread()->getPeriod() *0.9 ) { // if elapsed time is smaller than 10% of period, something went wrong
                ++underfail;
                //rtos_printf("UnderFailPeriod: %f \n", s);
            }
            else if ( s > this->getThread()->getPeriod() *1.1 ) { // if elapsed time is smaller than 10% of period, something went wrong
                ++overfail;
                //rtos_printf("OverFailPeriod: %f \n", s);
            }
            else {
                ++succ;
                //rtos_printf("SuccPeriod: %f \n", s);
            }
            ts = TimeService::Instance()->getTicks();
        }
#if defined( OROCOS_TARGET_GNULINUX )
        cpu = sched_getcpu();
        BOOST_REQUIRE_NE(ENOSYS, cpu);
#endif
    }
    void finalize() {
        if (overfail || underfail)
            cerr <<"overfail is:"<<overfail<<", underfail is:"<<underfail<< " success is: "<<succ<<endl;
    }

    void reset() {
        overfail = 0;
        underfail = 0;
        succ = 0;
        cpu = 0;
        stepped = false;
    }
};

struct TestRunnableInterface
    : public RunnableInterface
{
    bool result, breakl;
    bool init, stepped, looped, fini;

    TestRunnableInterface(bool res)
    {
        this->reset(res);
    }

    bool initialize() {
        init    = true;
        return result;
    }
    void step() {
        stepped = true;
    }
    void finalize() {
        fini   = true;
    }

    void loop() {
        looped = true;
        while (breakl == false) {
            usleep(500*1000);
        }
    }

    bool breakLoop() {
        return breakl;
    }

    void reset(bool res) {
        result = res;
        init = false;
        stepped = false;
        fini = false;
        looped = false;
        breakl = true;
    }
};

struct TestAllocate
    : public RunnableInterface
{
    std::vector<std::string> v;
    char*       c;
    std::string s;

    bool initialize() {
        c = 0;
        return true;
    }
    void step() {
        v.resize( 0 );
        v.resize( 1025, std::string("Goodbye Memory") );
        delete[] c;
        c = new char[1025];
        s = "Hello World ";
        s += s;
        s += s;
    }
    void finalize() {
        delete[] c;
        v.resize(0);
    }
};

struct TestSelfRemove
    : public RunnableInterface
{
    int c;
    bool fini;
    bool breakl;
    bool initialize() {
        c = 0;
        fini = false;
        breakl = true;
        return true;
    }
    bool breakLoop() {
        return breakl;
    }
    void loop() {
        this->getActivity()->stop();
    }
    void step() {
        ++c;
        if (c == 5)
            this->getActivity()->stop();
    }
    void finalize() {
        fini = true;
    }
};

void
ActivitiesTest::setUp()
{
    periodic_act = new PeriodicActivity( 15, 0.01 );
    t_act = new Activity(15, 0.01);

    t_run_int_prio = new TestRunnableInterface(true);
    t_run_int_act  = new TestRunnableInterface(true);
    t_run_int_fail = new TestRunnableInterface(false);

    t_run_allocate = new TestAllocate();
    t_self_remove  = new TestSelfRemove();

    t_run_allocate_act = new TestAllocate();
}


void
ActivitiesTest::tearDown()
{
    delete periodic_act;
    delete t_act;

    delete t_run_int_prio;
    delete t_run_int_act;
    delete t_run_int_fail;

    delete t_run_allocate;
    delete t_run_allocate_act;

    delete t_self_remove;
}

BOOST_FIXTURE_TEST_SUITE( ActivitiesTestSuite, ActivitiesTest )

BOOST_AUTO_TEST_CASE( testFailInit )
{
    periodic_act->run( t_run_int_fail );

    BOOST_CHECK( !periodic_act->start() );
    BOOST_CHECK( !periodic_act->stop() );

    BOOST_CHECK( t_act->run( t_run_int_fail ) );
    t_run_int_fail->reset(false);

    BOOST_CHECK( !t_act->start() );
    BOOST_CHECK( !t_act->stop() );

}

BOOST_AUTO_TEST_CASE( testMaxOverrun )
{
  // create
  boost::scoped_ptr<TestOverrun> run( new TestOverrun() );
  boost::scoped_ptr<Activity> t( new Activity(25, 0.1, 0,"ORThread") );
  BOOST_REQUIRE_EQUAL(0.1,t->getPeriod() );

  t->thread()->setMaxOverrun(1);

  t->run( run.get() );

