RingBufferTests.cpp

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// -*- C++ -*-
/*
 * $Log: RingBufferTests.cpp,v $
 * Revision 1.3  2008/01/24 01:52:14  tsakamoto
 * *** empty log message ***
 *
 * Revision 1.2  2008/01/11 11:27:11  arafune
 * *** empty log message ***
 *
 * Revision 1.1  2007/12/20 07:50:17  arafune
 * *** empty log message ***
 *
 * Revision 1.2  2006/12/02 18:53:08  n-ando
 * Some tests were added.
 *
 * Revision 1.1  2006/11/27 08:37:03  n-ando
 * TestSuites are devided into each directory.
 *
 *
 */

#ifndef RingBuffer_cpp
#define RingBuffer_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 <string>
#include <sstream>
#include <unistd.h>
#include <rtm/RingBuffer.h>

//#define DEBUG

#ifdef __QNX__
using std::abort;
using std::perror;
#endif

static const int NLOOP = 0x00000fff;    // �ɤ߽񤭤Υ롼�ײ��typedef ::RTC::BufferStatus::Enum ReturnCode;
int isBlockTest = false;
ReturnCode g_ret = RTC::BufferStatus::BUFFER_OK;

struct thread_arg
{
    thread_arg(RTC::RingBuffer<int>& buff, int loop=NLOOP)
        : m_buff(buff), m_n_loop(loop)
    {}
    RTC::RingBuffer<int>& m_buff;
    int m_n_loop;
};
// �ɤ߹��ߥ���å�
void* reader(void* arg)
{
  thread_arg* t_arg = (thread_arg*)arg;
  RTC::RingBuffer<int>* buff = (RTC::RingBuffer<int>*)&(t_arg->m_buff);
  
  ReturnCode ret;
  for (int i = 0; i < t_arg->m_n_loop; i++) {
        int output = -1;
        ret = (*buff).read(output);
#if PRINTOUT
        std::cout << "read() : " << output << std::endl;
#endif
        if (ret == RTC::BufferStatus::TIMEOUT) {
          g_ret = ret;
          break;
        }
        if (isBlockTest) {
          if (output != i) {
                std::cout << "ERROR!!: output=" << output;
                std::cout << ", correct data=" << i;
                std::cout << ", return code=" << ret << std::endl;
                abort();
          }
        }
  }
  return NULL;
}

// �񤭹��ߥ���å�
void* writer(void* arg)
{
  thread_arg* t_arg = (thread_arg*)arg;
  RTC::RingBuffer<int>* buff = (RTC::RingBuffer<int>*)&(t_arg->m_buff);
  
  
  for (int i = 0; i < t_arg->m_n_loop; i++) {
        int input = i;
        (*buff).write(input);
#if PRINTOUT
        std::cout << "write(" << input << ")" << std::endl;
#endif
  }
  return NULL;
}


namespace RingBuffer
{
  /*!
   * @class RingBufferTests class
   * @brief RingBuffer test
   */
  class RingBufferTests
    : public CppUnit::TestFixture
  {
    CPPUNIT_TEST_SUITE(RingBufferTests);

    CPPUNIT_TEST(test_length);
    CPPUNIT_TEST(test_isFull);
    CPPUNIT_TEST(test_isEmpty);
    CPPUNIT_TEST(test_init);
    CPPUNIT_TEST(test_write_read);
    CPPUNIT_TEST(test_write_read_with_small_length);
    CPPUNIT_TEST(test_isNew);
    CPPUNIT_TEST(test_reset);
    CPPUNIT_TEST(test_wptr_put);
    CPPUNIT_TEST(test_advanceWptr);
    CPPUNIT_TEST(test_rptr_get);
    CPPUNIT_TEST(test_advanceRptr);

        CPPUNIT_TEST(test_owrite_rback); // full: overwrite, empty: readback, buff length 1,8
        CPPUNIT_TEST(test_owrite_dnothing); // full: overwrite, empty: do_nothing, buff length 1,8
        CPPUNIT_TEST(test_owrite_block); // full: overwrite, empty: block, buff length 1,8

        CPPUNIT_TEST(test_dnothing_rback); // full: do_nothing, empty: readback, buff length 1,8
        CPPUNIT_TEST(test_dnothing_dnothing); // full: do_nothing, empty: do_nothing, buff length 1,8
        CPPUNIT_TEST(test_dnothing_block); // full: do_nothing, empty: block, buff length 1,8
        CPPUNIT_TEST(test_block_rback); // full: block, empty: readback, buff length 1,8
        CPPUNIT_TEST(test_block_dnothing); // full: block, empty: do_nothing, buff length 1,8
        CPPUNIT_TEST(test_block_block_wr); // full: block, empty: block, buff length 1,8

        CPPUNIT_TEST(test_block_block_rw); // full: block, empty: block, read -> write

    CPPUNIT_TEST_SUITE_END();
                
  private:
        void do_test(RTC::RingBuffer<int>& buff, int loop=NLOOP, bool read_first=false)
        {
          pthread_t tr, tw;
          thread_arg arg(buff,loop);

          if (read_first) {
                // �ɤ߹��ߥ���åɤγ���
              if (pthread_create(&tr, NULL , reader, static_cast<void *>(&buff)) != 0) {
                  perror("pthread_create(r)");
                  return;
                }
                // �񤭹��ߥ���åɤγ���
             if (pthread_create(&tw, NULL , writer, static_cast<void *>(&buff)) != 0) {
                  perror("pthread_create(w)");
                  return;
                }
          }
          else {
                // �񤭹��ߥ���åɤγ���
//           if (pthread_create(&tw, NULL , writer, static_cast<void *>(&buff)) != 0) {
                if (pthread_create(&tw, NULL , writer, &arg) != 0) {
                  perror("pthread_create(w)");
                  return;
                }
                // �ɤ߹��ߥ���åɤγ���
//            if (pthread_create(&tr, NULL , reader, static_cast<void *>(&buff)) != 0) {
                if (pthread_create(&tr, NULL , reader, &arg) != 0) {
                  perror("pthread_create(r)");
                  return;
                }
          }
          
          // ����åɤι�ή
          pthread_join(tw, NULL);
          pthread_join(tr, NULL);
        }
                
  public:
    /*!
     * @brief Constructor
     */
    RingBufferTests()
    {
    }
                
    /*!
     * @brief Destructor
     */
    ~RingBufferTests()
    {
    }
                
    /*!
     * @brief Test initialization
     */
    virtual void setUp()
    {
    }
                
    /*!
     * @brief Test finalization
     */
    virtual void tearDown()
    { 
    }
                
    /*!
     * @brief length()�᥽�åɤΥƥ���
     * 
     * - ���󥹥ȥ饯���ǻ��ꤵ�줿�Хåե�Ĺ�������������Ǥ��뤫��
     */
    void test_length()
    {
      RTC::RingBuffer<int> buff(123);
      CPPUNIT_ASSERT(buff.length() == 123);

      size_t len(456);
      buff.length(len);
      CPPUNIT_ASSERT(buff.length() == len);
    }

    /*!
     * @brief isEmpty()�᥽�åɤΥƥ���
     * 
     * - �Хåե������ľ�塢���ǤϤʤ���Ƚ�ꤵ��뤫��
     * - �Ǹ�˥ǡ������ɤ߼��줿�塢�������ǡ������񤭹��ߤ���Ƥ��ʤ���硢
     *   ����Ƚ�ꤵ��뤫��
     * - �Ǹ�˥ǡ������ɤ߼��줿�塢�������ǡ������񤭹��ߤ��줿��硢
     *   ���ǤϤʤ���Ƚ�ꤵ��뤫��
     */
    void test_isEmpty()
    {
      long int length = 10;
      RTC::RingBuffer<int> buff(length);
                        
      // (1) �Хåե������ľ�塢���ǤϤʤ���Ƚ�ꤵ��뤫��
      int initialValue = 12345;
      for (unsigned int i(0); i < buff.length(); ++i)
        {
          buff.write(initialValue);
        }
      CPPUNIT_ASSERT_EQUAL(false, buff.empty());                        
                        
      // (2) �Ǹ�˥ǡ������ɤ߼��줿�塢�������ǡ������񤭹��ߤ����
      // ���ʤ���硢���ǤϤʤ���Ƚ�ꤵ��뤫��
      int readValue;
      CPPUNIT_ASSERT_EQUAL(::RTC::BufferStatus::BUFFER_OK, buff.read(readValue));
      CPPUNIT_ASSERT_EQUAL(false, buff.empty());
                        
      // (3) �Ǹ�˥ǡ������ɤ߼��줿�塢�������ǡ������񤭹��ߤ��줿
      // ��硢���ǤϤʤ���Ƚ�ꤵ��뤫��
      int writeValue = 98765;
      CPPUNIT_ASSERT_EQUAL(RTC::BufferBase<int>::BUFFER_OK, buff.write(writeValue));
      CPPUNIT_ASSERT_EQUAL(false, buff.empty());
    }
                
                
    /*!
     * @brief isFull()�᥽�åɤΥƥ���
     * 
     * - �Хåե������ξ�硢�ե�Ƚ��ϵ��Ȥʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ե�Ƚ��Ͽ��Ȥʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ե�Ƚ��ϵ��Ȥʤ뤫��
     */
    void test_isFull()
    {
      // (1) �Хåե������ξ�硢�ե�Ƚ��ϵ��Ȥʤ뤫��
      int length1 = 10;
      RTC::RingBuffer<int> buff1(length1);
      CPPUNIT_ASSERT_EQUAL(false, buff1.full());
                        
      // (2) ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ե�Ƚ��Ͽ�
      // �Ȥʤ뤫��
      int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
      for (int i = 0; i < length2; i++) {
        buff2.write(i);
      }
      CPPUNIT_ASSERT_EQUAL(true, buff2.full());
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ե�Ƚ��ϵ�
      // �Ȥʤ뤫��
      int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i);
      }
      CPPUNIT_ASSERT_EQUAL(false, buff3.full());
    }
                                
    /*!
     * @brief init()�᥽�åɤΥƥ���
     * 
     * - ���餫����ǡ����ǽ���������塢���ꤷ���ǡ������������ɤ߽Ф��뤫��
     */
    void test_init()
    {
      // �Хåե���������ơ�init()�ǽ��������
      long int length = 10;
      RTC::RingBuffer<int> buff(length);
                        
      int value = 12345;
      for (unsigned int i(0); i < buff.length(); ++i)
        {
          buff.write(value);
        }
                        
      // ���ꤷ���ǡ������������ɤ߽Ф��뤫��
      int expected = 12345;
      for (long int i = 0; i < length; i++) {
        int actual;
        buff.read(actual);
        CPPUNIT_ASSERT_EQUAL(expected, actual);
      }
    }

    /*!
     * @brief write()�᥽�åɤ����read()�᥽�åɤΥƥ���
     * 
     * - �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ�����������
     *   �ɤ߽Ф��뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ���
     *   �񤭹�����ǡ������������ɤ߽Ф��뤫��
     * - ���Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�
     *   �Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
     */
    void test_write_read()
    {
      // (1) �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ���
      // ���������ɤ߽Ф��뤫���Хåե������������Τޤޤˤ���
      long int length1 = 3;
      RTC::RingBuffer<int> buff1(length1);
      coil::Properties prop;
      prop["write.full_policy"] = "block";
      prop["write.timeout"] = "5.0";
      prop["read.empty_policy"] = "block";
      prop["read.timeout"] = "5.0";

      buff1.init(prop);
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        if (buff1.full())
          {
            std::cout << "### FULL ###" << std::endl;
            int readValue;

            if (writeValue % 5 == 0)
              {
                while (!buff1.empty())
                  {
                    std::cout << "read timeout: " << 5 << std::endl;
                    buff1.read(readValue, 5);
                    std::cout << "read: " << readValue << std::endl;
                  }
                std::cout << "read timeout: " << 5 << std::endl;
                std::cout << "waiting 5 sec" << std::endl;
                std::cout << "read ret: " << RTC::BufferStatus::toString(buff1.read(readValue, 5)) << std::endl;
                std::cout << "read: " << readValue << std::endl;
              }
            else
              {
                buff1.read(readValue);
                std::cout << "read: " << readValue << std::endl;
              }

            if (buff1.full())
              {
                std::cout << "??? still full" << std::endl;
              }
            else
              {
                std::cout << "buffer full was blown over." << std::endl;
              }
          }
        if (buff1.empty())
          {
            std::cout << "### EMPTY ###" << std::endl;
          }

        //        std::cout << "timeout-> " << writeValue << std::endl;
        std::cout << "write ret: " << RTC::BufferStatus::toString(buff1.write(writeValue, writeValue)) << std::endl;
                                
        //        std::cout << "readable " << buff1.readable() << std::endl;
        //        std::cout << "writable " << buff1.writable() << std::endl;

        // �ɽФ�
        int readValue;
        buff1.get(readValue);
                        
        std::cout << writeValue << " == " << readValue << std::endl;

        //        buff1.read(readValue)
        // �񤭹�����ǡ������������ɤ߽Ф�������
        //      CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
        sleep(1);
      }
      return;
      // (2) ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ����������
      // �Ф�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫���Хåե���������
      // �ե���֤ˤ���
      long int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
      for (int i = 0; i < length2; i++) {
        buff2.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff2.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff2.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ��������
      // �ɽФ�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
      long int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff3.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
    }
                
    /*!
     * @brief write()�᥽�åɤ����read()�᥽�åɤΥƥ��ȡʥХåե�Ĺ���ξ���
     * 
     * - �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ�����������
     *   �ɤ߽Ф��뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ���
     *   �񤭹�����ǡ������������ɤ߽Ф��뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ���
     *   �񤭹�����ǡ������������ɤ߽Ф��뤫��
     */
    void test_write_read_with_small_length()
    {
      // (1) �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ���
      // ���������ɤ߽Ф��뤫���Хåե������������Τޤޤˤ���
      long int length1 = 2;
      RTC::RingBuffer<int> buff1(length1);
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff1.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff1.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
                        
      // (2) ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ����������
      // �Ф�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫���Хåե���������
      // �ե���֤ˤ���
      long int length2 = 2;
      RTC::RingBuffer<int> buff2(length2);
      coil::Properties prop;
      prop["write.full_policy"] = "overwrite";
      buff2.init(prop);

      for (int i = 0; i < length2; i++) {
        buff2.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
//      for (int writeValue = 0; writeValue < 100; writeValue++) {
//      // �����
//      buff2.write(writeValue);
//                              
//      // �ɽФ�
//      int readValue;
//      buff2.read(readValue);
//                              
//      // �񤭹�����ǡ������������ɤ߽Ф�������
//      CPPUNIT_ASSERT_EQUAL(writeValue+1+123, readValue);
//     }

        // �����
        /* policy��overwrite��full���֤ǽ񤭹���ȡ��Ť��ǡ������񤭤����ɤ߹���¦�Υݥ��󥿤򥤥󥯥���Ȥ��롣*/
        buff2.write(0);
                                
        CPPUNIT_ASSERT_EQUAL(true, buff2.full());
        // �ɽФ�
        int readValue;
        /* �ɤ߽Ф����ɤ߹���¦�Υݥ��󥿤򥤥󥯥��Ȥ��뤿��full���֤ǤϤʤ��ʤ� */
        buff2.read(readValue);

        CPPUNIT_ASSERT_EQUAL(false, buff2.full());
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(1+123, readValue);
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
      long int length3 = 2;
      RTC::RingBuffer<int> buff3(length3);
      coil::Properties prop3;
      prop3["write.full_policy"] = "overwrite";
      buff3.init(prop3);

      for (int i = 0; i < 1; i++) {
        buff3.write(i + 123);
      }
      { 
        // �����
        buff3.write(-1);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(123, readValue);
      }
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff3.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue-1, readValue);
      }
    }
                
    /*!
     * @brief isNew()�᥽�åɤΥƥ���
     * 
     * - �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ�
     *   �ǡ���������isNewȽ�꤬���ˤʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ����������
     *   ���Υǡ����ɽФ�Ԥä����isNewȽ�꤬���ˤʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ���������isNew
     *   Ƚ�꤬���ˤʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ����������
     *   ���Υǡ����ɽФ�Ԥä����isNewȽ�꤬���ˤʤ뤫��
     */
    void test_isNew()
    {
      // (1) �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
      long int length1 = 10;
      RTC::RingBuffer<int> buff1(length1);
      CPPUNIT_ASSERT_EQUAL(true, buff1.empty());
                        
      // ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
                        
      for (int i = 0; i < length2; i++) {
        // (2) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff2.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff2.empty());
                                
        // (3) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff2.read(readValue);
        CPPUNIT_ASSERT_EQUAL(true, buff2.empty());
      }
                        
      // �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i + 456);
      }
                        
      for (int i = 0; i < length3; i++) {
        // (4) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff3.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
                                
        // (5) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff3.read(readValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
      }
    }
    /*!
     * @brief reset()�᥽�åɤΥƥ���
     * 
     */
    void test_reset()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);

      for(int ic(0);ic<8;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.advanceRptr(3);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[3]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)5);

      buff.reset();
      CPPUNIT_ASSERT(buff.empty());
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[0]);
      buff.put(idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)0);
      
    }   
    /*!
     * @brief wptr(),put()�᥽�åɤΥƥ���
     * 
     */
    void test_wptr_put()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);
      for(int ic(0);ic<10;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.reset();
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.wptr(-ic));
      }
      buff.advanceWptr(5);
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.wptr(-ic));
      }
        
    }
    /*!
     * @brief advanceWptr()�᥽�åɤΥƥ���
     * 
     */
    void test_advanceWptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        buff.advanceRptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.readable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.readable());
    }
    /*!
     * @brief rptr(),get()�᥽�åɤΥƥ���
     * 
     */
    void test_rptr_get()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        for(int ic(0);ic<10;++ic)
        {  
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        { 
            CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.rptr(-ic));
        }
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.rptr(-ic));
        }
        buff.reset();
        buff.advanceWptr(10);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],buff.get());
            int ret;
            buff.get(ret);
            CPPUNIT_ASSERT_EQUAL(idata[ic],ret);
            buff.advanceRptr();
        }
    }
    /*!
     * @brief advanceRptr()�᥽�åɤΥƥ���
     * 
     */
    void test_advanceRptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        buff.advanceWptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.writable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.writable());
    }

        /*
         * �ǥåɥ��å��θ���1
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: readback
         *
         */
        void test_owrite_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);

          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���2
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: do_nothing
         *
         */
        void test_owrite_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���3
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: block
         * read.timeout: 3.0
         *
         */
        void test_owrite_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }
                

        /*
         * �ǥåɥ��å��θ���4
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: readback
         *
         */
        void test_dnothing_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���5
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: do_nothing
         *
         */
        void test_dnothing_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���6
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: block
         * read.timeout: 1.0
         *
         */
        void test_dnothing_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���7
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: readback
         * write.timeout: 1.0
         *
         */
        void test_block_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "readback";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���8
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: do_nothing
         * write.timeout: 1.0
         *
         */
        void test_block_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "do_nothing";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���9
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_wr()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���10 read -> write
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_rw()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }



  };
}; // namespace RingBuffer

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(RingBuffer::RingBufferTests);

#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 // RingBuffer_cpp

typedef ::RTC::BufferStatus::Enum ReturnCode;
int isBlockTest = false;
ReturnCode g_ret = RTC::BufferStatus::BUFFER_OK;

struct thread_arg
{
    thread_arg(RTC::RingBuffer<int>& buff, int loop=NLOOP)
        : m_buff(buff), m_n_loop(loop)
    {}
    RTC::RingBuffer<int>& m_buff;
    int m_n_loop;
};
// �ɤ߹��ߥ���å�void* reader(void* arg)
{
  thread_arg* t_arg = (thread_arg*)arg;
  RTC::RingBuffer<int>* buff = (RTC::RingBuffer<int>*)&(t_arg->m_buff);
  
  ReturnCode ret;
  for (int i = 0; i < t_arg->m_n_loop; i++) {
        int output = -1;
        ret = (*buff).read(output);
#if PRINTOUT
        std::cout << "read() : " << output << std::endl;
#endif
        if (ret == RTC::BufferStatus::TIMEOUT) {
          g_ret = ret;
          break;
        }
        if (isBlockTest) {
          if (output != i) {
                std::cout << "ERROR!!: output=" << output;
                std::cout << ", correct data=" << i;
                std::cout << ", return code=" << ret << std::endl;
                abort();
          }
        }
  }
  return NULL;
}

// �񤭹��ߥ���å�
void* writer(void* arg)
{
  thread_arg* t_arg = (thread_arg*)arg;
  RTC::RingBuffer<int>* buff = (RTC::RingBuffer<int>*)&(t_arg->m_buff);
  
  
  for (int i = 0; i < t_arg->m_n_loop; i++) {
        int input = i;
        (*buff).write(input);
#if PRINTOUT
        std::cout << "write(" << input << ")" << std::endl;
#endif
  }
  return NULL;
}


namespace RingBuffer
{
  /*!
   * @class RingBufferTests class
   * @brief RingBuffer test
   */
  class RingBufferTests
    : public CppUnit::TestFixture
  {
    CPPUNIT_TEST_SUITE(RingBufferTests);

    CPPUNIT_TEST(test_length);
    CPPUNIT_TEST(test_isFull);
    CPPUNIT_TEST(test_isEmpty);
    CPPUNIT_TEST(test_init);
    CPPUNIT_TEST(test_write_read);
    CPPUNIT_TEST(test_write_read_with_small_length);
    CPPUNIT_TEST(test_isNew);
    CPPUNIT_TEST(test_reset);
    CPPUNIT_TEST(test_wptr_put);
    CPPUNIT_TEST(test_advanceWptr);
    CPPUNIT_TEST(test_rptr_get);
    CPPUNIT_TEST(test_advanceRptr);

        CPPUNIT_TEST(test_owrite_rback); // full: overwrite, empty: readback, buff length 1,8
        CPPUNIT_TEST(test_owrite_dnothing); // full: overwrite, empty: do_nothing, buff length 1,8
        CPPUNIT_TEST(test_owrite_block); // full: overwrite, empty: block, buff length 1,8

        CPPUNIT_TEST(test_dnothing_rback); // full: do_nothing, empty: readback, buff length 1,8
        CPPUNIT_TEST(test_dnothing_dnothing); // full: do_nothing, empty: do_nothing, buff length 1,8
        CPPUNIT_TEST(test_dnothing_block); // full: do_nothing, empty: block, buff length 1,8
        CPPUNIT_TEST(test_block_rback); // full: block, empty: readback, buff length 1,8
        CPPUNIT_TEST(test_block_dnothing); // full: block, empty: do_nothing, buff length 1,8
        CPPUNIT_TEST(test_block_block_wr); // full: block, empty: block, buff length 1,8

        CPPUNIT_TEST(test_block_block_rw); // full: block, empty: block, read -> write

    CPPUNIT_TEST_SUITE_END();
                
  private:
        void do_test(RTC::RingBuffer<int>& buff, int loop=NLOOP, bool read_first=false)
        {
          pthread_t tr, tw;
          thread_arg arg(buff,loop);

          if (read_first) {
                // �ɤ߹��ߥ���åɤγ���
              if (pthread_create(&tr, NULL , reader, static_cast<void *>(&buff)) != 0) {
                  perror("pthread_create(r)");
                  return;
                }
                // �񤭹��ߥ���åɤγ���
             if (pthread_create(&tw, NULL , writer, static_cast<void *>(&buff)) != 0) {
                  perror("pthread_create(w)");
                  return;
                }
          }
          else {
                // �񤭹��ߥ���åɤγ���
//           if (pthread_create(&tw, NULL , writer, static_cast<void *>(&buff)) != 0) {
                if (pthread_create(&tw, NULL , writer, &arg) != 0) {
                  perror("pthread_create(w)");
                  return;
                }
                // �ɤ߹��ߥ���åɤγ���
//            if (pthread_create(&tr, NULL , reader, static_cast<void *>(&buff)) != 0) {
                if (pthread_create(&tr, NULL , reader, &arg) != 0) {
                  perror("pthread_create(r)");
                  return;
                }
          }
          
          // ����åɤι�ή
          pthread_join(tw, NULL);
          pthread_join(tr, NULL);
        }
                
  public:
    /*!
     * @brief Constructor
     */
    RingBufferTests()
    {
    }
                
    /*!
     * @brief Destructor
     */
    ~RingBufferTests()
    {
    }
                
    /*!
     * @brief Test initialization
     */
    virtual void setUp()
    {
    }
                
    /*!
     * @brief Test finalization
     */
    virtual void tearDown()
    { 
    }
                
    /*!
     * @brief length()�᥽�åɤΥƥ���
     * 
     * - ���󥹥ȥ饯���ǻ��ꤵ�줿�Хåե�Ĺ�������������Ǥ��뤫��
     */
    void test_length()
    {
      RTC::RingBuffer<int> buff(123);
      CPPUNIT_ASSERT(buff.length() == 123);

      size_t len(456);
      buff.length(len);
      CPPUNIT_ASSERT(buff.length() == len);
    }

    /*!
     * @brief isEmpty()�᥽�åɤΥƥ���
     * 
     * - �Хåե������ľ�塢���ǤϤʤ���Ƚ�ꤵ��뤫��
     * - �Ǹ�˥ǡ������ɤ߼��줿�塢�������ǡ������񤭹��ߤ���Ƥ��ʤ���硢
     *   ����Ƚ�ꤵ��뤫��
     * - �Ǹ�˥ǡ������ɤ߼��줿�塢�������ǡ������񤭹��ߤ��줿��硢
     *   ���ǤϤʤ���Ƚ�ꤵ��뤫��
     */
    void test_isEmpty()
    {
      long int length = 10;
      RTC::RingBuffer<int> buff(length);
                        
      // (1) �Хåե������ľ�塢���ǤϤʤ���Ƚ�ꤵ��뤫��
      int initialValue = 12345;
      for (unsigned int i(0); i < buff.length(); ++i)
        {
          buff.write(initialValue);
        }
      CPPUNIT_ASSERT_EQUAL(false, buff.empty());                        
                        
      // (2) �Ǹ�˥ǡ������ɤ߼��줿�塢�������ǡ������񤭹��ߤ����
      // ���ʤ���硢���ǤϤʤ���Ƚ�ꤵ��뤫��
      int readValue;
      CPPUNIT_ASSERT_EQUAL(::RTC::BufferStatus::BUFFER_OK, buff.read(readValue));
      CPPUNIT_ASSERT_EQUAL(false, buff.empty());
                        
      // (3) �Ǹ�˥ǡ������ɤ߼��줿�塢�������ǡ������񤭹��ߤ��줿
      // ��硢���ǤϤʤ���Ƚ�ꤵ��뤫��
      int writeValue = 98765;
      CPPUNIT_ASSERT_EQUAL(RTC::BufferBase<int>::BUFFER_OK, buff.write(writeValue));
      CPPUNIT_ASSERT_EQUAL(false, buff.empty());
    }
                
                
    /*!
     * @brief isFull()�᥽�åɤΥƥ���
     * 
     * - �Хåե������ξ�硢�ե�Ƚ��ϵ��Ȥʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ե�Ƚ��Ͽ��Ȥʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ե�Ƚ��ϵ��Ȥʤ뤫��
     */
    void test_isFull()
    {
      // (1) �Хåե������ξ�硢�ե�Ƚ��ϵ��Ȥʤ뤫��
      int length1 = 10;
      RTC::RingBuffer<int> buff1(length1);
      CPPUNIT_ASSERT_EQUAL(false, buff1.full());
                        
      // (2) ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ե�Ƚ��Ͽ�
      // �Ȥʤ뤫��
      int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
      for (int i = 0; i < length2; i++) {
        buff2.write(i);
      }
      CPPUNIT_ASSERT_EQUAL(true, buff2.full());
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ե�Ƚ��ϵ�
      // �Ȥʤ뤫��
      int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i);
      }
      CPPUNIT_ASSERT_EQUAL(false, buff3.full());
    }
                                
    /*!
     * @brief init()�᥽�åɤΥƥ���
     * 
     * - ���餫����ǡ����ǽ���������塢���ꤷ���ǡ������������ɤ߽Ф��뤫��
     */
    void test_init()
    {
      // �Хåե���������ơ�init()�ǽ��������
      long int length = 10;
      RTC::RingBuffer<int> buff(length);
                        
      int value = 12345;
      for (unsigned int i(0); i < buff.length(); ++i)
        {
          buff.write(value);
        }
                        
      // ���ꤷ���ǡ������������ɤ߽Ф��뤫��
      int expected = 12345;
      for (long int i = 0; i < length; i++) {
        int actual;
        buff.read(actual);
        CPPUNIT_ASSERT_EQUAL(expected, actual);
      }
    }

    /*!
     * @brief write()�᥽�åɤ����read()�᥽�åɤΥƥ���
     * 
     * - �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ�����������
     *   �ɤ߽Ф��뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ���
     *   �񤭹�����ǡ������������ɤ߽Ф��뤫��
     * - ���Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�
     *   �Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
     */
    void test_write_read()
    {
      // (1) �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ���
      // ���������ɤ߽Ф��뤫���Хåե������������Τޤޤˤ���
      long int length1 = 3;
      RTC::RingBuffer<int> buff1(length1);
      coil::Properties prop;
      prop["write.full_policy"] = "block";
      prop["write.timeout"] = "5.0";
      prop["read.empty_policy"] = "block";
      prop["read.timeout"] = "5.0";

      buff1.init(prop);
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        if (buff1.full())
          {
            std::cout << "### FULL ###" << std::endl;
            int readValue;

            if (writeValue % 5 == 0)
              {
                while (!buff1.empty())
                  {
                    std::cout << "read timeout: " << 5 << std::endl;
                    buff1.read(readValue, 5);
                    std::cout << "read: " << readValue << std::endl;
                  }
                std::cout << "read timeout: " << 5 << std::endl;
                std::cout << "waiting 5 sec" << std::endl;
                std::cout << "read ret: " << RTC::BufferStatus::toString(buff1.read(readValue, 5)) << std::endl;
                std::cout << "read: " << readValue << std::endl;
              }
            else
              {
                buff1.read(readValue);
                std::cout << "read: " << readValue << std::endl;
              }

            if (buff1.full())
              {
                std::cout << "??? still full" << std::endl;
              }
            else
              {
                std::cout << "buffer full was blown over." << std::endl;
              }
          }
        if (buff1.empty())
          {
            std::cout << "### EMPTY ###" << std::endl;
          }

        //        std::cout << "timeout-> " << writeValue << std::endl;
        std::cout << "write ret: " << RTC::BufferStatus::toString(buff1.write(writeValue, writeValue)) << std::endl;
                                
        //        std::cout << "readable " << buff1.readable() << std::endl;
        //        std::cout << "writable " << buff1.writable() << std::endl;

        // �ɽФ�
        int readValue;
        buff1.get(readValue);
                        
        std::cout << writeValue << " == " << readValue << std::endl;

        //        buff1.read(readValue)
        // �񤭹�����ǡ������������ɤ߽Ф�������
        //      CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
        sleep(1);
      }
      return;
      // (2) ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ����������
      // �Ф�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫���Хåե���������
      // �ե���֤ˤ���
      long int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
      for (int i = 0; i < length2; i++) {
        buff2.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff2.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff2.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ��������
      // �ɽФ�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
      long int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff3.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
    }
                
    /*!
     * @brief write()�᥽�åɤ����read()�᥽�åɤΥƥ��ȡʥХåե�Ĺ���ξ���
     * 
     * - �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ�����������
     *   �ɤ߽Ф��뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ���
     *   �񤭹�����ǡ������������ɤ߽Ф��뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ���
     *   �񤭹�����ǡ������������ɤ߽Ф��뤫��
     */
    void test_write_read_with_small_length()
    {
      // (1) �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ���
      // ���������ɤ߽Ф��뤫���Хåե������������Τޤޤˤ���
      long int length1 = 2;
      RTC::RingBuffer<int> buff1(length1);
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff1.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff1.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
                        
      // (2) ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ����������
      // �Ф�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫���Хåե���������
      // �ե���֤ˤ���
      long int length2 = 2;
      RTC::RingBuffer<int> buff2(length2);
      coil::Properties prop;
      prop["write.full_policy"] = "overwrite";
      buff2.init(prop);

      for (int i = 0; i < length2; i++) {
        buff2.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
//      for (int writeValue = 0; writeValue < 100; writeValue++) {
//      // �����
//      buff2.write(writeValue);
//                              
//      // �ɽФ�
//      int readValue;
//      buff2.read(readValue);
//                              
//      // �񤭹�����ǡ������������ɤ߽Ф�������
//      CPPUNIT_ASSERT_EQUAL(writeValue+1+123, readValue);
//     }

        // �����
        /* policy��overwrite��full���֤ǽ񤭹���ȡ��Ť��ǡ������񤭤����ɤ߹���¦�Υݥ��󥿤򥤥󥯥���Ȥ��롣*/
        buff2.write(0);
                                
        CPPUNIT_ASSERT_EQUAL(true, buff2.full());
        // �ɽФ�
        int readValue;
        /* �ɤ߽Ф����ɤ߹���¦�Υݥ��󥿤򥤥󥯥��Ȥ��뤿��full���֤ǤϤʤ��ʤ� */
        buff2.read(readValue);

        CPPUNIT_ASSERT_EQUAL(false, buff2.full());
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(1+123, readValue);
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
      long int length3 = 2;
      RTC::RingBuffer<int> buff3(length3);
      coil::Properties prop3;
      prop3["write.full_policy"] = "overwrite";
      buff3.init(prop3);

      for (int i = 0; i < 1; i++) {
        buff3.write(i + 123);
      }
      { 
        // �����
        buff3.write(-1);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(123, readValue);
      }
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff3.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue-1, readValue);
      }
    }
                
    /*!
     * @brief isNew()�᥽�åɤΥƥ���
     * 
     * - �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ�
     *   �ǡ���������isNewȽ�꤬���ˤʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ����������
     *   ���Υǡ����ɽФ�Ԥä����isNewȽ�꤬���ˤʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ���������isNew
     *   Ƚ�꤬���ˤʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ����������
     *   ���Υǡ����ɽФ�Ԥä����isNewȽ�꤬���ˤʤ뤫��
     */
    void test_isNew()
    {
      // (1) �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
      long int length1 = 10;
      RTC::RingBuffer<int> buff1(length1);
      CPPUNIT_ASSERT_EQUAL(true, buff1.empty());
                        
      // ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
                        
      for (int i = 0; i < length2; i++) {
        // (2) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff2.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff2.empty());
                                
        // (3) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff2.read(readValue);
        CPPUNIT_ASSERT_EQUAL(true, buff2.empty());
      }
                        
      // �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i + 456);
      }
                        
      for (int i = 0; i < length3; i++) {
        // (4) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff3.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
                                
        // (5) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff3.read(readValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
      }
    }
    /*!
     * @brief reset()�᥽�åɤΥƥ���
     * 
     */
    void test_reset()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);

      for(int ic(0);ic<8;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.advanceRptr(3);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[3]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)5);

      buff.reset();
      CPPUNIT_ASSERT(buff.empty());
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[0]);
      buff.put(idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)0);
      
    }   
    /*!
     * @brief wptr(),put()�᥽�åɤΥƥ���
     * 
     */
    void test_wptr_put()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);
      for(int ic(0);ic<10;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.reset();
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.wptr(-ic));
      }
      buff.advanceWptr(5);
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.wptr(-ic));
      }
        
    }
    /*!
     * @brief advanceWptr()�᥽�åɤΥƥ���
     * 
     */
    void test_advanceWptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        buff.advanceRptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.readable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.readable());
    }
    /*!
     * @brief rptr(),get()�᥽�åɤΥƥ���
     * 
     */
    void test_rptr_get()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        for(int ic(0);ic<10;++ic)
        {  
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        { 
            CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.rptr(-ic));
        }
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.rptr(-ic));
        }
        buff.reset();
        buff.advanceWptr(10);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],buff.get());
            int ret;
            buff.get(ret);
            CPPUNIT_ASSERT_EQUAL(idata[ic],ret);
            buff.advanceRptr();
        }
    }
    /*!
     * @brief advanceRptr()�᥽�åɤΥƥ���
     * 
     */
    void test_advanceRptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        buff.advanceWptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.writable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.writable());
    }

        /*
         * �ǥåɥ��å��θ���1
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: readback
         *
         */
        void test_owrite_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);

          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���2
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: do_nothing
         *
         */
        void test_owrite_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���3
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: block
         * read.timeout: 3.0
         *
         */
        void test_owrite_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }
                

        /*
         * �ǥåɥ��å��θ���4
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: readback
         *
         */
        void test_dnothing_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���5
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: do_nothing
         *
         */
        void test_dnothing_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���6
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: block
         * read.timeout: 1.0
         *
         */
        void test_dnothing_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���7
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: readback
         * write.timeout: 1.0
         *
         */
        void test_block_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "readback";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���8
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: do_nothing
         * write.timeout: 1.0
         *
         */
        void test_block_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "do_nothing";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���9
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_wr()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���10 read -> write
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_rw()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }



  };
}; // namespace RingBuffer

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(RingBuffer::RingBufferTests);

#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 // RingBuffer_cpp

void* reader(void* arg)
{
  thread_arg* t_arg = (thread_arg*)arg;
  RTC::RingBuffer<int>* buff = (RTC::RingBuffer<int>*)&(t_arg->m_buff);
  
  ReturnCode ret;
  for (int i = 0; i < t_arg->m_n_loop; i++) {
        int output = -1;
        ret = (*buff).read(output);
#if PRINTOUT
        std::cout << "read() : " << output << std::endl;
#endif
        if (ret == RTC::BufferStatus::TIMEOUT) {
          g_ret = ret;
          break;
        }
        if (isBlockTest) {
          if (output != i) {
                std::cout << "ERROR!!: output=" << output;
                std::cout << ", correct data=" << i;
                std::cout << ", return code=" << ret << std::endl;
                abort();
          }
        }
  }
  return NULL;
}

// �񤭹��ߥ���å�void* writer(void* arg)
{
  thread_arg* t_arg = (thread_arg*)arg;
  RTC::RingBuffer<int>* buff = (RTC::RingBuffer<int>*)&(t_arg->m_buff);
  
  
  for (int i = 0; i < t_arg->m_n_loop; i++) {
        int input = i;
        (*buff).write(input);
#if PRINTOUT
        std::cout << "write(" << input << ")" << std::endl;
#endif
  }
  return NULL;
}


namespace RingBuffer
{
  /*!
   * @class RingBufferTests class
   * @brief RingBuffer test
   */
  class RingBufferTests
    : public CppUnit::TestFixture
  {
    CPPUNIT_TEST_SUITE(RingBufferTests);

    CPPUNIT_TEST(test_length);
    CPPUNIT_TEST(test_isFull);
    CPPUNIT_TEST(test_isEmpty);
    CPPUNIT_TEST(test_init);
    CPPUNIT_TEST(test_write_read);
    CPPUNIT_TEST(test_write_read_with_small_length);
    CPPUNIT_TEST(test_isNew);
    CPPUNIT_TEST(test_reset);
    CPPUNIT_TEST(test_wptr_put);
    CPPUNIT_TEST(test_advanceWptr);
    CPPUNIT_TEST(test_rptr_get);
    CPPUNIT_TEST(test_advanceRptr);

        CPPUNIT_TEST(test_owrite_rback); // full: overwrite, empty: readback, buff length 1,8
        CPPUNIT_TEST(test_owrite_dnothing); // full: overwrite, empty: do_nothing, buff length 1,8
        CPPUNIT_TEST(test_owrite_block); // full: overwrite, empty: block, buff length 1,8

        CPPUNIT_TEST(test_dnothing_rback); // full: do_nothing, empty: readback, buff length 1,8
        CPPUNIT_TEST(test_dnothing_dnothing); // full: do_nothing, empty: do_nothing, buff length 1,8
        CPPUNIT_TEST(test_dnothing_block); // full: do_nothing, empty: block, buff length 1,8
        CPPUNIT_TEST(test_block_rback); // full: block, empty: readback, buff length 1,8
        CPPUNIT_TEST(test_block_dnothing); // full: block, empty: do_nothing, buff length 1,8
        CPPUNIT_TEST(test_block_block_wr); // full: block, empty: block, buff length 1,8