  // prints annoying warning messages...
  Logger::LogLevel ll = Logger::log().getLogLevel();
  Logger::log().setLogLevel(Logger::Never);

  t->start();
  // In Xenomai (2.5), the first usleep returns immediately.
  // We can 'fix' this by adding a log() statement before usleep() .... crap
  usleep(100*1000);
  usleep(400*1000);
  Logger::log().setLogLevel(ll);

  BOOST_REQUIRE_MESSAGE( !t->isRunning(), "Failed to detect step overrun in Thread");
  BOOST_CHECK_MESSAGE( run->fini, "Failed to execute finalize in emergencyStop" );
}

static const nsecs WaitPeriodPolicyTolerance = Seconds_to_nsecs(0.01);

BOOST_AUTO_TEST_CASE( testDefaultWaitPeriodPolicy )
{
  // create
  boost::scoped_ptr<TestOverrun> run( new TestOverrun() );
  boost::scoped_ptr<Activity> t( new Activity(25, 0.3, 0,"ORThread") );
  t->run( run.get() );
  run->additional_sleep_time.resize(1);
  run->additional_sleep_time[0] = Seconds_to_nsecs(0.2);
  nsecs period = Seconds_to_nsecs(t->getPeriod()); (void) period;

  // test default wait period policy (== ORO_WAIT_ABS)
  BOOST_REQUIRE_MESSAGE( t->start(), "start thread");
  // In Xenomai (2.5), the first usleep returns immediately.
  // We can 'fix' this by adding a log() statement before usleep() .... crap
  usleep(100*1000);
  usleep(1000*1000);
  BOOST_REQUIRE_MESSAGE( t->stop(), "stop thread");
  BOOST_CHECK_SMALL( ((run->wakeup_time[1] - run->wakeup_time[0]) - Seconds_to_nsecs(0.4)), WaitPeriodPolicyTolerance ); // Second wakeup: 2 * sleep_time
  BOOST_CHECK_SMALL( ((run->wakeup_time[2] - run->wakeup_time[1]) - Seconds_to_nsecs(0.2)), WaitPeriodPolicyTolerance ); // Third wakeup right after end of second step (ORO_WAIT_ABS)
}

BOOST_AUTO_TEST_CASE( testAbsoluteWaitPeriodPolicy )
{
  // create
  boost::scoped_ptr<TestOverrun> run( new TestOverrun() );
  boost::scoped_ptr<Activity> t( new Activity(25, 0.3, 0,"ORThread") );
  t->run( run.get() );
  run->additional_sleep_time.resize(1);
  run->additional_sleep_time[0] = Seconds_to_nsecs(0.2);
  nsecs period = Seconds_to_nsecs(t->getPeriod()); (void) period;

  // test absolute wait period policy (ORO_WAIT_ABS)
  t->setWaitPeriodPolicy(ORO_WAIT_ABS);
  BOOST_REQUIRE_MESSAGE( t->start(), "start thread");
  // In Xenomai (2.5), the first usleep returns immediately.
  // We can 'fix' this by adding a log() statement before usleep() .... crap
  usleep(100*1000);
  usleep(1000*1000);
  BOOST_REQUIRE_MESSAGE( t->stop(), "stop thread");
  BOOST_CHECK_SMALL( ((run->wakeup_time[1] - run->wakeup_time[0]) - Seconds_to_nsecs(0.4)), WaitPeriodPolicyTolerance ); // Second wakeup: 2 * sleep_time (overrun)
  BOOST_CHECK_SMALL( ((run->wakeup_time[2] - run->wakeup_time[1]) - Seconds_to_nsecs(0.2)), WaitPeriodPolicyTolerance ); // Third wakeup right after end of second step (ORO_WAIT_ABS)
}

BOOST_AUTO_TEST_CASE( testRelativeWaitPeriodPolicy )
{
  // create
  boost::scoped_ptr<TestOverrun> run( new TestOverrun() );
  boost::scoped_ptr<Activity> t( new Activity(25, 0.3, 0,"ORThread") );
  t->run( run.get() );
  run->additional_sleep_time.resize(1);
  run->additional_sleep_time[0] = Seconds_to_nsecs(0.2);
  nsecs period = Seconds_to_nsecs(t->getPeriod()); (void) period;