        CPPUNIT_TEST(test_block_block_rw); // full: block, empty: block, read -> write

    CPPUNIT_TEST_SUITE_END();
                
  private:
        void do_test(RTC::RingBuffer<int>& buff, int loop=NLOOP, bool read_first=false)
        {
          pthread_t tr, tw;
          thread_arg arg(buff,loop);

          if (read_first) {
                // �ɤ߹��ߥ���åɤγ���
              if (pthread_create(&tr, NULL , reader, static_cast<void *>(&buff)) != 0) {
                  perror("pthread_create(r)");
                  return;
                }
                // �񤭹��ߥ���åɤγ���
             if (pthread_create(&tw, NULL , writer, static_cast<void *>(&buff)) != 0) {
                  perror("pthread_create(w)");
                  return;
                }
          }
          else {
                // �񤭹��ߥ���åɤγ���
//           if (pthread_create(&tw, NULL , writer, static_cast<void *>(&buff)) != 0) {
                if (pthread_create(&tw, NULL , writer, &arg) != 0) {
                  perror("pthread_create(w)");
                  return;
                }
                // �ɤ߹��ߥ���åɤγ���
//            if (pthread_create(&tr, NULL , reader, static_cast<void *>(&buff)) != 0) {
                if (pthread_create(&tr, NULL , reader, &arg) != 0) {
                  perror("pthread_create(r)");
                  return;
                }
          }
          
          // ����åɤι�ή
          pthread_join(tw, NULL);
          pthread_join(tr, NULL);
        }
                
  public:
    /*!
     * @brief Constructor
     */
    RingBufferTests()
    {
    }
                
    /*!
     * @brief Destructor
     */
    ~RingBufferTests()
    {
    }
                
    /*!
     * @brief Test initialization
     */
    virtual void setUp()
    {
    }
                
    /*!
     * @brief Test finalization
     */
    virtual void tearDown()
    { 
    }
                
    /*!
     * @brief length()�᥽�åɤΥƥ���
     * 
     * - ���󥹥ȥ饯���ǻ��ꤵ�줿�Хåե�Ĺ�������������Ǥ��뤫��
     */
    void test_length()
    {
      RTC::RingBuffer<int> buff(123);
      CPPUNIT_ASSERT(buff.length() == 123);

      size_t len(456);
      buff.length(len);
      CPPUNIT_ASSERT(buff.length() == len);
    }

    /*!
     * @brief isEmpty()�᥽�åɤΥƥ���
     * 
     * - �Хåե������ľ�塢���ǤϤʤ���Ƚ�ꤵ��뤫��
     * - �Ǹ�˥ǡ������ɤ߼��줿�塢�������ǡ������񤭹��ߤ���Ƥ��ʤ���硢
     *   ����Ƚ�ꤵ��뤫��
     * - �Ǹ�˥ǡ������ɤ߼��줿�塢�������ǡ������񤭹��ߤ��줿��硢
     *   ���ǤϤʤ���Ƚ�ꤵ��뤫��
     */
    void test_isEmpty()
    {
      long int length = 10;
      RTC::RingBuffer<int> buff(length);
                        
      // (1) �Хåե������ľ�塢���ǤϤʤ���Ƚ�ꤵ��뤫��
      int initialValue = 12345;
      for (unsigned int i(0); i < buff.length(); ++i)
        {
          buff.write(initialValue);
        }
      CPPUNIT_ASSERT_EQUAL(false, buff.empty());                        
                        
      // (2) �Ǹ�˥ǡ������ɤ߼��줿�塢�������ǡ������񤭹��ߤ����
      // ���ʤ���硢���ǤϤʤ���Ƚ�ꤵ��뤫��
      int readValue;
      CPPUNIT_ASSERT_EQUAL(::RTC::BufferStatus::BUFFER_OK, buff.read(readValue));
      CPPUNIT_ASSERT_EQUAL(false, buff.empty());
                        
      // (3) �Ǹ�˥ǡ������ɤ߼��줿�塢�������ǡ������񤭹��ߤ��줿
      // ��硢���ǤϤʤ���Ƚ�ꤵ��뤫��
      int writeValue = 98765;
      CPPUNIT_ASSERT_EQUAL(RTC::BufferBase<int>::BUFFER_OK, buff.write(writeValue));
      CPPUNIT_ASSERT_EQUAL(false, buff.empty());
    }
                
                
    /*!
     * @brief isFull()�᥽�åɤΥƥ���
     * 
     * - �Хåե������ξ�硢�ե�Ƚ��ϵ��Ȥʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ե�Ƚ��Ͽ��Ȥʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ե�Ƚ��ϵ��Ȥʤ뤫��
     */
    void test_isFull()
    {
      // (1) �Хåե������ξ�硢�ե�Ƚ��ϵ��Ȥʤ뤫��
      int length1 = 10;
      RTC::RingBuffer<int> buff1(length1);
      CPPUNIT_ASSERT_EQUAL(false, buff1.full());
                        
      // (2) ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ե�Ƚ��Ͽ�
      // �Ȥʤ뤫��
      int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
      for (int i = 0; i < length2; i++) {
        buff2.write(i);
      }
      CPPUNIT_ASSERT_EQUAL(true, buff2.full());
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ե�Ƚ��ϵ�
      // �Ȥʤ뤫��
      int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i);
      }
      CPPUNIT_ASSERT_EQUAL(false, buff3.full());
    }
                                
    /*!
     * @brief init()�᥽�åɤΥƥ���
     * 
     * - ���餫����ǡ����ǽ���������塢���ꤷ���ǡ������������ɤ߽Ф��뤫��
     */
    void test_init()
    {
      // �Хåե���������ơ�init()�ǽ��������
      long int length = 10;
      RTC::RingBuffer<int> buff(length);
                        
      int value = 12345;
      for (unsigned int i(0); i < buff.length(); ++i)
        {
          buff.write(value);
        }
                        
      // ���ꤷ���ǡ������������ɤ߽Ф��뤫��
      int expected = 12345;
      for (long int i = 0; i < length; i++) {
        int actual;
        buff.read(actual);
        CPPUNIT_ASSERT_EQUAL(expected, actual);
      }
    }

    /*!
     * @brief write()�᥽�åɤ����read()�᥽�åɤΥƥ���
     * 
     * - �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ�����������
     *   �ɤ߽Ф��뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ���
     *   �񤭹�����ǡ������������ɤ߽Ф��뤫��
     * - ���Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�
     *   �Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
     */
    void test_write_read()
    {
      // (1) �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ���
      // ���������ɤ߽Ф��뤫���Хåե������������Τޤޤˤ���
      long int length1 = 3;
      RTC::RingBuffer<int> buff1(length1);
      coil::Properties prop;
      prop["write.full_policy"] = "block";
      prop["write.timeout"] = "5.0";
      prop["read.empty_policy"] = "block";
      prop["read.timeout"] = "5.0";

      buff1.init(prop);
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        if (buff1.full())
          {
            std::cout << "### FULL ###" << std::endl;
            int readValue;

            if (writeValue % 5 == 0)
              {
                while (!buff1.empty())
                  {
                    std::cout << "read timeout: " << 5 << std::endl;
                    buff1.read(readValue, 5);
                    std::cout << "read: " << readValue << std::endl;
                  }
                std::cout << "read timeout: " << 5 << std::endl;
                std::cout << "waiting 5 sec" << std::endl;
                std::cout << "read ret: " << RTC::BufferStatus::toString(buff1.read(readValue, 5)) << std::endl;
                std::cout << "read: " << readValue << std::endl;
              }
            else
              {
                buff1.read(readValue);
                std::cout << "read: " << readValue << std::endl;
              }

            if (buff1.full())
              {
                std::cout << "??? still full" << std::endl;
              }
            else
              {
                std::cout << "buffer full was blown over." << std::endl;
              }
          }
        if (buff1.empty())
          {
            std::cout << "### EMPTY ###" << std::endl;
          }

        //        std::cout << "timeout-> " << writeValue << std::endl;
        std::cout << "write ret: " << RTC::BufferStatus::toString(buff1.write(writeValue, writeValue)) << std::endl;
                                
        //        std::cout << "readable " << buff1.readable() << std::endl;
        //        std::cout << "writable " << buff1.writable() << std::endl;

        // �ɽФ�
        int readValue;
        buff1.get(readValue);
                        
        std::cout << writeValue << " == " << readValue << std::endl;

        //        buff1.read(readValue)
        // �񤭹�����ǡ������������ɤ߽Ф�������
        //      CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
        sleep(1);
      }
      return;
      // (2) ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ����������
      // �Ф�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫���Хåե���������
      // �ե���֤ˤ���
      long int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
      for (int i = 0; i < length2; i++) {
        buff2.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff2.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff2.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ��������
      // �ɽФ�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
      long int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff3.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
    }
                
    /*!
     * @brief write()�᥽�åɤ����read()�᥽�åɤΥƥ��ȡʥХåե�Ĺ���ξ���
     * 
     * - �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ�����������
     *   �ɤ߽Ф��뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ���
     *   �񤭹�����ǡ������������ɤ߽Ф��뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ���
     *   �񤭹�����ǡ������������ɤ߽Ф��뤫��
     */
    void test_write_read_with_small_length()
    {
      // (1) �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ���
      // ���������ɤ߽Ф��뤫���Хåե������������Τޤޤˤ���
      long int length1 = 2;
      RTC::RingBuffer<int> buff1(length1);
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff1.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff1.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
                        
      // (2) ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ����������
      // �Ф�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫���Хåե���������
      // �ե���֤ˤ���
      long int length2 = 2;
      RTC::RingBuffer<int> buff2(length2);
      coil::Properties prop;
      prop["write.full_policy"] = "overwrite";
      buff2.init(prop);

      for (int i = 0; i < length2; i++) {
        buff2.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
//      for (int writeValue = 0; writeValue < 100; writeValue++) {
//      // �����
//      buff2.write(writeValue);
//                              
//      // �ɽФ�
//      int readValue;
//      buff2.read(readValue);
//                              
//      // �񤭹�����ǡ������������ɤ߽Ф�������
//      CPPUNIT_ASSERT_EQUAL(writeValue+1+123, readValue);
//     }

        // �����
        /* policy��overwrite��full���֤ǽ񤭹���ȡ��Ť��ǡ������񤭤����ɤ߹���¦�Υݥ��󥿤򥤥󥯥���Ȥ��롣*/
        buff2.write(0);
                                
        CPPUNIT_ASSERT_EQUAL(true, buff2.full());
        // �ɽФ�
        int readValue;
        /* �ɤ߽Ф����ɤ߹���¦�Υݥ��󥿤򥤥󥯥��Ȥ��뤿��full���֤ǤϤʤ��ʤ� */
        buff2.read(readValue);

        CPPUNIT_ASSERT_EQUAL(false, buff2.full());
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(1+123, readValue);
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
      long int length3 = 2;
      RTC::RingBuffer<int> buff3(length3);
      coil::Properties prop3;
      prop3["write.full_policy"] = "overwrite";
      buff3.init(prop3);

      for (int i = 0; i < 1; i++) {
        buff3.write(i + 123);
      }
      { 
        // �����
        buff3.write(-1);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(123, readValue);
      }
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff3.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue-1, readValue);
      }
    }
                
    /*!
     * @brief isNew()�᥽�åɤΥƥ���
     * 
     * - �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ�
     *   �ǡ���������isNewȽ�꤬���ˤʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ����������
     *   ���Υǡ����ɽФ�Ԥä����isNewȽ�꤬���ˤʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ���������isNew
     *   Ƚ�꤬���ˤʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ����������
     *   ���Υǡ����ɽФ�Ԥä����isNewȽ�꤬���ˤʤ뤫��
     */
    void test_isNew()
    {
      // (1) �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
      long int length1 = 10;
      RTC::RingBuffer<int> buff1(length1);
      CPPUNIT_ASSERT_EQUAL(true, buff1.empty());
                        
      // ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
                        
      for (int i = 0; i < length2; i++) {
        // (2) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff2.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff2.empty());
                                
        // (3) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff2.read(readValue);
        CPPUNIT_ASSERT_EQUAL(true, buff2.empty());
      }
                        
      // �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i + 456);
      }
                        
      for (int i = 0; i < length3; i++) {
        // (4) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff3.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
                                
        // (5) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff3.read(readValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
      }
    }
    /*!
     * @brief reset()�᥽�åɤΥƥ���
     * 
     */
    void test_reset()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);

      for(int ic(0);ic<8;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.advanceRptr(3);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[3]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)5);

      buff.reset();
      CPPUNIT_ASSERT(buff.empty());
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[0]);
      buff.put(idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)0);
      
    }   
    /*!
     * @brief wptr(),put()�᥽�åɤΥƥ���
     * 
     */
    void test_wptr_put()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);
      for(int ic(0);ic<10;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.reset();
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.wptr(-ic));
      }
      buff.advanceWptr(5);
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.wptr(-ic));
      }
        
    }
    /*!
     * @brief advanceWptr()�᥽�åɤΥƥ���
     * 
     */
    void test_advanceWptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        buff.advanceRptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.readable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.readable());
    }
    /*!
     * @brief rptr(),get()�᥽�åɤΥƥ���
     * 
     */
    void test_rptr_get()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        for(int ic(0);ic<10;++ic)
        {  
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        { 
            CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.rptr(-ic));
        }
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.rptr(-ic));
        }
        buff.reset();
        buff.advanceWptr(10);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],buff.get());
            int ret;
            buff.get(ret);
            CPPUNIT_ASSERT_EQUAL(idata[ic],ret);
            buff.advanceRptr();
        }
    }
    /*!
     * @brief advanceRptr()�᥽�åɤΥƥ���
     * 
     */
    void test_advanceRptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        buff.advanceWptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.writable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.writable());
    }

        /*
         * �ǥåɥ��å��θ���1
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: readback
         *
         */
        void test_owrite_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);

          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���2
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: do_nothing
         *
         */
        void test_owrite_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���3
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: block
         * read.timeout: 3.0
         *
         */
        void test_owrite_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }
                

        /*
         * �ǥåɥ��å��θ���4
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: readback
         *
         */
        void test_dnothing_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���5
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: do_nothing
         *
         */
        void test_dnothing_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���6
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: block
         * read.timeout: 1.0
         *
         */
        void test_dnothing_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���7
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: readback
         * write.timeout: 1.0
         *
         */
        void test_block_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "readback";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���8
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: do_nothing
         * write.timeout: 1.0
         *
         */
        void test_block_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "do_nothing";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���9
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_wr()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���10 read -> write
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_rw()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }



  };
}; // namespace RingBuffer

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(RingBuffer::RingBufferTests);

#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 // RingBuffer_cpp

void* writer(void* arg)
{
  thread_arg* t_arg = (thread_arg*)arg;
  RTC::RingBuffer<int>* buff = (RTC::RingBuffer<int>*)&(t_arg->m_buff);
  
  
  for (int i = 0; i < t_arg->m_n_loop; i++) {
        int input = i;
        (*buff).write(input);
#if PRINTOUT
        std::cout << "write(" << input << ")" << std::endl;
#endif
  }
  return NULL;
}


namespace RingBuffer
{
  class RingBufferTests
    : public CppUnit::TestFixture
  {
    CPPUNIT_TEST_SUITE(RingBufferTests);

    CPPUNIT_TEST(test_length);
    CPPUNIT_TEST(test_isFull);
    CPPUNIT_TEST(test_isEmpty);
    CPPUNIT_TEST(test_init);
    CPPUNIT_TEST(test_write_read);
    CPPUNIT_TEST(test_write_read_with_small_length);
    CPPUNIT_TEST(test_isNew);
    CPPUNIT_TEST(test_reset);
    CPPUNIT_TEST(test_wptr_put);
    CPPUNIT_TEST(test_advanceWptr);
    CPPUNIT_TEST(test_rptr_get);
    CPPUNIT_TEST(test_advanceRptr);

        CPPUNIT_TEST(test_owrite_rback); // full: overwrite, empty: readback, buff length 1,8
        CPPUNIT_TEST(test_owrite_dnothing); // full: overwrite, empty: do_nothing, buff length 1,8
        CPPUNIT_TEST(test_owrite_block); // full: overwrite, empty: block, buff length 1,8

        CPPUNIT_TEST(test_dnothing_rback); // full: do_nothing, empty: readback, buff length 1,8
        CPPUNIT_TEST(test_dnothing_dnothing); // full: do_nothing, empty: do_nothing, buff length 1,8
        CPPUNIT_TEST(test_dnothing_block); // full: do_nothing, empty: block, buff length 1,8
        CPPUNIT_TEST(test_block_rback); // full: block, empty: readback, buff length 1,8
        CPPUNIT_TEST(test_block_dnothing); // full: block, empty: do_nothing, buff length 1,8
        CPPUNIT_TEST(test_block_block_wr); // full: block, empty: block, buff length 1,8

        CPPUNIT_TEST(test_block_block_rw); // full: block, empty: block, read -> write

    CPPUNIT_TEST_SUITE_END();
                
  private:
        void do_test(RTC::RingBuffer<int>& buff, int loop=NLOOP, bool read_first=false)
        {
          pthread_t tr, tw;
          thread_arg arg(buff,loop);

          if (read_first) {
                // �ɤ߹��ߥ���åɤγ���              if (pthread_create(&tr, NULL , reader, static_cast<void *>(&buff)) != 0) {
                  perror("pthread_create(r)");
                  return;
                }
                // �񤭹��ߥ���åɤγ���
             if (pthread_create(&tw, NULL , writer, static_cast<void *>(&buff)) != 0) {
                  perror("pthread_create(w)");
                  return;
                }
          }
          else {
                // �񤭹��ߥ���åɤγ���
//           if (pthread_create(&tw, NULL , writer, static_cast<void *>(&buff)) != 0) {
                if (pthread_create(&tw, NULL , writer, &arg) != 0) {
                  perror("pthread_create(w)");
                  return;
                }
                // �ɤ߹��ߥ���åɤγ���
//            if (pthread_create(&tr, NULL , reader, static_cast<void *>(&buff)) != 0) {
                if (pthread_create(&tr, NULL , reader, &arg) != 0) {
                  perror("pthread_create(r)");
                  return;
                }
          }
          
          // ����åɤι�ή
          pthread_join(tw, NULL);
          pthread_join(tr, NULL);
        }
                
  public:
    /*!
     * @brief Constructor
     */
    RingBufferTests()
    {
    }
                
    /*!
     * @brief Destructor
     */
    ~RingBufferTests()
    {
    }
                
    /*!
     * @brief Test initialization
     */
    virtual void setUp()
    {
    }
                
    /*!
     * @brief Test finalization
     */
    virtual void tearDown()
    { 
    }
                
    /*!
     * @brief length()�᥽�åɤΥƥ���
     * 
     * - ���󥹥ȥ饯���ǻ��ꤵ�줿�Хåե�Ĺ�������������Ǥ��뤫��
     */
    void test_length()
    {
      RTC::RingBuffer<int> buff(123);
      CPPUNIT_ASSERT(buff.length() == 123);

      size_t len(456);
      buff.length(len);
      CPPUNIT_ASSERT(buff.length() == len);
    }

    /*!
     * @brief isEmpty()�᥽�åɤΥƥ���
     * 
     * - �Хåե������ľ�塢���ǤϤʤ���Ƚ�ꤵ��뤫��
     * - �Ǹ�˥ǡ������ɤ߼��줿�塢�������ǡ������񤭹��ߤ���Ƥ��ʤ���硢
     *   ����Ƚ�ꤵ��뤫��
     * - �Ǹ�˥ǡ������ɤ߼��줿�塢�������ǡ������񤭹��ߤ��줿��硢
     *   ���ǤϤʤ���Ƚ�ꤵ��뤫��
     */
    void test_isEmpty()
    {
      long int length = 10;
      RTC::RingBuffer<int> buff(length);
                        
      // (1) �Хåե������ľ�塢���ǤϤʤ���Ƚ�ꤵ��뤫��
      int initialValue = 12345;
      for (unsigned int i(0); i < buff.length(); ++i)
        {
          buff.write(initialValue);
        }
      CPPUNIT_ASSERT_EQUAL(false, buff.empty());                        
                        
      // (2) �Ǹ�˥ǡ������ɤ߼��줿�塢�������ǡ������񤭹��ߤ����
      // ���ʤ���硢���ǤϤʤ���Ƚ�ꤵ��뤫��
      int readValue;
      CPPUNIT_ASSERT_EQUAL(::RTC::BufferStatus::BUFFER_OK, buff.read(readValue));
      CPPUNIT_ASSERT_EQUAL(false, buff.empty());
                        
      // (3) �Ǹ�˥ǡ������ɤ߼��줿�塢�������ǡ������񤭹��ߤ��줿
      // ��硢���ǤϤʤ���Ƚ�ꤵ��뤫��
      int writeValue = 98765;
      CPPUNIT_ASSERT_EQUAL(RTC::BufferBase<int>::BUFFER_OK, buff.write(writeValue));
      CPPUNIT_ASSERT_EQUAL(false, buff.empty());
    }
                
                
    /*!
     * @brief isFull()�᥽�åɤΥƥ���
     * 
     * - �Хåե������ξ�硢�ե�Ƚ��ϵ��Ȥʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ե�Ƚ��Ͽ��Ȥʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ե�Ƚ��ϵ��Ȥʤ뤫��
     */
    void test_isFull()
    {
      // (1) �Хåե������ξ�硢�ե�Ƚ��ϵ��Ȥʤ뤫��
      int length1 = 10;
      RTC::RingBuffer<int> buff1(length1);
      CPPUNIT_ASSERT_EQUAL(false, buff1.full());
                        
      // (2) ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ե�Ƚ��Ͽ�
      // �Ȥʤ뤫��
      int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
      for (int i = 0; i < length2; i++) {
        buff2.write(i);
      }
      CPPUNIT_ASSERT_EQUAL(true, buff2.full());
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ե�Ƚ��ϵ�
      // �Ȥʤ뤫��
      int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i);
      }
      CPPUNIT_ASSERT_EQUAL(false, buff3.full());
    }
                                
    /*!
     * @brief init()�᥽�åɤΥƥ���
     * 
     * - ���餫����ǡ����ǽ���������塢���ꤷ���ǡ������������ɤ߽Ф��뤫��
     */
    void test_init()
    {
      // �Хåե���������ơ�init()�ǽ��������
      long int length = 10;
      RTC::RingBuffer<int> buff(length);
                        
      int value = 12345;
      for (unsigned int i(0); i < buff.length(); ++i)
        {
          buff.write(value);
        }
                        
      // ���ꤷ���ǡ������������ɤ߽Ф��뤫��
      int expected = 12345;
      for (long int i = 0; i < length; i++) {
        int actual;
        buff.read(actual);
        CPPUNIT_ASSERT_EQUAL(expected, actual);
      }
    }

    /*!
     * @brief write()�᥽�åɤ����read()�᥽�åɤΥƥ���
     * 
     * - �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ�����������
     *   �ɤ߽Ф��뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ���
     *   �񤭹�����ǡ������������ɤ߽Ф��뤫��
     * - ���Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�
     *   �Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
     */
    void test_write_read()
    {
      // (1) �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ���
      // ���������ɤ߽Ф��뤫���Хåե������������Τޤޤˤ���
      long int length1 = 3;
      RTC::RingBuffer<int> buff1(length1);
      coil::Properties prop;
      prop["write.full_policy"] = "block";
      prop["write.timeout"] = "5.0";
      prop["read.empty_policy"] = "block";
      prop["read.timeout"] = "5.0";

      buff1.init(prop);
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        if (buff1.full())
          {
            std::cout << "### FULL ###" << std::endl;
            int readValue;

            if (writeValue % 5 == 0)
              {
                while (!buff1.empty())
                  {
                    std::cout << "read timeout: " << 5 << std::endl;
                    buff1.read(readValue, 5);
                    std::cout << "read: " << readValue << std::endl;
                  }
                std::cout << "read timeout: " << 5 << std::endl;
                std::cout << "waiting 5 sec" << std::endl;
                std::cout << "read ret: " << RTC::BufferStatus::toString(buff1.read(readValue, 5)) << std::endl;
                std::cout << "read: " << readValue << std::endl;
              }
            else
              {
                buff1.read(readValue);
                std::cout << "read: " << readValue << std::endl;
              }

            if (buff1.full())
              {
                std::cout << "??? still full" << std::endl;
              }
            else
              {
                std::cout << "buffer full was blown over." << std::endl;
              }
          }
        if (buff1.empty())
          {
            std::cout << "### EMPTY ###" << std::endl;
          }

        //        std::cout << "timeout-> " << writeValue << std::endl;
        std::cout << "write ret: " << RTC::BufferStatus::toString(buff1.write(writeValue, writeValue)) << std::endl;
                                
        //        std::cout << "readable " << buff1.readable() << std::endl;
        //        std::cout << "writable " << buff1.writable() << std::endl;

        // �ɽФ�
        int readValue;
        buff1.get(readValue);
                        
        std::cout << writeValue << " == " << readValue << std::endl;

        //        buff1.read(readValue)
        // �񤭹�����ǡ������������ɤ߽Ф�������
        //      CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
        sleep(1);
      }
      return;
      // (2) ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ����������
      // �Ф�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫���Хåե���������
      // �ե���֤ˤ���
      long int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
      for (int i = 0; i < length2; i++) {
        buff2.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff2.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff2.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ��������
      // �ɽФ�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
      long int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff3.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
    }
                
    /*!
     * @brief write()�᥽�åɤ����read()�᥽�åɤΥƥ��ȡʥХåե�Ĺ���ξ���
     * 
     * - �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ�����������
     *   �ɤ߽Ф��뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ���
     *   �񤭹�����ǡ������������ɤ߽Ф��뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ���
     *   �񤭹�����ǡ������������ɤ߽Ф��뤫��
     */
    void test_write_read_with_small_length()
    {
      // (1) �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ���
      // ���������ɤ߽Ф��뤫���Хåե������������Τޤޤˤ���
      long int length1 = 2;
      RTC::RingBuffer<int> buff1(length1);
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff1.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff1.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
                        
      // (2) ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ����������
      // �Ф�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫���Хåե���������
      // �ե���֤ˤ���
      long int length2 = 2;
      RTC::RingBuffer<int> buff2(length2);
      coil::Properties prop;
      prop["write.full_policy"] = "overwrite";
      buff2.init(prop);

      for (int i = 0; i < length2; i++) {
        buff2.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
//      for (int writeValue = 0; writeValue < 100; writeValue++) {
//      // �����
//      buff2.write(writeValue);
//                              
//      // �ɽФ�
//      int readValue;
//      buff2.read(readValue);
//                              
//      // �񤭹�����ǡ������������ɤ߽Ф�������
//      CPPUNIT_ASSERT_EQUAL(writeValue+1+123, readValue);
//     }

        // �����
        /* policy��overwrite��full���֤ǽ񤭹���ȡ��Ť��ǡ������񤭤����ɤ߹���¦�Υݥ��󥿤򥤥󥯥���Ȥ��롣*/
        buff2.write(0);
                                
        CPPUNIT_ASSERT_EQUAL(true, buff2.full());
        // �ɽФ�
        int readValue;
        /* �ɤ߽Ф����ɤ߹���¦�Υݥ��󥿤򥤥󥯥��Ȥ��뤿��full���֤ǤϤʤ��ʤ� */
        buff2.read(readValue);

        CPPUNIT_ASSERT_EQUAL(false, buff2.full());
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(1+123, readValue);
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
      long int length3 = 2;
      RTC::RingBuffer<int> buff3(length3);
      coil::Properties prop3;
      prop3["write.full_policy"] = "overwrite";
      buff3.init(prop3);

      for (int i = 0; i < 1; i++) {
        buff3.write(i + 123);
      }
      { 
        // �����
        buff3.write(-1);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(123, readValue);
      }
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff3.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue-1, readValue);
      }
    }
                
    /*!
     * @brief isNew()�᥽�åɤΥƥ���
     * 
     * - �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ�
     *   �ǡ���������isNewȽ�꤬���ˤʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ����������
     *   ���Υǡ����ɽФ�Ԥä����isNewȽ�꤬���ˤʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ���������isNew
     *   Ƚ�꤬���ˤʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ����������
     *   ���Υǡ����ɽФ�Ԥä����isNewȽ�꤬���ˤʤ뤫��
     */
    void test_isNew()
    {
      // (1) �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
      long int length1 = 10;
      RTC::RingBuffer<int> buff1(length1);
      CPPUNIT_ASSERT_EQUAL(true, buff1.empty());
                        
      // ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
                        
      for (int i = 0; i < length2; i++) {
        // (2) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff2.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff2.empty());
                                
        // (3) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff2.read(readValue);
        CPPUNIT_ASSERT_EQUAL(true, buff2.empty());
      }
                        
      // �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i + 456);
      }
                        
      for (int i = 0; i < length3; i++) {
        // (4) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff3.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
                                
        // (5) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff3.read(readValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
      }
    }
    /*!
     * @brief reset()�᥽�åɤΥƥ���
     * 
     */
    void test_reset()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);

      for(int ic(0);ic<8;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.advanceRptr(3);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[3]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)5);

      buff.reset();
      CPPUNIT_ASSERT(buff.empty());
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[0]);
      buff.put(idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)0);
      
    }   
    /*!
     * @brief wptr(),put()�᥽�åɤΥƥ���
     * 
     */
    void test_wptr_put()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);
      for(int ic(0);ic<10;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.reset();
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.wptr(-ic));
      }
      buff.advanceWptr(5);
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.wptr(-ic));
      }
        
    }
    /*!
     * @brief advanceWptr()�᥽�åɤΥƥ���
     * 
     */
    void test_advanceWptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        buff.advanceRptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.readable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.readable());
    }
    /*!
     * @brief rptr(),get()�᥽�åɤΥƥ���
     * 
     */
    void test_rptr_get()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        for(int ic(0);ic<10;++ic)
        {  
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        { 
            CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.rptr(-ic));
        }
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.rptr(-ic));
        }
        buff.reset();
        buff.advanceWptr(10);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],buff.get());
            int ret;
            buff.get(ret);
            CPPUNIT_ASSERT_EQUAL(idata[ic],ret);
            buff.advanceRptr();
        }
    }
    /*!
     * @brief advanceRptr()�᥽�åɤΥƥ���
     * 
     */
    void test_advanceRptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        buff.advanceWptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.writable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.writable());
    }

        /*
         * �ǥåɥ��å��θ���1
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: readback
         *
         */
        void test_owrite_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);

          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���2
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: do_nothing
         *
         */
        void test_owrite_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���3
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: block
         * read.timeout: 3.0
         *
         */
        void test_owrite_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }
                

        /*
         * �ǥåɥ��å��θ���4
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: readback
         *
         */
        void test_dnothing_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���5
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: do_nothing
         *
         */
        void test_dnothing_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���6
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: block
         * read.timeout: 1.0
         *
         */
        void test_dnothing_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���7
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: readback
         * write.timeout: 1.0
         *
         */
        void test_block_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "readback";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���8
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: do_nothing
         * write.timeout: 1.0
         *
         */
        void test_block_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "do_nothing";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���9
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_wr()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���10 read -> write
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_rw()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }



  };
}; // namespace RingBuffer

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(RingBuffer::RingBufferTests);

#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 // RingBuffer_cpp

                if (pthread_create(&tr, NULL , reader, static_cast<void *>(&buff)) != 0) {
                  perror("pthread_create(r)");
                  return;
                }
                // �񤭹��ߥ���åɤγ���             if (pthread_create(&tw, NULL , writer, static_cast<void *>(&buff)) != 0) {
                  perror("pthread_create(w)");
                  return;
                }
          }
          else {
                // �񤭹��ߥ���åɤγ���
//           if (pthread_create(&tw, NULL , writer, static_cast<void *>(&buff)) != 0) {
                if (pthread_create(&tw, NULL , writer, &arg) != 0) {
                  perror("pthread_create(w)");
                  return;
                }
                // �ɤ߹��ߥ���åɤγ���
//            if (pthread_create(&tr, NULL , reader, static_cast<void *>(&buff)) != 0) {
                if (pthread_create(&tr, NULL , reader, &arg) != 0) {
                  perror("pthread_create(r)");
                  return;
                }
          }
          
          // ����åɤι�ή
          pthread_join(tw, NULL);
          pthread_join(tr, NULL);
        }
                
  public:
    /*!
     * @brief Constructor
     */
    RingBufferTests()
    {
    }
                
    /*!
     * @brief Destructor
     */
    ~RingBufferTests()
    {
    }
                
    /*!
     * @brief Test initialization
     */
    virtual void setUp()
    {
    }
                
    /*!
     * @brief Test finalization
     */
    virtual void tearDown()
    { 
    }
                
    /*!
     * @brief length()�᥽�åɤΥƥ���
     * 
     * - ���󥹥ȥ饯���ǻ��ꤵ�줿�Хåե�Ĺ�������������Ǥ��뤫��
     */
    void test_length()
    {
      RTC::RingBuffer<int> buff(123);
      CPPUNIT_ASSERT(buff.length() == 123);

      size_t len(456);
      buff.length(len);
      CPPUNIT_ASSERT(buff.length() == len);
    }

    /*!
     * @brief isEmpty()�᥽�åɤΥƥ���
     * 
     * - �Хåե������ľ�塢���ǤϤʤ���Ƚ�ꤵ��뤫��
     * - �Ǹ�˥ǡ������ɤ߼��줿�塢�������ǡ������񤭹��ߤ���Ƥ��ʤ���硢
     *   ����Ƚ�ꤵ��뤫��
     * - �Ǹ�˥ǡ������ɤ߼��줿�塢�������ǡ������񤭹��ߤ��줿��硢
     *   ���ǤϤʤ���Ƚ�ꤵ��뤫��
     */
    void test_isEmpty()
    {
      long int length = 10;
      RTC::RingBuffer<int> buff(length);
                        
      // (1) �Хåե������ľ�塢���ǤϤʤ���Ƚ�ꤵ��뤫��
      int initialValue = 12345;
      for (unsigned int i(0); i < buff.length(); ++i)
        {
          buff.write(initialValue);
        }
      CPPUNIT_ASSERT_EQUAL(false, buff.empty());                        
                        
      // (2) �Ǹ�˥ǡ������ɤ߼��줿�塢�������ǡ������񤭹��ߤ����
      // ���ʤ���硢���ǤϤʤ���Ƚ�ꤵ��뤫��
      int readValue;
      CPPUNIT_ASSERT_EQUAL(::RTC::BufferStatus::BUFFER_OK, buff.read(readValue));
      CPPUNIT_ASSERT_EQUAL(false, buff.empty());
                        
      // (3) �Ǹ�˥ǡ������ɤ߼��줿�塢�������ǡ������񤭹��ߤ��줿
      // ��硢���ǤϤʤ���Ƚ�ꤵ��뤫��
      int writeValue = 98765;
      CPPUNIT_ASSERT_EQUAL(RTC::BufferBase<int>::BUFFER_OK, buff.write(writeValue));
      CPPUNIT_ASSERT_EQUAL(false, buff.empty());
    }
                
                
    /*!
     * @brief isFull()�᥽�åɤΥƥ���
     * 
     * - �Хåե������ξ�硢�ե�Ƚ��ϵ��Ȥʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ե�Ƚ��Ͽ��Ȥʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ե�Ƚ��ϵ��Ȥʤ뤫��
     */
    void test_isFull()
    {
      // (1) �Хåե������ξ�硢�ե�Ƚ��ϵ��Ȥʤ뤫��
      int length1 = 10;
      RTC::RingBuffer<int> buff1(length1);
      CPPUNIT_ASSERT_EQUAL(false, buff1.full());
                        
      // (2) ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ե�Ƚ��Ͽ�
      // �Ȥʤ뤫��
      int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
      for (int i = 0; i < length2; i++) {
        buff2.write(i);
      }
      CPPUNIT_ASSERT_EQUAL(true, buff2.full());
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ե�Ƚ��ϵ�
      // �Ȥʤ뤫��
      int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i);
      }
      CPPUNIT_ASSERT_EQUAL(false, buff3.full());
    }
                                
    /*!
     * @brief init()�᥽�åɤΥƥ���
     * 
     * - ���餫����ǡ����ǽ���������塢���ꤷ���ǡ������������ɤ߽Ф��뤫��
     */
    void test_init()
    {
      // �Хåե���������ơ�init()�ǽ��������
      long int length = 10;
      RTC::RingBuffer<int> buff(length);
                        
      int value = 12345;
      for (unsigned int i(0); i < buff.length(); ++i)
        {
          buff.write(value);
        }
                        
      // ���ꤷ���ǡ������������ɤ߽Ф��뤫��
      int expected = 12345;
      for (long int i = 0; i < length; i++) {
        int actual;
        buff.read(actual);
        CPPUNIT_ASSERT_EQUAL(expected, actual);
      }
    }

    /*!
     * @brief write()�᥽�åɤ����read()�᥽�åɤΥƥ���
     * 
     * - �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ�����������
     *   �ɤ߽Ф��뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ���
     *   �񤭹�����ǡ������������ɤ߽Ф��뤫��
     * - ���Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�
     *   �Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
     */
    void test_write_read()
    {
      // (1) �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ���
      // ���������ɤ߽Ф��뤫���Хåե������������Τޤޤˤ���
      long int length1 = 3;
      RTC::RingBuffer<int> buff1(length1);
      coil::Properties prop;
      prop["write.full_policy"] = "block";
      prop["write.timeout"] = "5.0";
      prop["read.empty_policy"] = "block";
      prop["read.timeout"] = "5.0";

      buff1.init(prop);
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        if (buff1.full())
          {
            std::cout << "### FULL ###" << std::endl;
            int readValue;

            if (writeValue % 5 == 0)
              {
                while (!buff1.empty())
                  {
                    std::cout << "read timeout: " << 5 << std::endl;
                    buff1.read(readValue, 5);
                    std::cout << "read: " << readValue << std::endl;
                  }
                std::cout << "read timeout: " << 5 << std::endl;
                std::cout << "waiting 5 sec" << std::endl;
                std::cout << "read ret: " << RTC::BufferStatus::toString(buff1.read(readValue, 5)) << std::endl;
                std::cout << "read: " << readValue << std::endl;
              }
            else
              {
                buff1.read(readValue);
                std::cout << "read: " << readValue << std::endl;
              }

            if (buff1.full())
              {
                std::cout << "??? still full" << std::endl;
              }
            else
              {
                std::cout << "buffer full was blown over." << std::endl;
              }
          }
        if (buff1.empty())
          {
            std::cout << "### EMPTY ###" << std::endl;
          }

        //        std::cout << "timeout-> " << writeValue << std::endl;
        std::cout << "write ret: " << RTC::BufferStatus::toString(buff1.write(writeValue, writeValue)) << std::endl;
                                
        //        std::cout << "readable " << buff1.readable() << std::endl;
        //        std::cout << "writable " << buff1.writable() << std::endl;

        // �ɽФ�
        int readValue;
        buff1.get(readValue);
                        
        std::cout << writeValue << " == " << readValue << std::endl;

        //        buff1.read(readValue)
        // �񤭹�����ǡ������������ɤ߽Ф�������
        //      CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
        sleep(1);
      }
      return;
      // (2) ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ����������
      // �Ф�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫���Хåե���������
      // �ե���֤ˤ���
      long int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
      for (int i = 0; i < length2; i++) {
        buff2.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff2.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff2.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ��������
      // �ɽФ�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
      long int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff3.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
    }
                
    /*!
     * @brief write()�᥽�åɤ����read()�᥽�åɤΥƥ��ȡʥХåե�Ĺ���ξ���
     * 
     * - �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ�����������
     *   �ɤ߽Ф��뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ���
     *   �񤭹�����ǡ������������ɤ߽Ф��뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ���
     *   �񤭹�����ǡ������������ɤ߽Ф��뤫��
     */
    void test_write_read_with_small_length()
    {
      // (1) �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ���
      // ���������ɤ߽Ф��뤫���Хåե������������Τޤޤˤ���
      long int length1 = 2;
      RTC::RingBuffer<int> buff1(length1);
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff1.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff1.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
                        