  // test relative wait period policy (ORO_WAIT_REL)
  t->setWaitPeriodPolicy(ORO_WAIT_REL);
  BOOST_REQUIRE_MESSAGE( t->start(), "start thread");
  // In Xenomai (2.5), the first usleep returns immediately.
  // We can 'fix' this by adding a log() statement before usleep() .... crap
  usleep(100*1000);
  usleep(1000*1000);
  BOOST_REQUIRE_MESSAGE( t->stop(), "stop thread");
  BOOST_CHECK_SMALL( ((run->wakeup_time[1] - run->wakeup_time[0]) - Seconds_to_nsecs(0.4)), WaitPeriodPolicyTolerance ); // Second wakeup: 2 * sleep_time (overrun)
  BOOST_CHECK_SMALL( ((run->wakeup_time[2] - run->wakeup_time[1]) - period), WaitPeriodPolicyTolerance ); // Third wakeup after period (ORO_WAIT_REL)
}

BOOST_AUTO_TEST_CASE( testThread )
{
  bool r = false;
  // create
  boost::scoped_ptr<TestPeriodic> run( new TestPeriodic() );

  boost::scoped_ptr<ActivityInterface> t( new Activity(ORO_SCHED_RT, os::HighestPriority, 0.1, 0, "PThread") );
  t->run( run.get() );

  r = t->start();
  BOOST_CHECK_MESSAGE( r, "Failed to start Thread");
  usleep(1000*100);
  r = t->stop();
  BOOST_CHECK_MESSAGE( r, "Failed to stop Thread" );
  BOOST_CHECK_MESSAGE( run->stepped == true, "Step not executed" );
  BOOST_CHECK_EQUAL_MESSAGE(run->overfail, 0, "Periodic Failure: period of step() too long !");
  BOOST_CHECK_EQUAL_MESSAGE(run->underfail, 0, "Periodic Failure: period of step() too short!");
}

#if defined( OROCOS_TARGET_GNULINUX )
// run on just the target CPU
void testAffinity2(boost::scoped_ptr<TestPeriodic>& run,
                   boost::scoped_ptr<Activity>& t,
                   int targetCPU)
{
    bool r = false;

    t->run( run.get() );

    BOOST_CHECK(t->setCpuAffinity(1 << targetCPU));
    BOOST_CHECK_EQUAL((1 << targetCPU), t->getCpuAffinity());

    BOOST_CHECK_EQUAL(0, run->cpu);
    r = t->start();
    BOOST_CHECK_MESSAGE( r, "Failed to start Thread");
    sleep(1);
    r = t->stop();
    BOOST_CHECK_MESSAGE( r, "Failed to stop Thread" );
    BOOST_CHECK_MESSAGE( run->stepped == true, "Step not executed" );
    BOOST_CHECK_EQUAL(targetCPU, run->cpu);
    BOOST_CHECK_LT(0, run->succ);

    t->run(0);
}


BOOST_AUTO_TEST_CASE( testAffinity )
{
    if(std::getenv("CI") != NULL) {
      BOOST_TEST_MESSAGE("Skipping testAffinity because it can fail on integration servers.");
      return;
    }
    // this test is kind of irrelevant with only 1 CPU
    int numCPU = sysconf( _SC_NPROCESSORS_ONLN );
    if (1 < numCPU)
    {
        boost::scoped_ptr<TestPeriodic> run( new TestPeriodic() );
        boost::scoped_ptr<Activity> t( new Activity(ORO_SCHED_RT, os::HighestPriority, 0.1, ~0, 0, "PThread") );
        // returned affinity depends on the number of actual CPUs, and won't be "~0"
        unsigned    mask=0;
        for (int i=0; i<numCPU; ++i)
        {
            mask |= (1 << i);
        }
        BOOST_CHECK_EQUAL(mask, t->getCpuAffinity());

        // test just a couple of cases
        testAffinity2(run, t, 0);
        testAffinity2(run, t, numCPU-1);
    }
    // else ignore test as insufficient number of CPUs
}

#endif

BOOST_AUTO_TEST_CASE( testNonPeriodic )
{
    scoped_ptr<TestRunnableInterface> t_run_int_nonper
        ( new TestRunnableInterface(true) );
    // force ordering of scoped_ptr destruction.
    {
        scoped_ptr<Activity> t_task_nonper
            ( new Activity( 14 ) );