      // (2) ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ����������
      // �Ф�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫���Хåե���������
      // �ե���֤ˤ���
      long int length2 = 2;
      RTC::RingBuffer<int> buff2(length2);
      coil::Properties prop;
      prop["write.full_policy"] = "overwrite";
      buff2.init(prop);

      for (int i = 0; i < length2; i++) {
        buff2.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
//      for (int writeValue = 0; writeValue < 100; writeValue++) {
//      // �����
//      buff2.write(writeValue);
//                              
//      // �ɽФ�
//      int readValue;
//      buff2.read(readValue);
//                              
//      // �񤭹�����ǡ������������ɤ߽Ф�������
//      CPPUNIT_ASSERT_EQUAL(writeValue+1+123, readValue);
//     }

        // �����
        /* policy��overwrite��full���֤ǽ񤭹���ȡ��Ť��ǡ������񤭤����ɤ߹���¦�Υݥ��󥿤򥤥󥯥���Ȥ��롣*/
        buff2.write(0);
                                
        CPPUNIT_ASSERT_EQUAL(true, buff2.full());
        // �ɽФ�
        int readValue;
        /* �ɤ߽Ф����ɤ߹���¦�Υݥ��󥿤򥤥󥯥��Ȥ��뤿��full���֤ǤϤʤ��ʤ� */
        buff2.read(readValue);

        CPPUNIT_ASSERT_EQUAL(false, buff2.full());
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(1+123, readValue);
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
      long int length3 = 2;
      RTC::RingBuffer<int> buff3(length3);
      coil::Properties prop3;
      prop3["write.full_policy"] = "overwrite";
      buff3.init(prop3);

      for (int i = 0; i < 1; i++) {
        buff3.write(i + 123);
      }
      { 
        // �����
        buff3.write(-1);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(123, readValue);
      }
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff3.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue-1, readValue);
      }
    }
                
    /*!
     * @brief isNew()�᥽�åɤΥƥ���
     * 
     * - �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ�
     *   �ǡ���������isNewȽ�꤬���ˤʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ����������
     *   ���Υǡ����ɽФ�Ԥä����isNewȽ�꤬���ˤʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ���������isNew
     *   Ƚ�꤬���ˤʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ����������
     *   ���Υǡ����ɽФ�Ԥä����isNewȽ�꤬���ˤʤ뤫��
     */
    void test_isNew()
    {
      // (1) �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
      long int length1 = 10;
      RTC::RingBuffer<int> buff1(length1);
      CPPUNIT_ASSERT_EQUAL(true, buff1.empty());
                        
      // ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
                        
      for (int i = 0; i < length2; i++) {
        // (2) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff2.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff2.empty());
                                
        // (3) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff2.read(readValue);
        CPPUNIT_ASSERT_EQUAL(true, buff2.empty());
      }
                        
      // �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i + 456);
      }
                        
      for (int i = 0; i < length3; i++) {
        // (4) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff3.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
                                
        // (5) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff3.read(readValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
      }
    }
    /*!
     * @brief reset()�᥽�åɤΥƥ���
     * 
     */
    void test_reset()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);

      for(int ic(0);ic<8;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.advanceRptr(3);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[3]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)5);

      buff.reset();
      CPPUNIT_ASSERT(buff.empty());
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[0]);
      buff.put(idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)0);
      
    }   
    /*!
     * @brief wptr(),put()�᥽�åɤΥƥ���
     * 
     */
    void test_wptr_put()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);
      for(int ic(0);ic<10;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.reset();
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.wptr(-ic));
      }
      buff.advanceWptr(5);
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.wptr(-ic));
      }
        
    }
    /*!
     * @brief advanceWptr()�᥽�åɤΥƥ���
     * 
     */
    void test_advanceWptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        buff.advanceRptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.readable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.readable());
    }
    /*!
     * @brief rptr(),get()�᥽�åɤΥƥ���
     * 
     */
    void test_rptr_get()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        for(int ic(0);ic<10;++ic)
        {  
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        { 
            CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.rptr(-ic));
        }
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.rptr(-ic));
        }
        buff.reset();
        buff.advanceWptr(10);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],buff.get());
            int ret;
            buff.get(ret);
            CPPUNIT_ASSERT_EQUAL(idata[ic],ret);
            buff.advanceRptr();
        }
    }
    /*!
     * @brief advanceRptr()�᥽�åɤΥƥ���
     * 
     */
    void test_advanceRptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        buff.advanceWptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.writable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.writable());
    }

        /*
         * �ǥåɥ��å��θ���1
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: readback
         *
         */
        void test_owrite_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);

          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���2
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: do_nothing
         *
         */
        void test_owrite_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���3
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: block
         * read.timeout: 3.0
         *
         */
        void test_owrite_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }
                

        /*
         * �ǥåɥ��å��θ���4
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: readback
         *
         */
        void test_dnothing_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���5
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: do_nothing
         *
         */
        void test_dnothing_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���6
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: block
         * read.timeout: 1.0
         *
         */
        void test_dnothing_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���7
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: readback
         * write.timeout: 1.0
         *
         */
        void test_block_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "readback";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���8
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: do_nothing
         * write.timeout: 1.0
         *
         */
        void test_block_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "do_nothing";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���9
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_wr()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���10 read -> write
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_rw()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }



  };
}; // namespace RingBuffer

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(RingBuffer::RingBufferTests);

#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 // RingBuffer_cpp

                if (pthread_create(&tw, NULL , writer, static_cast<void *>(&buff)) != 0) {
                  perror("pthread_create(w)");
                  return;
                }
          }
          else {
                // �񤭹��ߥ���åɤγ���//           if (pthread_create(&tw, NULL , writer, static_cast<void *>(&buff)) != 0) {
                if (pthread_create(&tw, NULL , writer, &arg) != 0) {
                  perror("pthread_create(w)");
                  return;
                }
                // �ɤ߹��ߥ���åɤγ���
//            if (pthread_create(&tr, NULL , reader, static_cast<void *>(&buff)) != 0) {
                if (pthread_create(&tr, NULL , reader, &arg) != 0) {
                  perror("pthread_create(r)");
                  return;
                }
          }
          
          // ����åɤι�ή
          pthread_join(tw, NULL);
          pthread_join(tr, NULL);
        }
                
  public:
    /*!
     * @brief Constructor
     */
    RingBufferTests()
    {
    }
                
    /*!
     * @brief Destructor
     */
    ~RingBufferTests()
    {
    }
                
    /*!
     * @brief Test initialization
     */
    virtual void setUp()
    {
    }
                
    /*!
     * @brief Test finalization
     */
    virtual void tearDown()
    { 
    }
                
    /*!
     * @brief length()�᥽�åɤΥƥ���
     * 
     * - ���󥹥ȥ饯���ǻ��ꤵ�줿�Хåե�Ĺ�������������Ǥ��뤫��
     */
    void test_length()
    {
      RTC::RingBuffer<int> buff(123);
      CPPUNIT_ASSERT(buff.length() == 123);

      size_t len(456);
      buff.length(len);
      CPPUNIT_ASSERT(buff.length() == len);
    }

    /*!
     * @brief isEmpty()�᥽�åɤΥƥ���
     * 
     * - �Хåե������ľ�塢���ǤϤʤ���Ƚ�ꤵ��뤫��
     * - �Ǹ�˥ǡ������ɤ߼��줿�塢�������ǡ������񤭹��ߤ���Ƥ��ʤ���硢
     *   ����Ƚ�ꤵ��뤫��
     * - �Ǹ�˥ǡ������ɤ߼��줿�塢�������ǡ������񤭹��ߤ��줿��硢
     *   ���ǤϤʤ���Ƚ�ꤵ��뤫��
     */
    void test_isEmpty()
    {
      long int length = 10;
      RTC::RingBuffer<int> buff(length);
                        
      // (1) �Хåե������ľ�塢���ǤϤʤ���Ƚ�ꤵ��뤫��
      int initialValue = 12345;
      for (unsigned int i(0); i < buff.length(); ++i)
        {
          buff.write(initialValue);
        }
      CPPUNIT_ASSERT_EQUAL(false, buff.empty());                        
                        
      // (2) �Ǹ�˥ǡ������ɤ߼��줿�塢�������ǡ������񤭹��ߤ����
      // ���ʤ���硢���ǤϤʤ���Ƚ�ꤵ��뤫��
      int readValue;
      CPPUNIT_ASSERT_EQUAL(::RTC::BufferStatus::BUFFER_OK, buff.read(readValue));
      CPPUNIT_ASSERT_EQUAL(false, buff.empty());
                        
      // (3) �Ǹ�˥ǡ������ɤ߼��줿�塢�������ǡ������񤭹��ߤ��줿
      // ��硢���ǤϤʤ���Ƚ�ꤵ��뤫��
      int writeValue = 98765;
      CPPUNIT_ASSERT_EQUAL(RTC::BufferBase<int>::BUFFER_OK, buff.write(writeValue));
      CPPUNIT_ASSERT_EQUAL(false, buff.empty());
    }
                
                
    /*!
     * @brief isFull()�᥽�åɤΥƥ���
     * 
     * - �Хåե������ξ�硢�ե�Ƚ��ϵ��Ȥʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ե�Ƚ��Ͽ��Ȥʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ե�Ƚ��ϵ��Ȥʤ뤫��
     */
    void test_isFull()
    {
      // (1) �Хåե������ξ�硢�ե�Ƚ��ϵ��Ȥʤ뤫��
      int length1 = 10;
      RTC::RingBuffer<int> buff1(length1);
      CPPUNIT_ASSERT_EQUAL(false, buff1.full());
                        
      // (2) ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ե�Ƚ��Ͽ�
      // �Ȥʤ뤫��
      int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
      for (int i = 0; i < length2; i++) {
        buff2.write(i);
      }
      CPPUNIT_ASSERT_EQUAL(true, buff2.full());
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ե�Ƚ��ϵ�
      // �Ȥʤ뤫��
      int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i);
      }
      CPPUNIT_ASSERT_EQUAL(false, buff3.full());
    }
                                
    /*!
     * @brief init()�᥽�åɤΥƥ���
     * 
     * - ���餫����ǡ����ǽ���������塢���ꤷ���ǡ������������ɤ߽Ф��뤫��
     */
    void test_init()
    {
      // �Хåե���������ơ�init()�ǽ��������
      long int length = 10;
      RTC::RingBuffer<int> buff(length);
                        
      int value = 12345;
      for (unsigned int i(0); i < buff.length(); ++i)
        {
          buff.write(value);
        }
                        
      // ���ꤷ���ǡ������������ɤ߽Ф��뤫��
      int expected = 12345;
      for (long int i = 0; i < length; i++) {
        int actual;
        buff.read(actual);
        CPPUNIT_ASSERT_EQUAL(expected, actual);
      }
    }

    /*!
     * @brief write()�᥽�åɤ����read()�᥽�åɤΥƥ���
     * 
     * - �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ�����������
     *   �ɤ߽Ф��뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ���
     *   �񤭹�����ǡ������������ɤ߽Ф��뤫��
     * - ���Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�
     *   �Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
     */
    void test_write_read()
    {
      // (1) �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ���
      // ���������ɤ߽Ф��뤫���Хåե������������Τޤޤˤ���
      long int length1 = 3;
      RTC::RingBuffer<int> buff1(length1);
      coil::Properties prop;
      prop["write.full_policy"] = "block";
      prop["write.timeout"] = "5.0";
      prop["read.empty_policy"] = "block";
      prop["read.timeout"] = "5.0";

      buff1.init(prop);
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        if (buff1.full())
          {
            std::cout << "### FULL ###" << std::endl;
            int readValue;

            if (writeValue % 5 == 0)
              {
                while (!buff1.empty())
                  {
                    std::cout << "read timeout: " << 5 << std::endl;
                    buff1.read(readValue, 5);
                    std::cout << "read: " << readValue << std::endl;
                  }
                std::cout << "read timeout: " << 5 << std::endl;
                std::cout << "waiting 5 sec" << std::endl;
                std::cout << "read ret: " << RTC::BufferStatus::toString(buff1.read(readValue, 5)) << std::endl;
                std::cout << "read: " << readValue << std::endl;
              }
            else
              {
                buff1.read(readValue);
                std::cout << "read: " << readValue << std::endl;
              }

            if (buff1.full())
              {
                std::cout << "??? still full" << std::endl;
              }
            else
              {
                std::cout << "buffer full was blown over." << std::endl;
              }
          }
        if (buff1.empty())
          {
            std::cout << "### EMPTY ###" << std::endl;
          }

        //        std::cout << "timeout-> " << writeValue << std::endl;
        std::cout << "write ret: " << RTC::BufferStatus::toString(buff1.write(writeValue, writeValue)) << std::endl;
                                
        //        std::cout << "readable " << buff1.readable() << std::endl;
        //        std::cout << "writable " << buff1.writable() << std::endl;

        // �ɽФ�
        int readValue;
        buff1.get(readValue);
                        
        std::cout << writeValue << " == " << readValue << std::endl;

        //        buff1.read(readValue)
        // �񤭹�����ǡ������������ɤ߽Ф�������
        //      CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
        sleep(1);
      }
      return;
      // (2) ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ����������
      // �Ф�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫���Хåե���������
      // �ե���֤ˤ���
      long int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
      for (int i = 0; i < length2; i++) {
        buff2.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff2.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff2.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ��������
      // �ɽФ�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
      long int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff3.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
    }
                
    /*!
     * @brief write()�᥽�åɤ����read()�᥽�åɤΥƥ��ȡʥХåե�Ĺ���ξ���
     * 
     * - �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ�����������
     *   �ɤ߽Ф��뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ���
     *   �񤭹�����ǡ������������ɤ߽Ф��뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ���
     *   �񤭹�����ǡ������������ɤ߽Ф��뤫��
     */
    void test_write_read_with_small_length()
    {
      // (1) �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ���
      // ���������ɤ߽Ф��뤫���Хåե������������Τޤޤˤ���
      long int length1 = 2;
      RTC::RingBuffer<int> buff1(length1);
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff1.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff1.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
                        
      // (2) ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ����������
      // �Ф�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫���Хåե���������
      // �ե���֤ˤ���
      long int length2 = 2;
      RTC::RingBuffer<int> buff2(length2);
      coil::Properties prop;
      prop["write.full_policy"] = "overwrite";
      buff2.init(prop);

      for (int i = 0; i < length2; i++) {
        buff2.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
//      for (int writeValue = 0; writeValue < 100; writeValue++) {
//      // �����
//      buff2.write(writeValue);
//                              
//      // �ɽФ�
//      int readValue;
//      buff2.read(readValue);
//                              
//      // �񤭹�����ǡ������������ɤ߽Ф�������
//      CPPUNIT_ASSERT_EQUAL(writeValue+1+123, readValue);
//     }

        // �����
        /* policy��overwrite��full���֤ǽ񤭹���ȡ��Ť��ǡ������񤭤����ɤ߹���¦�Υݥ��󥿤򥤥󥯥���Ȥ��롣*/
        buff2.write(0);
                                
        CPPUNIT_ASSERT_EQUAL(true, buff2.full());
        // �ɽФ�
        int readValue;
        /* �ɤ߽Ф����ɤ߹���¦�Υݥ��󥿤򥤥󥯥��Ȥ��뤿��full���֤ǤϤʤ��ʤ� */
        buff2.read(readValue);

        CPPUNIT_ASSERT_EQUAL(false, buff2.full());
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(1+123, readValue);
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
      long int length3 = 2;
      RTC::RingBuffer<int> buff3(length3);
      coil::Properties prop3;
      prop3["write.full_policy"] = "overwrite";
      buff3.init(prop3);

      for (int i = 0; i < 1; i++) {
        buff3.write(i + 123);
      }
      { 
        // �����
        buff3.write(-1);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(123, readValue);
      }
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff3.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue-1, readValue);
      }
    }
                
    /*!
     * @brief isNew()�᥽�åɤΥƥ���
     * 
     * - �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ�
     *   �ǡ���������isNewȽ�꤬���ˤʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ����������
     *   ���Υǡ����ɽФ�Ԥä����isNewȽ�꤬���ˤʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ���������isNew
     *   Ƚ�꤬���ˤʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ����������
     *   ���Υǡ����ɽФ�Ԥä����isNewȽ�꤬���ˤʤ뤫��
     */
    void test_isNew()
    {
      // (1) �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
      long int length1 = 10;
      RTC::RingBuffer<int> buff1(length1);
      CPPUNIT_ASSERT_EQUAL(true, buff1.empty());
                        
      // ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
                        
      for (int i = 0; i < length2; i++) {
        // (2) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff2.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff2.empty());
                                
        // (3) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff2.read(readValue);
        CPPUNIT_ASSERT_EQUAL(true, buff2.empty());
      }
                        
      // �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i + 456);
      }
                        
      for (int i = 0; i < length3; i++) {
        // (4) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff3.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
                                
        // (5) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff3.read(readValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
      }
    }
    /*!
     * @brief reset()�᥽�åɤΥƥ���
     * 
     */
    void test_reset()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);

      for(int ic(0);ic<8;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.advanceRptr(3);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[3]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)5);

      buff.reset();
      CPPUNIT_ASSERT(buff.empty());
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[0]);
      buff.put(idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)0);
      
    }   
    /*!
     * @brief wptr(),put()�᥽�åɤΥƥ���
     * 
     */
    void test_wptr_put()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);
      for(int ic(0);ic<10;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.reset();
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.wptr(-ic));
      }
      buff.advanceWptr(5);
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.wptr(-ic));
      }
        
    }
    /*!
     * @brief advanceWptr()�᥽�åɤΥƥ���
     * 
     */
    void test_advanceWptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        buff.advanceRptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.readable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.readable());
    }
    /*!
     * @brief rptr(),get()�᥽�åɤΥƥ���
     * 
     */
    void test_rptr_get()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        for(int ic(0);ic<10;++ic)
        {  
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        { 
            CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.rptr(-ic));
        }
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.rptr(-ic));
        }
        buff.reset();
        buff.advanceWptr(10);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],buff.get());
            int ret;
            buff.get(ret);
            CPPUNIT_ASSERT_EQUAL(idata[ic],ret);
            buff.advanceRptr();
        }
    }
    /*!
     * @brief advanceRptr()�᥽�åɤΥƥ���
     * 
     */
    void test_advanceRptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        buff.advanceWptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.writable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.writable());
    }

        /*
         * �ǥåɥ��å��θ���1
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: readback
         *
         */
        void test_owrite_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);

          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���2
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: do_nothing
         *
         */
        void test_owrite_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���3
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: block
         * read.timeout: 3.0
         *
         */
        void test_owrite_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }
                

        /*
         * �ǥåɥ��å��θ���4
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: readback
         *
         */
        void test_dnothing_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���5
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: do_nothing
         *
         */
        void test_dnothing_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���6
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: block
         * read.timeout: 1.0
         *
         */
        void test_dnothing_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���7
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: readback
         * write.timeout: 1.0
         *
         */
        void test_block_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "readback";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���8
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: do_nothing
         * write.timeout: 1.0
         *
         */
        void test_block_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "do_nothing";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���9
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_wr()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���10 read -> write
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_rw()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }



  };
}; // namespace RingBuffer

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(RingBuffer::RingBufferTests);

#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 // RingBuffer_cpp

//              if (pthread_create(&tw, NULL , writer, static_cast<void *>(&buff)) != 0) {
                if (pthread_create(&tw, NULL , writer, &arg) != 0) {
                  perror("pthread_create(w)");
                  return;
                }
                // �ɤ߹��ߥ���åɤγ���//            if (pthread_create(&tr, NULL , reader, static_cast<void *>(&buff)) != 0) {
                if (pthread_create(&tr, NULL , reader, &arg) != 0) {
                  perror("pthread_create(r)");
                  return;
                }
          }
          
          // ����åɤι�ή
          pthread_join(tw, NULL);
          pthread_join(tr, NULL);
        }
                
  public:
    /*!
     * @brief Constructor
     */
    RingBufferTests()
    {
    }
                
    /*!
     * @brief Destructor
     */
    ~RingBufferTests()
    {
    }
                
    /*!
     * @brief Test initialization
     */
    virtual void setUp()
    {
    }
                
    /*!
     * @brief Test finalization
     */
    virtual void tearDown()
    { 
    }
                
    /*!
     * @brief length()�᥽�åɤΥƥ���
     * 
     * - ���󥹥ȥ饯���ǻ��ꤵ�줿�Хåե�Ĺ�������������Ǥ��뤫��
     */
    void test_length()
    {
      RTC::RingBuffer<int> buff(123);
      CPPUNIT_ASSERT(buff.length() == 123);

      size_t len(456);
      buff.length(len);
      CPPUNIT_ASSERT(buff.length() == len);
    }

    /*!
     * @brief isEmpty()�᥽�åɤΥƥ���
     * 
     * - �Хåե������ľ�塢���ǤϤʤ���Ƚ�ꤵ��뤫��
     * - �Ǹ�˥ǡ������ɤ߼��줿�塢�������ǡ������񤭹��ߤ���Ƥ��ʤ���硢
     *   ����Ƚ�ꤵ��뤫��
     * - �Ǹ�˥ǡ������ɤ߼��줿�塢�������ǡ������񤭹��ߤ��줿��硢
     *   ���ǤϤʤ���Ƚ�ꤵ��뤫��
     */
    void test_isEmpty()
    {
      long int length = 10;
      RTC::RingBuffer<int> buff(length);
                        
      // (1) �Хåե������ľ�塢���ǤϤʤ���Ƚ�ꤵ��뤫��
      int initialValue = 12345;
      for (unsigned int i(0); i < buff.length(); ++i)
        {
          buff.write(initialValue);
        }
      CPPUNIT_ASSERT_EQUAL(false, buff.empty());                        
                        
      // (2) �Ǹ�˥ǡ������ɤ߼��줿�塢�������ǡ������񤭹��ߤ����
      // ���ʤ���硢���ǤϤʤ���Ƚ�ꤵ��뤫��
      int readValue;
      CPPUNIT_ASSERT_EQUAL(::RTC::BufferStatus::BUFFER_OK, buff.read(readValue));
      CPPUNIT_ASSERT_EQUAL(false, buff.empty());
                        
      // (3) �Ǹ�˥ǡ������ɤ߼��줿�塢�������ǡ������񤭹��ߤ��줿
      // ��硢���ǤϤʤ���Ƚ�ꤵ��뤫��
      int writeValue = 98765;
      CPPUNIT_ASSERT_EQUAL(RTC::BufferBase<int>::BUFFER_OK, buff.write(writeValue));
      CPPUNIT_ASSERT_EQUAL(false, buff.empty());
    }
                
                
    /*!
     * @brief isFull()�᥽�åɤΥƥ���
     * 
     * - �Хåե������ξ�硢�ե�Ƚ��ϵ��Ȥʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ե�Ƚ��Ͽ��Ȥʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ե�Ƚ��ϵ��Ȥʤ뤫��
     */
    void test_isFull()
    {
      // (1) �Хåե������ξ�硢�ե�Ƚ��ϵ��Ȥʤ뤫��
      int length1 = 10;
      RTC::RingBuffer<int> buff1(length1);
      CPPUNIT_ASSERT_EQUAL(false, buff1.full());
                        
      // (2) ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ե�Ƚ��Ͽ�
      // �Ȥʤ뤫��
      int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
      for (int i = 0; i < length2; i++) {
        buff2.write(i);
      }
      CPPUNIT_ASSERT_EQUAL(true, buff2.full());
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ե�Ƚ��ϵ�
      // �Ȥʤ뤫��
      int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i);
      }
      CPPUNIT_ASSERT_EQUAL(false, buff3.full());
    }
                                
    /*!
     * @brief init()�᥽�åɤΥƥ���
     * 
     * - ���餫����ǡ����ǽ���������塢���ꤷ���ǡ������������ɤ߽Ф��뤫��
     */
    void test_init()
    {
      // �Хåե���������ơ�init()�ǽ��������
      long int length = 10;
      RTC::RingBuffer<int> buff(length);
                        
      int value = 12345;
      for (unsigned int i(0); i < buff.length(); ++i)
        {
          buff.write(value);
        }
                        
      // ���ꤷ���ǡ������������ɤ߽Ф��뤫��
      int expected = 12345;
      for (long int i = 0; i < length; i++) {
        int actual;
        buff.read(actual);
        CPPUNIT_ASSERT_EQUAL(expected, actual);
      }
    }

    /*!
     * @brief write()�᥽�åɤ����read()�᥽�åɤΥƥ���
     * 
     * - �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ�����������
     *   �ɤ߽Ф��뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ���
     *   �񤭹�����ǡ������������ɤ߽Ф��뤫��
     * - ���Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�
     *   �Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
     */
    void test_write_read()
    {
      // (1) �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ���
      // ���������ɤ߽Ф��뤫���Хåե������������Τޤޤˤ���
      long int length1 = 3;
      RTC::RingBuffer<int> buff1(length1);
      coil::Properties prop;
      prop["write.full_policy"] = "block";
      prop["write.timeout"] = "5.0";
      prop["read.empty_policy"] = "block";
      prop["read.timeout"] = "5.0";

      buff1.init(prop);
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        if (buff1.full())
          {
            std::cout << "### FULL ###" << std::endl;
            int readValue;

            if (writeValue % 5 == 0)
              {
                while (!buff1.empty())
                  {
                    std::cout << "read timeout: " << 5 << std::endl;
                    buff1.read(readValue, 5);
                    std::cout << "read: " << readValue << std::endl;
                  }
                std::cout << "read timeout: " << 5 << std::endl;
                std::cout << "waiting 5 sec" << std::endl;
                std::cout << "read ret: " << RTC::BufferStatus::toString(buff1.read(readValue, 5)) << std::endl;
                std::cout << "read: " << readValue << std::endl;
              }
            else
              {
                buff1.read(readValue);
                std::cout << "read: " << readValue << std::endl;
              }

            if (buff1.full())
              {
                std::cout << "??? still full" << std::endl;
              }
            else
              {
                std::cout << "buffer full was blown over." << std::endl;
              }
          }
        if (buff1.empty())
          {
            std::cout << "### EMPTY ###" << std::endl;
          }

        //        std::cout << "timeout-> " << writeValue << std::endl;
        std::cout << "write ret: " << RTC::BufferStatus::toString(buff1.write(writeValue, writeValue)) << std::endl;
                                
        //        std::cout << "readable " << buff1.readable() << std::endl;
        //        std::cout << "writable " << buff1.writable() << std::endl;

        // �ɽФ�
        int readValue;
        buff1.get(readValue);
                        
        std::cout << writeValue << " == " << readValue << std::endl;

        //        buff1.read(readValue)
        // �񤭹�����ǡ������������ɤ߽Ф�������
        //      CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
        sleep(1);
      }
      return;
      // (2) ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ����������
      // �Ф�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫���Хåե���������
      // �ե���֤ˤ���
      long int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
      for (int i = 0; i < length2; i++) {
        buff2.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff2.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff2.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ��������
      // �ɽФ�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
      long int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff3.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
    }
                
    /*!
     * @brief write()�᥽�åɤ����read()�᥽�åɤΥƥ��ȡʥХåե�Ĺ���ξ���
     * 
     * - �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ�����������
     *   �ɤ߽Ф��뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ���
     *   �񤭹�����ǡ������������ɤ߽Ф��뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ���
     *   �񤭹�����ǡ������������ɤ߽Ф��뤫��
     */
    void test_write_read_with_small_length()
    {
      // (1) �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ���
      // ���������ɤ߽Ф��뤫���Хåե������������Τޤޤˤ���
      long int length1 = 2;
      RTC::RingBuffer<int> buff1(length1);
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff1.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff1.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
                        
      // (2) ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ����������
      // �Ф�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫���Хåե���������
      // �ե���֤ˤ���
      long int length2 = 2;
      RTC::RingBuffer<int> buff2(length2);
      coil::Properties prop;
      prop["write.full_policy"] = "overwrite";
      buff2.init(prop);

      for (int i = 0; i < length2; i++) {
        buff2.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
//      for (int writeValue = 0; writeValue < 100; writeValue++) {
//      // �����
//      buff2.write(writeValue);
//                              
//      // �ɽФ�
//      int readValue;
//      buff2.read(readValue);
//                              
//      // �񤭹�����ǡ������������ɤ߽Ф�������
//      CPPUNIT_ASSERT_EQUAL(writeValue+1+123, readValue);
//     }

        // �����
        /* policy��overwrite��full���֤ǽ񤭹���ȡ��Ť��ǡ������񤭤����ɤ߹���¦�Υݥ��󥿤򥤥󥯥���Ȥ��롣*/
        buff2.write(0);
                                
        CPPUNIT_ASSERT_EQUAL(true, buff2.full());
        // �ɽФ�
        int readValue;
        /* �ɤ߽Ф����ɤ߹���¦�Υݥ��󥿤򥤥󥯥��Ȥ��뤿��full���֤ǤϤʤ��ʤ� */
        buff2.read(readValue);

        CPPUNIT_ASSERT_EQUAL(false, buff2.full());
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(1+123, readValue);
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
      long int length3 = 2;
      RTC::RingBuffer<int> buff3(length3);
      coil::Properties prop3;
      prop3["write.full_policy"] = "overwrite";
      buff3.init(prop3);

      for (int i = 0; i < 1; i++) {
        buff3.write(i + 123);
      }
      { 
        // �����
        buff3.write(-1);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(123, readValue);
      }
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff3.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue-1, readValue);
      }
    }
                
    /*!
     * @brief isNew()�᥽�åɤΥƥ���
     * 
     * - �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ�
     *   �ǡ���������isNewȽ�꤬���ˤʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ����������
     *   ���Υǡ����ɽФ�Ԥä����isNewȽ�꤬���ˤʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ���������isNew
     *   Ƚ�꤬���ˤʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ����������
     *   ���Υǡ����ɽФ�Ԥä����isNewȽ�꤬���ˤʤ뤫��
     */
    void test_isNew()
    {
      // (1) �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
      long int length1 = 10;
      RTC::RingBuffer<int> buff1(length1);
      CPPUNIT_ASSERT_EQUAL(true, buff1.empty());
                        
      // ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
                        
      for (int i = 0; i < length2; i++) {
        // (2) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff2.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff2.empty());
                                
        // (3) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff2.read(readValue);
        CPPUNIT_ASSERT_EQUAL(true, buff2.empty());
      }
                        
      // �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i + 456);
      }
                        
      for (int i = 0; i < length3; i++) {
        // (4) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff3.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
                                
        // (5) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff3.read(readValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
      }
    }
    /*!
     * @brief reset()�᥽�åɤΥƥ���
     * 
     */
    void test_reset()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);

      for(int ic(0);ic<8;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.advanceRptr(3);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[3]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)5);

      buff.reset();
      CPPUNIT_ASSERT(buff.empty());
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[0]);
      buff.put(idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)0);
      
    }   
    /*!
     * @brief wptr(),put()�᥽�åɤΥƥ���
     * 
     */
    void test_wptr_put()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);
      for(int ic(0);ic<10;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.reset();
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.wptr(-ic));
      }
      buff.advanceWptr(5);
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.wptr(-ic));
      }
        
    }
    /*!
     * @brief advanceWptr()�᥽�åɤΥƥ���
     * 
     */
    void test_advanceWptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        buff.advanceRptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.readable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.readable());
    }
    /*!
     * @brief rptr(),get()�᥽�åɤΥƥ���
     * 
     */
    void test_rptr_get()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        for(int ic(0);ic<10;++ic)
        {  
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        { 
            CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.rptr(-ic));
        }
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.rptr(-ic));
        }
        buff.reset();
        buff.advanceWptr(10);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],buff.get());
            int ret;
            buff.get(ret);
            CPPUNIT_ASSERT_EQUAL(idata[ic],ret);
            buff.advanceRptr();
        }
    }
    /*!
     * @brief advanceRptr()�᥽�åɤΥƥ���
     * 
     */
    void test_advanceRptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        buff.advanceWptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.writable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.writable());
    }

        /*
         * �ǥåɥ��å��θ���1
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: readback
         *
         */
        void test_owrite_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);

          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���2
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: do_nothing
         *
         */
        void test_owrite_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���3
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: block
         * read.timeout: 3.0
         *
         */
        void test_owrite_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }
                

        /*
         * �ǥåɥ��å��θ���4
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: readback
         *
         */
        void test_dnothing_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���5
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: do_nothing
         *
         */
        void test_dnothing_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���6
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: block
         * read.timeout: 1.0
         *
         */
        void test_dnothing_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���7
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: readback
         * write.timeout: 1.0
         *
         */
        void test_block_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "readback";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���8
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: do_nothing
         * write.timeout: 1.0
         *
         */
        void test_block_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "do_nothing";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���9
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_wr()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���10 read -> write
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_rw()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }



  };
}; // namespace RingBuffer

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(RingBuffer::RingBufferTests);

#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 // RingBuffer_cpp

//              if (pthread_create(&tr, NULL , reader, static_cast<void *>(&buff)) != 0) {
                if (pthread_create(&tr, NULL , reader, &arg) != 0) {
                  perror("pthread_create(r)");
                  return;
                }
          }
          
          // ����åɤι�ή
          pthread_join(tw, NULL);
          pthread_join(tr, NULL);
        }
                
  public:
    RingBufferTests()
    {
    }
                
    ~RingBufferTests()
    {
    }
                
    virtual void setUp()
    {
    }
                
    virtual void tearDown()
    { 
    }
                
    void test_length()
    {
      RTC::RingBuffer<int> buff(123);
      CPPUNIT_ASSERT(buff.length() == 123);

      size_t len(456);
      buff.length(len);
      CPPUNIT_ASSERT(buff.length() == len);
    }

    void test_isEmpty()
    {
      long int length = 10;
      RTC::RingBuffer<int> buff(length);
                        
      // (1) �Хåե������ľ�塢���ǤϤʤ���Ƚ�ꤵ��뤫��
      int initialValue = 12345;
      for (unsigned int i(0); i < buff.length(); ++i)
        {
          buff.write(initialValue);
        }
      CPPUNIT_ASSERT_EQUAL(false, buff.empty());                        
                        
      // (2) �Ǹ�˥ǡ������ɤ߼��줿�塢�������ǡ������񤭹��ߤ����      // ���ʤ���硢���ǤϤʤ���Ƚ�ꤵ��뤫��
      int readValue;
      CPPUNIT_ASSERT_EQUAL(::RTC::BufferStatus::BUFFER_OK, buff.read(readValue));
      CPPUNIT_ASSERT_EQUAL(false, buff.empty());
                        
      // (3) �Ǹ�˥ǡ������ɤ߼��줿�塢�������ǡ������񤭹��ߤ��줿
      // ��硢���ǤϤʤ���Ƚ�ꤵ��뤫��
      int writeValue = 98765;
      CPPUNIT_ASSERT_EQUAL(RTC::BufferBase<int>::BUFFER_OK, buff.write(writeValue));
      CPPUNIT_ASSERT_EQUAL(false, buff.empty());
    }
                
                
    /*!
     * @brief isFull()�᥽�åɤΥƥ���
     * 
     * - �Хåե������ξ�硢�ե�Ƚ��ϵ��Ȥʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ե�Ƚ��Ͽ��Ȥʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ե�Ƚ��ϵ��Ȥʤ뤫��
     */
    void test_isFull()
    {
      // (1) �Хåե������ξ�硢�ե�Ƚ��ϵ��Ȥʤ뤫��
      int length1 = 10;
      RTC::RingBuffer<int> buff1(length1);
      CPPUNIT_ASSERT_EQUAL(false, buff1.full());
                        
      // (2) ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ե�Ƚ��Ͽ�
      // �Ȥʤ뤫��
      int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
      for (int i = 0; i < length2; i++) {
        buff2.write(i);
      }
      CPPUNIT_ASSERT_EQUAL(true, buff2.full());
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ե�Ƚ��ϵ�
      // �Ȥʤ뤫��
      int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i);
      }
      CPPUNIT_ASSERT_EQUAL(false, buff3.full());
    }
                                
    /*!
     * @brief init()�᥽�åɤΥƥ���
     * 
     * - ���餫����ǡ����ǽ���������塢���ꤷ���ǡ������������ɤ߽Ф��뤫��
     */
    void test_init()
    {
      // �Хåե���������ơ�init()�ǽ��������
      long int length = 10;
      RTC::RingBuffer<int> buff(length);
                        
      int value = 12345;
      for (unsigned int i(0); i < buff.length(); ++i)
        {
          buff.write(value);
        }
                        
      // ���ꤷ���ǡ������������ɤ߽Ф��뤫��
      int expected = 12345;
      for (long int i = 0; i < length; i++) {
        int actual;
        buff.read(actual);
        CPPUNIT_ASSERT_EQUAL(expected, actual);
      }
    }

    /*!
     * @brief write()�᥽�åɤ����read()�᥽�åɤΥƥ���
     * 
     * - �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ�����������
     *   �ɤ߽Ф��뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ���
     *   �񤭹�����ǡ������������ɤ߽Ф��뤫��
     * - ���Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�
     *   �Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
     */
    void test_write_read()
    {
      // (1) �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ���
      // ���������ɤ߽Ф��뤫���Хåե������������Τޤޤˤ���
      long int length1 = 3;
      RTC::RingBuffer<int> buff1(length1);
      coil::Properties prop;
      prop["write.full_policy"] = "block";
      prop["write.timeout"] = "5.0";
      prop["read.empty_policy"] = "block";
      prop["read.timeout"] = "5.0";

      buff1.init(prop);
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        if (buff1.full())
          {
            std::cout << "### FULL ###" << std::endl;
            int readValue;

            if (writeValue % 5 == 0)
              {
                while (!buff1.empty())
                  {
                    std::cout << "read timeout: " << 5 << std::endl;
                    buff1.read(readValue, 5);
                    std::cout << "read: " << readValue << std::endl;
                  }
                std::cout << "read timeout: " << 5 << std::endl;
                std::cout << "waiting 5 sec" << std::endl;
                std::cout << "read ret: " << RTC::BufferStatus::toString(buff1.read(readValue, 5)) << std::endl;
                std::cout << "read: " << readValue << std::endl;
              }
            else
              {
                buff1.read(readValue);
                std::cout << "read: " << readValue << std::endl;
              }

            if (buff1.full())
              {
                std::cout << "??? still full" << std::endl;
              }
            else
              {
                std::cout << "buffer full was blown over." << std::endl;
              }
          }
        if (buff1.empty())
          {
            std::cout << "### EMPTY ###" << std::endl;
          }

        //        std::cout << "timeout-> " << writeValue << std::endl;
        std::cout << "write ret: " << RTC::BufferStatus::toString(buff1.write(writeValue, writeValue)) << std::endl;
                                
        //        std::cout << "readable " << buff1.readable() << std::endl;
        //        std::cout << "writable " << buff1.writable() << std::endl;

        // �ɽФ�
        int readValue;
        buff1.get(readValue);
                        
        std::cout << writeValue << " == " << readValue << std::endl;

        //        buff1.read(readValue)
        // �񤭹�����ǡ������������ɤ߽Ф�������
        //      CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
        sleep(1);
      }
      return;
      // (2) ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ����������
      // �Ф�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫���Хåե���������
      // �ե���֤ˤ���
      long int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
      for (int i = 0; i < length2; i++) {
        buff2.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff2.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff2.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ��������
      // �ɽФ�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
      long int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff3.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
    }
                
    /*!
     * @brief write()�᥽�åɤ����read()�᥽�åɤΥƥ��ȡʥХåե�Ĺ���ξ���
     * 
     * - �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ�����������
     *   �ɤ߽Ф��뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ���
     *   �񤭹�����ǡ������������ɤ߽Ф��뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ���
     *   �񤭹�����ǡ������������ɤ߽Ф��뤫��
     */
    void test_write_read_with_small_length()
    {
      // (1) �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ���
      // ���������ɤ߽Ф��뤫���Хåե������������Τޤޤˤ���
      long int length1 = 2;
      RTC::RingBuffer<int> buff1(length1);
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff1.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff1.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
                        