        BOOST_CHECK( t_task_nonper->run( t_run_int_nonper.get() ) );
        BOOST_CHECK( t_task_nonper->start() );
        testPause();
        BOOST_CHECK( t_run_int_nonper->looped );
        BOOST_CHECK( !t_run_int_nonper->stepped );
        BOOST_CHECK( t_run_int_nonper->init );
        BOOST_CHECK( t_task_nonper->stop() );
        BOOST_CHECK( t_run_int_nonper->fini );
        BOOST_CHECK( !t_task_nonper->isRunning() );
        BOOST_CHECK( t_task_nonper->run( 0 ) );
        BOOST_CHECK( t_task_nonper->start() );
        BOOST_CHECK( t_task_nonper->stop() );
        // stop() should be fully synchronising...
        BOOST_CHECK( !t_task_nonper->isRunning() );
    }
}

BOOST_AUTO_TEST_CASE( testActivityNP )
{
    scoped_ptr<TestRunnableInterface> t_run_int_nonper
        ( new TestRunnableInterface(true) );
    // force ordering of scoped_ptr destruction.
    {
        scoped_ptr<Activity> t_task_nonper
            ( new Activity(15) );

        BOOST_CHECK( t_task_nonper->run( t_run_int_nonper.get() ) );
        BOOST_CHECK( t_task_nonper->start() );
        testPause();
        sleep(1);
        BOOST_CHECK( t_run_int_nonper->looped );
        BOOST_CHECK( t_run_int_nonper->init );
        BOOST_CHECK( t_task_nonper->stop() );
        BOOST_CHECK( t_run_int_nonper->fini );
        BOOST_CHECK( !t_task_nonper->isRunning() );
        BOOST_CHECK( t_task_nonper->run( 0 ) );
        BOOST_CHECK( t_task_nonper->start() );
        BOOST_CHECK( t_task_nonper->stop() );
        // stop() should be fully synchronising...
        BOOST_CHECK( !t_task_nonper->isRunning() );
    }
}

BOOST_AUTO_TEST_CASE( testActivityBreakLoop )
{
    scoped_ptr<TestRunnableInterface> t_run_int_nonper
        ( new TestRunnableInterface(true) );
    // force ordering of scoped_ptr destruction.
    {
        scoped_ptr<Activity> t_task_nonper
            ( new Activity(15) );

        BOOST_CHECK( t_task_nonper->run( t_run_int_nonper.get() ) );
        BOOST_CHECK( t_task_nonper->start() );
        testPause();

        t_run_int_nonper->breakl = false;
        BOOST_CHECK( t_task_nonper->start() );
        testPause();
        BOOST_CHECK( t_task_nonper->stop() == false );

        t_run_int_nonper->breakl = true;
        BOOST_CHECK( t_task_nonper->stop() );
        BOOST_CHECK( t_run_int_nonper->fini );
        BOOST_CHECK( !t_task_nonper->isRunning() );
    }
}

BOOST_AUTO_TEST_CASE( testSelfRemove )
{
    scoped_ptr<TestSelfRemove> t_run_int_nonper
        ( new TestSelfRemove() );
    scoped_ptr<Activity> t_task_nonper
        ( new Activity( 14 ) );
    BOOST_CHECK( t_task_nonper->run( t_run_int_nonper.get() ) );
    BOOST_CHECK( t_task_nonper->start() );
    BOOST_CHECK( periodic_act->run(t_self_remove) );
    BOOST_CHECK( periodic_act->start() );
    testPause();
    BOOST_CHECK( !periodic_act->isRunning() );
    BOOST_CHECK( t_self_remove->fini );
    BOOST_CHECK( !t_task_nonper->isRunning() );
    BOOST_CHECK( t_run_int_nonper->fini );
}

BOOST_AUTO_TEST_CASE( testActivityNPSelfRemove )
{
    scoped_ptr<TestSelfRemove> t_run_int_nonper
        ( new TestSelfRemove() );
    scoped_ptr<Activity> t_task_nonper
        ( new Activity( 14 ) );
    BOOST_CHECK( t_task_nonper->run( t_run_int_nonper.get() ) );
    BOOST_CHECK( t_task_nonper->start() );
    testPause();
    BOOST_CHECK( !t_task_nonper->isRunning() );
    BOOST_CHECK( t_run_int_nonper->fini );
}