      // (2) ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ����������
      // �Ф�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫���Хåե���������
      // �ե���֤ˤ���
      long int length2 = 2;
      RTC::RingBuffer<int> buff2(length2);
      coil::Properties prop;
      prop["write.full_policy"] = "overwrite";
      buff2.init(prop);

      for (int i = 0; i < length2; i++) {
        buff2.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
//      for (int writeValue = 0; writeValue < 100; writeValue++) {
//      // �����
//      buff2.write(writeValue);
//                              
//      // �ɽФ�
//      int readValue;
//      buff2.read(readValue);
//                              
//      // �񤭹�����ǡ������������ɤ߽Ф�������
//      CPPUNIT_ASSERT_EQUAL(writeValue+1+123, readValue);
//     }

        // �����
        /* policy��overwrite��full���֤ǽ񤭹���ȡ��Ť��ǡ������񤭤����ɤ߹���¦�Υݥ��󥿤򥤥󥯥���Ȥ��롣*/
        buff2.write(0);
                                
        CPPUNIT_ASSERT_EQUAL(true, buff2.full());
        // �ɽФ�
        int readValue;
        /* �ɤ߽Ф����ɤ߹���¦�Υݥ��󥿤򥤥󥯥��Ȥ��뤿��full���֤ǤϤʤ��ʤ� */
        buff2.read(readValue);

        CPPUNIT_ASSERT_EQUAL(false, buff2.full());
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(1+123, readValue);
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
      long int length3 = 2;
      RTC::RingBuffer<int> buff3(length3);
      coil::Properties prop3;
      prop3["write.full_policy"] = "overwrite";
      buff3.init(prop3);

      for (int i = 0; i < 1; i++) {
        buff3.write(i + 123);
      }
      { 
        // �����
        buff3.write(-1);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(123, readValue);
      }
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff3.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue-1, readValue);
      }
    }
                
    /*!
     * @brief isNew()�᥽�åɤΥƥ���
     * 
     * - �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ�
     *   �ǡ���������isNewȽ�꤬���ˤʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ����������
     *   ���Υǡ����ɽФ�Ԥä����isNewȽ�꤬���ˤʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ���������isNew
     *   Ƚ�꤬���ˤʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ����������
     *   ���Υǡ����ɽФ�Ԥä����isNewȽ�꤬���ˤʤ뤫��
     */
    void test_isNew()
    {
      // (1) �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
      long int length1 = 10;
      RTC::RingBuffer<int> buff1(length1);
      CPPUNIT_ASSERT_EQUAL(true, buff1.empty());
                        
      // ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
                        
      for (int i = 0; i < length2; i++) {
        // (2) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff2.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff2.empty());
                                
        // (3) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff2.read(readValue);
        CPPUNIT_ASSERT_EQUAL(true, buff2.empty());
      }
                        
      // �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i + 456);
      }
                        
      for (int i = 0; i < length3; i++) {
        // (4) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff3.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
                                
        // (5) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff3.read(readValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
      }
    }
    /*!
     * @brief reset()�᥽�åɤΥƥ���
     * 
     */
    void test_reset()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);

      for(int ic(0);ic<8;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.advanceRptr(3);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[3]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)5);

      buff.reset();
      CPPUNIT_ASSERT(buff.empty());
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[0]);
      buff.put(idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)0);
      
    }   
    /*!
     * @brief wptr(),put()�᥽�åɤΥƥ���
     * 
     */
    void test_wptr_put()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);
      for(int ic(0);ic<10;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.reset();
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.wptr(-ic));
      }
      buff.advanceWptr(5);
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.wptr(-ic));
      }
        
    }
    /*!
     * @brief advanceWptr()�᥽�åɤΥƥ���
     * 
     */
    void test_advanceWptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        buff.advanceRptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.readable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.readable());
    }
    /*!
     * @brief rptr(),get()�᥽�åɤΥƥ���
     * 
     */
    void test_rptr_get()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        for(int ic(0);ic<10;++ic)
        {  
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        { 
            CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.rptr(-ic));
        }
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.rptr(-ic));
        }
        buff.reset();
        buff.advanceWptr(10);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],buff.get());
            int ret;
            buff.get(ret);
            CPPUNIT_ASSERT_EQUAL(idata[ic],ret);
            buff.advanceRptr();
        }
    }
    /*!
     * @brief advanceRptr()�᥽�åɤΥƥ���
     * 
     */
    void test_advanceRptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        buff.advanceWptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.writable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.writable());
    }

        /*
         * �ǥåɥ��å��θ���1
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: readback
         *
         */
        void test_owrite_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);

          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���2
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: do_nothing
         *
         */
        void test_owrite_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���3
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: block
         * read.timeout: 3.0
         *
         */
        void test_owrite_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }
                

        /*
         * �ǥåɥ��å��θ���4
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: readback
         *
         */
        void test_dnothing_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���5
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: do_nothing
         *
         */
        void test_dnothing_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���6
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: block
         * read.timeout: 1.0
         *
         */
        void test_dnothing_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���7
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: readback
         * write.timeout: 1.0
         *
         */
        void test_block_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "readback";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���8
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: do_nothing
         * write.timeout: 1.0
         *
         */
        void test_block_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "do_nothing";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���9
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_wr()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���10 read -> write
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_rw()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }



  };
}; // namespace RingBuffer

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(RingBuffer::RingBufferTests);

#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 // RingBuffer_cpp

      // ���ʤ���硢���ǤϤʤ���Ƚ�ꤵ��뤫��
      int readValue;
      CPPUNIT_ASSERT_EQUAL(::RTC::BufferStatus::BUFFER_OK, buff.read(readValue));
      CPPUNIT_ASSERT_EQUAL(false, buff.empty());
                        
      // (3) �Ǹ�˥ǡ������ɤ߼��줿�塢�������ǡ������񤭹��ߤ��줿
      // ��硢���ǤϤʤ���Ƚ�ꤵ��뤫��
      int writeValue = 98765;
      CPPUNIT_ASSERT_EQUAL(RTC::BufferBase<int>::BUFFER_OK, buff.write(writeValue));
      CPPUNIT_ASSERT_EQUAL(false, buff.empty());
    }
                
                
    void test_isFull()
    {
      // (1) �Хåե������ξ�硢�ե�Ƚ��ϵ��Ȥʤ뤫��
      int length1 = 10;
      RTC::RingBuffer<int> buff1(length1);
      CPPUNIT_ASSERT_EQUAL(false, buff1.full());
                        
      // (2) ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ե�Ƚ��Ͽ�
      // �Ȥʤ뤫��
      int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
      for (int i = 0; i < length2; i++) {
        buff2.write(i);
      }
      CPPUNIT_ASSERT_EQUAL(true, buff2.full());
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ե�Ƚ��ϵ�
      // �Ȥʤ뤫��
      int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i);
      }
      CPPUNIT_ASSERT_EQUAL(false, buff3.full());
    }
                                
    void test_init()
    {
      // �Хåե���������ơ�init()�ǽ��������      long int length = 10;
      RTC::RingBuffer<int> buff(length);
                        
      int value = 12345;
      for (unsigned int i(0); i < buff.length(); ++i)
        {
          buff.write(value);
        }
                        
      // ���ꤷ���ǡ������������ɤ߽Ф��뤫��
      int expected = 12345;
      for (long int i = 0; i < length; i++) {
        int actual;
        buff.read(actual);
        CPPUNIT_ASSERT_EQUAL(expected, actual);
      }
    }

    /*!
     * @brief write()�᥽�åɤ����read()�᥽�åɤΥƥ���
     * 
     * - �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ�����������
     *   �ɤ߽Ф��뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ���
     *   �񤭹�����ǡ������������ɤ߽Ф��뤫��
     * - ���Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�
     *   �Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
     */
    void test_write_read()
    {
      // (1) �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ���
      // ���������ɤ߽Ф��뤫���Хåե������������Τޤޤˤ���
      long int length1 = 3;
      RTC::RingBuffer<int> buff1(length1);
      coil::Properties prop;
      prop["write.full_policy"] = "block";
      prop["write.timeout"] = "5.0";
      prop["read.empty_policy"] = "block";
      prop["read.timeout"] = "5.0";

      buff1.init(prop);
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        if (buff1.full())
          {
            std::cout << "### FULL ###" << std::endl;
            int readValue;

            if (writeValue % 5 == 0)
              {
                while (!buff1.empty())
                  {
                    std::cout << "read timeout: " << 5 << std::endl;
                    buff1.read(readValue, 5);
                    std::cout << "read: " << readValue << std::endl;
                  }
                std::cout << "read timeout: " << 5 << std::endl;
                std::cout << "waiting 5 sec" << std::endl;
                std::cout << "read ret: " << RTC::BufferStatus::toString(buff1.read(readValue, 5)) << std::endl;
                std::cout << "read: " << readValue << std::endl;
              }
            else
              {
                buff1.read(readValue);
                std::cout << "read: " << readValue << std::endl;
              }

            if (buff1.full())
              {
                std::cout << "??? still full" << std::endl;
              }
            else
              {
                std::cout << "buffer full was blown over." << std::endl;
              }
          }
        if (buff1.empty())
          {
            std::cout << "### EMPTY ###" << std::endl;
          }

        //        std::cout << "timeout-> " << writeValue << std::endl;
        std::cout << "write ret: " << RTC::BufferStatus::toString(buff1.write(writeValue, writeValue)) << std::endl;
                                
        //        std::cout << "readable " << buff1.readable() << std::endl;
        //        std::cout << "writable " << buff1.writable() << std::endl;

        // �ɽФ�
        int readValue;
        buff1.get(readValue);
                        
        std::cout << writeValue << " == " << readValue << std::endl;

        //        buff1.read(readValue)
        // �񤭹�����ǡ������������ɤ߽Ф�������
        //      CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
        sleep(1);
      }
      return;
      // (2) ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ����������
      // �Ф�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫���Хåե���������
      // �ե���֤ˤ���
      long int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
      for (int i = 0; i < length2; i++) {
        buff2.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff2.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff2.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ��������
      // �ɽФ�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
      long int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff3.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
    }
                
    /*!
     * @brief write()�᥽�åɤ����read()�᥽�åɤΥƥ��ȡʥХåե�Ĺ���ξ���
     * 
     * - �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ�����������
     *   �ɤ߽Ф��뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ���
     *   �񤭹�����ǡ������������ɤ߽Ф��뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ���
     *   �񤭹�����ǡ������������ɤ߽Ф��뤫��
     */
    void test_write_read_with_small_length()
    {
      // (1) �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ���
      // ���������ɤ߽Ф��뤫���Хåե������������Τޤޤˤ���
      long int length1 = 2;
      RTC::RingBuffer<int> buff1(length1);
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff1.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff1.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
                        
      // (2) ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ����������
      // �Ф�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫���Хåե���������
      // �ե���֤ˤ���
      long int length2 = 2;
      RTC::RingBuffer<int> buff2(length2);
      coil::Properties prop;
      prop["write.full_policy"] = "overwrite";
      buff2.init(prop);

      for (int i = 0; i < length2; i++) {
        buff2.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
//      for (int writeValue = 0; writeValue < 100; writeValue++) {
//      // �����
//      buff2.write(writeValue);
//                              
//      // �ɽФ�
//      int readValue;
//      buff2.read(readValue);
//                              
//      // �񤭹�����ǡ������������ɤ߽Ф�������
//      CPPUNIT_ASSERT_EQUAL(writeValue+1+123, readValue);
//     }

        // �����
        /* policy��overwrite��full���֤ǽ񤭹���ȡ��Ť��ǡ������񤭤����ɤ߹���¦�Υݥ��󥿤򥤥󥯥���Ȥ��롣*/
        buff2.write(0);
                                
        CPPUNIT_ASSERT_EQUAL(true, buff2.full());
        // �ɽФ�
        int readValue;
        /* �ɤ߽Ф����ɤ߹���¦�Υݥ��󥿤򥤥󥯥��Ȥ��뤿��full���֤ǤϤʤ��ʤ� */
        buff2.read(readValue);

        CPPUNIT_ASSERT_EQUAL(false, buff2.full());
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(1+123, readValue);
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
      long int length3 = 2;
      RTC::RingBuffer<int> buff3(length3);
      coil::Properties prop3;
      prop3["write.full_policy"] = "overwrite";
      buff3.init(prop3);

      for (int i = 0; i < 1; i++) {
        buff3.write(i + 123);
      }
      { 
        // �����
        buff3.write(-1);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(123, readValue);
      }
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff3.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue-1, readValue);
      }
    }
                
    /*!
     * @brief isNew()�᥽�åɤΥƥ���
     * 
     * - �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ�
     *   �ǡ���������isNewȽ�꤬���ˤʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ����������
     *   ���Υǡ����ɽФ�Ԥä����isNewȽ�꤬���ˤʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ���������isNew
     *   Ƚ�꤬���ˤʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ����������
     *   ���Υǡ����ɽФ�Ԥä����isNewȽ�꤬���ˤʤ뤫��
     */
    void test_isNew()
    {
      // (1) �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
      long int length1 = 10;
      RTC::RingBuffer<int> buff1(length1);
      CPPUNIT_ASSERT_EQUAL(true, buff1.empty());
                        
      // ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
                        
      for (int i = 0; i < length2; i++) {
        // (2) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff2.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff2.empty());
                                
        // (3) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff2.read(readValue);
        CPPUNIT_ASSERT_EQUAL(true, buff2.empty());
      }
                        
      // �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i + 456);
      }
                        
      for (int i = 0; i < length3; i++) {
        // (4) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff3.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
                                
        // (5) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff3.read(readValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
      }
    }
    /*!
     * @brief reset()�᥽�åɤΥƥ���
     * 
     */
    void test_reset()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);

      for(int ic(0);ic<8;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.advanceRptr(3);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[3]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)5);

      buff.reset();
      CPPUNIT_ASSERT(buff.empty());
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[0]);
      buff.put(idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)0);
      
    }   
    /*!
     * @brief wptr(),put()�᥽�åɤΥƥ���
     * 
     */
    void test_wptr_put()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);
      for(int ic(0);ic<10;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.reset();
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.wptr(-ic));
      }
      buff.advanceWptr(5);
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.wptr(-ic));
      }
        
    }
    /*!
     * @brief advanceWptr()�᥽�åɤΥƥ���
     * 
     */
    void test_advanceWptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        buff.advanceRptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.readable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.readable());
    }
    /*!
     * @brief rptr(),get()�᥽�åɤΥƥ���
     * 
     */
    void test_rptr_get()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        for(int ic(0);ic<10;++ic)
        {  
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        { 
            CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.rptr(-ic));
        }
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.rptr(-ic));
        }
        buff.reset();
        buff.advanceWptr(10);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],buff.get());
            int ret;
            buff.get(ret);
            CPPUNIT_ASSERT_EQUAL(idata[ic],ret);
            buff.advanceRptr();
        }
    }
    /*!
     * @brief advanceRptr()�᥽�åɤΥƥ���
     * 
     */
    void test_advanceRptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        buff.advanceWptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.writable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.writable());
    }

        /*
         * �ǥåɥ��å��θ���1
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: readback
         *
         */
        void test_owrite_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);

          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���2
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: do_nothing
         *
         */
        void test_owrite_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���3
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: block
         * read.timeout: 3.0
         *
         */
        void test_owrite_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }
                

        /*
         * �ǥåɥ��å��θ���4
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: readback
         *
         */
        void test_dnothing_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���5
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: do_nothing
         *
         */
        void test_dnothing_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���6
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: block
         * read.timeout: 1.0
         *
         */
        void test_dnothing_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���7
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: readback
         * write.timeout: 1.0
         *
         */
        void test_block_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "readback";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���8
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: do_nothing
         * write.timeout: 1.0
         *
         */
        void test_block_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "do_nothing";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���9
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_wr()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���10 read -> write
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_rw()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }



  };
}; // namespace RingBuffer

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(RingBuffer::RingBufferTests);

#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 // RingBuffer_cpp

      long int length = 10;
      RTC::RingBuffer<int> buff(length);
                        
      int value = 12345;
      for (unsigned int i(0); i < buff.length(); ++i)
        {
          buff.write(value);
        }
                        
      // ���ꤷ���ǡ������������ɤ߽Ф��뤫��
      int expected = 12345;
      for (long int i = 0; i < length; i++) {
        int actual;
        buff.read(actual);
        CPPUNIT_ASSERT_EQUAL(expected, actual);
      }
    }

    void test_write_read()
    {
      // (1) �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ���
      // ���������ɤ߽Ф��뤫���Хåե������������Τޤޤˤ���      long int length1 = 3;
      RTC::RingBuffer<int> buff1(length1);
      coil::Properties prop;
      prop["write.full_policy"] = "block";
      prop["write.timeout"] = "5.0";
      prop["read.empty_policy"] = "block";
      prop["read.timeout"] = "5.0";

      buff1.init(prop);
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        if (buff1.full())
          {
            std::cout << "### FULL ###" << std::endl;
            int readValue;

            if (writeValue % 5 == 0)
              {
                while (!buff1.empty())
                  {
                    std::cout << "read timeout: " << 5 << std::endl;
                    buff1.read(readValue, 5);
                    std::cout << "read: " << readValue << std::endl;
                  }
                std::cout << "read timeout: " << 5 << std::endl;
                std::cout << "waiting 5 sec" << std::endl;
                std::cout << "read ret: " << RTC::BufferStatus::toString(buff1.read(readValue, 5)) << std::endl;
                std::cout << "read: " << readValue << std::endl;
              }
            else
              {
                buff1.read(readValue);
                std::cout << "read: " << readValue << std::endl;
              }

            if (buff1.full())
              {
                std::cout << "??? still full" << std::endl;
              }
            else
              {
                std::cout << "buffer full was blown over." << std::endl;
              }
          }
        if (buff1.empty())
          {
            std::cout << "### EMPTY ###" << std::endl;
          }

        //        std::cout << "timeout-> " << writeValue << std::endl;
        std::cout << "write ret: " << RTC::BufferStatus::toString(buff1.write(writeValue, writeValue)) << std::endl;
                                
        //        std::cout << "readable " << buff1.readable() << std::endl;
        //        std::cout << "writable " << buff1.writable() << std::endl;

        // �ɽФ�
        int readValue;
        buff1.get(readValue);
                        
        std::cout << writeValue << " == " << readValue << std::endl;

        //        buff1.read(readValue)
        // �񤭹�����ǡ������������ɤ߽Ф�������
        //      CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
        sleep(1);
      }
      return;
      // (2) ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ����������
      // �Ф�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫���Хåե���������
      // �ե���֤ˤ���
      long int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
      for (int i = 0; i < length2; i++) {
        buff2.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff2.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff2.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ��������
      // �ɽФ�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
      long int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff3.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
    }
                
    /*!
     * @brief write()�᥽�åɤ����read()�᥽�åɤΥƥ��ȡʥХåե�Ĺ���ξ���
     * 
     * - �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ�����������
     *   �ɤ߽Ф��뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ���
     *   �񤭹�����ǡ������������ɤ߽Ф��뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ���
     *   �񤭹�����ǡ������������ɤ߽Ф��뤫��
     */
    void test_write_read_with_small_length()
    {
      // (1) �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ���
      // ���������ɤ߽Ф��뤫���Хåե������������Τޤޤˤ���
      long int length1 = 2;
      RTC::RingBuffer<int> buff1(length1);
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff1.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff1.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
                        
      // (2) ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ����������
      // �Ф�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫���Хåե���������
      // �ե���֤ˤ���
      long int length2 = 2;
      RTC::RingBuffer<int> buff2(length2);
      coil::Properties prop;
      prop["write.full_policy"] = "overwrite";
      buff2.init(prop);

      for (int i = 0; i < length2; i++) {
        buff2.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
//      for (int writeValue = 0; writeValue < 100; writeValue++) {
//      // �����
//      buff2.write(writeValue);
//                              
//      // �ɽФ�
//      int readValue;
//      buff2.read(readValue);
//                              
//      // �񤭹�����ǡ������������ɤ߽Ф�������
//      CPPUNIT_ASSERT_EQUAL(writeValue+1+123, readValue);
//     }