BOOST_AUTO_TEST_CASE( testActivityPSelfRemove )
{
    scoped_ptr<TestSelfRemove> t_run_int_per
        ( new TestSelfRemove() );
    scoped_ptr<Activity> t_task_per
        ( new Activity( 14, 0.01 ) );
    BOOST_CHECK( t_task_per->run( t_run_int_per.get() ) );
    BOOST_CHECK( t_task_per->start() );
    testPause();
    testPause();
    BOOST_CHECK( !t_task_per->isRunning() );
    BOOST_CHECK( t_run_int_per->fini );
}


BOOST_AUTO_TEST_CASE( testStartStop )
{
    testStart();
    testPause();
    testStop();
}

BOOST_AUTO_TEST_CASE( testRunnableInterface )
{
    testAddRunnableInterface();
    testStart();
    testRunnableInterfaceInit();
    testPause();
    testRunnableInterfaceExecution();
    testStop();
    testRemoveRunnableInterface();
}

BOOST_AUTO_TEST_CASE( testAllocation )
{
    testAddAllocate();
    testStart();
    testPause();
    testStop();
    testRemoveAllocate();
}

BOOST_AUTO_TEST_SUITE_END()

#if defined( OROCOS_TARGET_GNULINUX ) && defined( ORO_HAVE_PTHREAD_SETNAME_NP )
BOOST_AUTO_TEST_CASE( testThreadName1 )
{
    Activity activity(0, 0, "hello-world");
    RTT::os::ThreadInterface *thread = activity.thread();
    char buffer[256];
    pthread_getname_np(thread->getTask()->thread, buffer, sizeof(buffer));
    BOOST_CHECK_EQUAL(std::string(buffer), std::string("hello-world"));
}
BOOST_AUTO_TEST_CASE( testThreadName2 )
{
    Activity activity(0, 0, "abcdefgXXXXX1234567");
    RTT::os::ThreadInterface *thread = activity.thread();
    char buffer[256];
    pthread_getname_np(thread->getTask()->thread, buffer, sizeof(buffer));
    BOOST_CHECK_EQUAL(std::string(buffer), std::string("abcdefg~1234567"));
}
#endif

void ActivitiesTest::testAddRunnableInterface()
{
    bool adding_prio = periodic_act->run( t_run_int_prio );
    BOOST_CHECK( adding_prio );

    bool adding_act = t_act->run( t_run_int_act );
    BOOST_CHECK( adding_act );
}

void ActivitiesTest::testRemoveRunnableInterface()
{
    BOOST_CHECK( t_run_int_prio->fini );
    BOOST_CHECK( periodic_act->run( 0 ) );

    BOOST_CHECK( t_run_int_act->fini );
    BOOST_CHECK( t_act->run( 0 ) );
}

void ActivitiesTest::testStart()
{
    BOOST_CHECK( periodic_act->start());
    BOOST_CHECK( periodic_act->isRunning() );

    BOOST_CHECK( t_act->start());
    BOOST_CHECK( t_act->isRunning() );
}

void ActivitiesTest::testPause()
{
#if 0
    // does not work on Xenomai:
    int rv = 0;
    BOOST_CHECK( (rv = usleep(100000)) == 0);
    if ( rv != 0)
        BOOST_CHECK_EQUAL_MESSAGE(errno, 0, "Sleep failed. Errno is not zero.");
#else
    TIME_SPEC t;
    t.tv_sec = 1;
    t.tv_nsec = 0;
    BOOST_CHECK( rtos_nanosleep(&t,0) == 0);
#endif
}

void ActivitiesTest::testRunnableInterfaceInit() {
    BOOST_CHECK( t_run_int_prio->init );
    BOOST_CHECK( t_run_int_act->init );
}

void ActivitiesTest::testRunnableInterfaceExecution() {

    BOOST_CHECK( t_run_int_prio->stepped );
    BOOST_CHECK( t_run_int_act->stepped );
}

void ActivitiesTest::testStop()
{
    BOOST_CHECK( periodic_act->stop());
    BOOST_CHECK( !periodic_act->isRunning() );

    BOOST_CHECK( t_act->stop());
    BOOST_CHECK( !t_act->isRunning() );
}

void ActivitiesTest::testAddAllocate()
{
    BOOST_CHECK( periodic_act->run( t_run_allocate ) );

    BOOST_CHECK( t_act->run( t_run_allocate_act ) );
}

void ActivitiesTest::testRemoveAllocate()
{
    BOOST_CHECK( periodic_act->run( 0 ) );

    BOOST_CHECK( t_act->run( 0 ) );
}