        // �����
        /* policy��overwrite��full���֤ǽ񤭹���ȡ��Ť��ǡ������񤭤����ɤ߹���¦�Υݥ��󥿤򥤥󥯥���Ȥ��롣*/
        buff2.write(0);
                                
        CPPUNIT_ASSERT_EQUAL(true, buff2.full());
        // �ɽФ�
        int readValue;
        /* �ɤ߽Ф����ɤ߹���¦�Υݥ��󥿤򥤥󥯥��Ȥ��뤿��full���֤ǤϤʤ��ʤ� */
        buff2.read(readValue);

        CPPUNIT_ASSERT_EQUAL(false, buff2.full());
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(1+123, readValue);
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
      long int length3 = 2;
      RTC::RingBuffer<int> buff3(length3);
      coil::Properties prop3;
      prop3["write.full_policy"] = "overwrite";
      buff3.init(prop3);

      for (int i = 0; i < 1; i++) {
        buff3.write(i + 123);
      }
      { 
        // �����
        buff3.write(-1);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(123, readValue);
      }
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff3.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue-1, readValue);
      }
    }
                
    /*!
     * @brief isNew()�᥽�åɤΥƥ���
     * 
     * - �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ�
     *   �ǡ���������isNewȽ�꤬���ˤʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ����������
     *   ���Υǡ����ɽФ�Ԥä����isNewȽ�꤬���ˤʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ���������isNew
     *   Ƚ�꤬���ˤʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ����������
     *   ���Υǡ����ɽФ�Ԥä����isNewȽ�꤬���ˤʤ뤫��
     */
    void test_isNew()
    {
      // (1) �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
      long int length1 = 10;
      RTC::RingBuffer<int> buff1(length1);
      CPPUNIT_ASSERT_EQUAL(true, buff1.empty());
                        
      // ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
                        
      for (int i = 0; i < length2; i++) {
        // (2) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff2.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff2.empty());
                                
        // (3) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff2.read(readValue);
        CPPUNIT_ASSERT_EQUAL(true, buff2.empty());
      }
                        
      // �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i + 456);
      }
                        
      for (int i = 0; i < length3; i++) {
        // (4) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff3.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
                                
        // (5) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff3.read(readValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
      }
    }
    /*!
     * @brief reset()�᥽�åɤΥƥ���
     * 
     */
    void test_reset()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);

      for(int ic(0);ic<8;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.advanceRptr(3);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[3]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)5);

      buff.reset();
      CPPUNIT_ASSERT(buff.empty());
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[0]);
      buff.put(idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)0);
      
    }   
    /*!
     * @brief wptr(),put()�᥽�åɤΥƥ���
     * 
     */
    void test_wptr_put()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);
      for(int ic(0);ic<10;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.reset();
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.wptr(-ic));
      }
      buff.advanceWptr(5);
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.wptr(-ic));
      }
        
    }
    /*!
     * @brief advanceWptr()�᥽�åɤΥƥ���
     * 
     */
    void test_advanceWptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        buff.advanceRptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.readable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.readable());
    }
    /*!
     * @brief rptr(),get()�᥽�åɤΥƥ���
     * 
     */
    void test_rptr_get()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        for(int ic(0);ic<10;++ic)
        {  
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        { 
            CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.rptr(-ic));
        }
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.rptr(-ic));
        }
        buff.reset();
        buff.advanceWptr(10);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],buff.get());
            int ret;
            buff.get(ret);
            CPPUNIT_ASSERT_EQUAL(idata[ic],ret);
            buff.advanceRptr();
        }
    }
    /*!
     * @brief advanceRptr()�᥽�åɤΥƥ���
     * 
     */
    void test_advanceRptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        buff.advanceWptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.writable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.writable());
    }

        /*
         * �ǥåɥ��å��θ���1
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: readback
         *
         */
        void test_owrite_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);

          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���2
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: do_nothing
         *
         */
        void test_owrite_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���3
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: block
         * read.timeout: 3.0
         *
         */
        void test_owrite_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }
                

        /*
         * �ǥåɥ��å��θ���4
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: readback
         *
         */
        void test_dnothing_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���5
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: do_nothing
         *
         */
        void test_dnothing_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���6
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: block
         * read.timeout: 1.0
         *
         */
        void test_dnothing_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���7
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: readback
         * write.timeout: 1.0
         *
         */
        void test_block_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "readback";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���8
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: do_nothing
         * write.timeout: 1.0
         *
         */
        void test_block_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "do_nothing";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���9
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_wr()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���10 read -> write
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_rw()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }



  };
}; // namespace RingBuffer

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(RingBuffer::RingBufferTests);

#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 // RingBuffer_cpp

      long int length1 = 3;
      RTC::RingBuffer<int> buff1(length1);
      coil::Properties prop;
      prop["write.full_policy"] = "block";
      prop["write.timeout"] = "5.0";
      prop["read.empty_policy"] = "block";
      prop["read.timeout"] = "5.0";

      buff1.init(prop);
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����        if (buff1.full())
          {
            std::cout << "### FULL ###" << std::endl;
            int readValue;

            if (writeValue % 5 == 0)
              {
                while (!buff1.empty())
                  {
                    std::cout << "read timeout: " << 5 << std::endl;
                    buff1.read(readValue, 5);
                    std::cout << "read: " << readValue << std::endl;
                  }
                std::cout << "read timeout: " << 5 << std::endl;
                std::cout << "waiting 5 sec" << std::endl;
                std::cout << "read ret: " << RTC::BufferStatus::toString(buff1.read(readValue, 5)) << std::endl;
                std::cout << "read: " << readValue << std::endl;
              }
            else
              {
                buff1.read(readValue);
                std::cout << "read: " << readValue << std::endl;
              }

            if (buff1.full())
              {
                std::cout << "??? still full" << std::endl;
              }
            else
              {
                std::cout << "buffer full was blown over." << std::endl;
              }
          }
        if (buff1.empty())
          {
            std::cout << "### EMPTY ###" << std::endl;
          }

        //        std::cout << "timeout-> " << writeValue << std::endl;
        std::cout << "write ret: " << RTC::BufferStatus::toString(buff1.write(writeValue, writeValue)) << std::endl;
                                
        //        std::cout << "readable " << buff1.readable() << std::endl;
        //        std::cout << "writable " << buff1.writable() << std::endl;

        // �ɽФ�
        int readValue;
        buff1.get(readValue);
                        
        std::cout << writeValue << " == " << readValue << std::endl;

        //        buff1.read(readValue)
        // �񤭹�����ǡ������������ɤ߽Ф�������
        //      CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
        sleep(1);
      }
      return;
      // (2) ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ����������
      // �Ф�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫���Хåե���������
      // �ե���֤ˤ���
      long int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
      for (int i = 0; i < length2; i++) {
        buff2.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff2.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff2.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ��������
      // �ɽФ�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
      long int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff3.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
    }
                
    /*!
     * @brief write()�᥽�åɤ����read()�᥽�åɤΥƥ��ȡʥХåե�Ĺ���ξ���
     * 
     * - �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ�����������
     *   �ɤ߽Ф��뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ���
     *   �񤭹�����ǡ������������ɤ߽Ф��뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ���
     *   �񤭹�����ǡ������������ɤ߽Ф��뤫��
     */
    void test_write_read_with_small_length()
    {
      // (1) �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ���
      // ���������ɤ߽Ф��뤫���Хåե������������Τޤޤˤ���
      long int length1 = 2;
      RTC::RingBuffer<int> buff1(length1);
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff1.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff1.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
                        
      // (2) ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ����������
      // �Ф�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫���Хåե���������
      // �ե���֤ˤ���
      long int length2 = 2;
      RTC::RingBuffer<int> buff2(length2);
      coil::Properties prop;
      prop["write.full_policy"] = "overwrite";
      buff2.init(prop);

      for (int i = 0; i < length2; i++) {
        buff2.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
//      for (int writeValue = 0; writeValue < 100; writeValue++) {
//      // �����
//      buff2.write(writeValue);
//                              
//      // �ɽФ�
//      int readValue;
//      buff2.read(readValue);
//                              
//      // �񤭹�����ǡ������������ɤ߽Ф�������
//      CPPUNIT_ASSERT_EQUAL(writeValue+1+123, readValue);
//     }

        // �����
        /* policy��overwrite��full���֤ǽ񤭹���ȡ��Ť��ǡ������񤭤����ɤ߹���¦�Υݥ��󥿤򥤥󥯥���Ȥ��롣*/
        buff2.write(0);
                                
        CPPUNIT_ASSERT_EQUAL(true, buff2.full());
        // �ɽФ�
        int readValue;
        /* �ɤ߽Ф����ɤ߹���¦�Υݥ��󥿤򥤥󥯥��Ȥ��뤿��full���֤ǤϤʤ��ʤ� */
        buff2.read(readValue);

        CPPUNIT_ASSERT_EQUAL(false, buff2.full());
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(1+123, readValue);
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
      long int length3 = 2;
      RTC::RingBuffer<int> buff3(length3);
      coil::Properties prop3;
      prop3["write.full_policy"] = "overwrite";
      buff3.init(prop3);

      for (int i = 0; i < 1; i++) {
        buff3.write(i + 123);
      }
      { 
        // �����
        buff3.write(-1);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(123, readValue);
      }
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff3.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue-1, readValue);
      }
    }
                
    /*!
     * @brief isNew()�᥽�åɤΥƥ���
     * 
     * - �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ�
     *   �ǡ���������isNewȽ�꤬���ˤʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ����������
     *   ���Υǡ����ɽФ�Ԥä����isNewȽ�꤬���ˤʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ���������isNew
     *   Ƚ�꤬���ˤʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ����������
     *   ���Υǡ����ɽФ�Ԥä����isNewȽ�꤬���ˤʤ뤫��
     */
    void test_isNew()
    {
      // (1) �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
      long int length1 = 10;
      RTC::RingBuffer<int> buff1(length1);
      CPPUNIT_ASSERT_EQUAL(true, buff1.empty());
                        
      // ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
                        
      for (int i = 0; i < length2; i++) {
        // (2) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff2.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff2.empty());
                                
        // (3) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff2.read(readValue);
        CPPUNIT_ASSERT_EQUAL(true, buff2.empty());
      }
                        
      // �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i + 456);
      }
                        
      for (int i = 0; i < length3; i++) {
        // (4) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff3.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
                                
        // (5) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff3.read(readValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
      }
    }
    /*!
     * @brief reset()�᥽�åɤΥƥ���
     * 
     */
    void test_reset()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);

      for(int ic(0);ic<8;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.advanceRptr(3);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[3]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)5);

      buff.reset();
      CPPUNIT_ASSERT(buff.empty());
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[0]);
      buff.put(idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)0);
      
    }   
    /*!
     * @brief wptr(),put()�᥽�åɤΥƥ���
     * 
     */
    void test_wptr_put()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);
      for(int ic(0);ic<10;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.reset();
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.wptr(-ic));
      }
      buff.advanceWptr(5);
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.wptr(-ic));
      }
        
    }
    /*!
     * @brief advanceWptr()�᥽�åɤΥƥ���
     * 
     */
    void test_advanceWptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        buff.advanceRptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.readable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.readable());
    }
    /*!
     * @brief rptr(),get()�᥽�åɤΥƥ���
     * 
     */
    void test_rptr_get()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        for(int ic(0);ic<10;++ic)
        {  
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        { 
            CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.rptr(-ic));
        }
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.rptr(-ic));
        }
        buff.reset();
        buff.advanceWptr(10);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],buff.get());
            int ret;
            buff.get(ret);
            CPPUNIT_ASSERT_EQUAL(idata[ic],ret);
            buff.advanceRptr();
        }
    }
    /*!
     * @brief advanceRptr()�᥽�åɤΥƥ���
     * 
     */
    void test_advanceRptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        buff.advanceWptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.writable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.writable());
    }

        /*
         * �ǥåɥ��å��θ���1
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: readback
         *
         */
        void test_owrite_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);

          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���2
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: do_nothing
         *
         */
        void test_owrite_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���3
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: block
         * read.timeout: 3.0
         *
         */
        void test_owrite_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }
                

        /*
         * �ǥåɥ��å��θ���4
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: readback
         *
         */
        void test_dnothing_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���5
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: do_nothing
         *
         */
        void test_dnothing_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���6
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: block
         * read.timeout: 1.0
         *
         */
        void test_dnothing_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���7
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: readback
         * write.timeout: 1.0
         *
         */
        void test_block_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "readback";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���8
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: do_nothing
         * write.timeout: 1.0
         *
         */
        void test_block_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "do_nothing";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���9
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_wr()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���10 read -> write
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_rw()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }



  };
}; // namespace RingBuffer

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(RingBuffer::RingBufferTests);

#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 // RingBuffer_cpp

        if (buff1.full())
          {
            std::cout << "### FULL ###" << std::endl;
            int readValue;

            if (writeValue % 5 == 0)
              {
                while (!buff1.empty())
                  {
                    std::cout << "read timeout: " << 5 << std::endl;
                    buff1.read(readValue, 5);
                    std::cout << "read: " << readValue << std::endl;
                  }
                std::cout << "read timeout: " << 5 << std::endl;
                std::cout << "waiting 5 sec" << std::endl;
                std::cout << "read ret: " << RTC::BufferStatus::toString(buff1.read(readValue, 5)) << std::endl;
                std::cout << "read: " << readValue << std::endl;
              }
            else
              {
                buff1.read(readValue);
                std::cout << "read: " << readValue << std::endl;
              }

            if (buff1.full())
              {
                std::cout << "??? still full" << std::endl;
              }
            else
              {
                std::cout << "buffer full was blown over." << std::endl;
              }
          }
        if (buff1.empty())
          {
            std::cout << "### EMPTY ###" << std::endl;
          }

        //        std::cout << "timeout-> " << writeValue << std::endl;
        std::cout << "write ret: " << RTC::BufferStatus::toString(buff1.write(writeValue, writeValue)) << std::endl;
                                
        //        std::cout << "readable " << buff1.readable() << std::endl;
        //        std::cout << "writable " << buff1.writable() << std::endl;

        // �ɽФ�
        int readValue;
        buff1.get(readValue);
                        
        std::cout << writeValue << " == " << readValue << std::endl;

        //        buff1.read(readValue)
        // �񤭹�����ǡ������������ɤ߽Ф�������
        //      CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
        sleep(1);
      }
      return;
      // (2) ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ����������
      // �Ф�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫���Хåե���������
      // �ե���֤ˤ���      long int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
      for (int i = 0; i < length2; i++) {
        buff2.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff2.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff2.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ��������
      // �ɽФ�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
      long int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff3.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
    }
                
    /*!
     * @brief write()�᥽�åɤ����read()�᥽�åɤΥƥ��ȡʥХåե�Ĺ���ξ���
     * 
     * - �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ�����������
     *   �ɤ߽Ф��뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ���
     *   �񤭹�����ǡ������������ɤ߽Ф��뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ���
     *   �񤭹�����ǡ������������ɤ߽Ф��뤫��
     */
    void test_write_read_with_small_length()
    {
      // (1) �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ���
      // ���������ɤ߽Ф��뤫���Хåե������������Τޤޤˤ���
      long int length1 = 2;
      RTC::RingBuffer<int> buff1(length1);
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff1.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff1.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
                        
      // (2) ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ����������
      // �Ф�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫���Хåե���������
      // �ե���֤ˤ���
      long int length2 = 2;
      RTC::RingBuffer<int> buff2(length2);
      coil::Properties prop;
      prop["write.full_policy"] = "overwrite";
      buff2.init(prop);

      for (int i = 0; i < length2; i++) {
        buff2.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
//      for (int writeValue = 0; writeValue < 100; writeValue++) {
//      // �����
//      buff2.write(writeValue);
//                              
//      // �ɽФ�
//      int readValue;
//      buff2.read(readValue);
//                              
//      // �񤭹�����ǡ������������ɤ߽Ф�������
//      CPPUNIT_ASSERT_EQUAL(writeValue+1+123, readValue);
//     }

        // �����
        /* policy��overwrite��full���֤ǽ񤭹���ȡ��Ť��ǡ������񤭤����ɤ߹���¦�Υݥ��󥿤򥤥󥯥���Ȥ��롣*/
        buff2.write(0);
                                
        CPPUNIT_ASSERT_EQUAL(true, buff2.full());
        // �ɽФ�
        int readValue;
        /* �ɤ߽Ф����ɤ߹���¦�Υݥ��󥿤򥤥󥯥��Ȥ��뤿��full���֤ǤϤʤ��ʤ� */
        buff2.read(readValue);

        CPPUNIT_ASSERT_EQUAL(false, buff2.full());
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(1+123, readValue);
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
      long int length3 = 2;
      RTC::RingBuffer<int> buff3(length3);
      coil::Properties prop3;
      prop3["write.full_policy"] = "overwrite";
      buff3.init(prop3);

      for (int i = 0; i < 1; i++) {
        buff3.write(i + 123);
      }
      { 
        // �����
        buff3.write(-1);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(123, readValue);
      }
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff3.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue-1, readValue);
      }
    }
                
    /*!
     * @brief isNew()�᥽�åɤΥƥ���
     * 
     * - �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ�
     *   �ǡ���������isNewȽ�꤬���ˤʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ����������
     *   ���Υǡ����ɽФ�Ԥä����isNewȽ�꤬���ˤʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ���������isNew
     *   Ƚ�꤬���ˤʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ����������
     *   ���Υǡ����ɽФ�Ԥä����isNewȽ�꤬���ˤʤ뤫��
     */
    void test_isNew()
    {
      // (1) �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
      long int length1 = 10;
      RTC::RingBuffer<int> buff1(length1);
      CPPUNIT_ASSERT_EQUAL(true, buff1.empty());
                        
      // ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
                        
      for (int i = 0; i < length2; i++) {
        // (2) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff2.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff2.empty());
                                
        // (3) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff2.read(readValue);
        CPPUNIT_ASSERT_EQUAL(true, buff2.empty());
      }
                        
      // �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i + 456);
      }
                        
      for (int i = 0; i < length3; i++) {
        // (4) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff3.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
                                
        // (5) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff3.read(readValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
      }
    }
    /*!
     * @brief reset()�᥽�åɤΥƥ���
     * 
     */
    void test_reset()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);

      for(int ic(0);ic<8;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.advanceRptr(3);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[3]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)5);

      buff.reset();
      CPPUNIT_ASSERT(buff.empty());
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[0]);
      buff.put(idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)0);
      
    }   
    /*!
     * @brief wptr(),put()�᥽�åɤΥƥ���
     * 
     */
    void test_wptr_put()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);
      for(int ic(0);ic<10;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.reset();
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.wptr(-ic));
      }
      buff.advanceWptr(5);
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.wptr(-ic));
      }
        
    }
    /*!
     * @brief advanceWptr()�᥽�åɤΥƥ���
     * 
     */
    void test_advanceWptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        buff.advanceRptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.readable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.readable());
    }
    /*!
     * @brief rptr(),get()�᥽�åɤΥƥ���
     * 
     */
    void test_rptr_get()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        for(int ic(0);ic<10;++ic)
        {  
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        { 
            CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.rptr(-ic));
        }
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.rptr(-ic));
        }
        buff.reset();
        buff.advanceWptr(10);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],buff.get());
            int ret;
            buff.get(ret);
            CPPUNIT_ASSERT_EQUAL(idata[ic],ret);
            buff.advanceRptr();
        }
    }
    /*!
     * @brief advanceRptr()�᥽�åɤΥƥ���
     * 
     */
    void test_advanceRptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        buff.advanceWptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.writable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.writable());
    }

        /*
         * �ǥåɥ��å��θ���1
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: readback
         *
         */
        void test_owrite_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);

          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���2
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: do_nothing
         *
         */
        void test_owrite_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���3
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: block
         * read.timeout: 3.0
         *
         */
        void test_owrite_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }
                

        /*
         * �ǥåɥ��å��θ���4
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: readback
         *
         */
        void test_dnothing_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���5
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: do_nothing
         *
         */
        void test_dnothing_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���6
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: block
         * read.timeout: 1.0
         *
         */
        void test_dnothing_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���7
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: readback
         * write.timeout: 1.0
         *
         */
        void test_block_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "readback";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���8
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: do_nothing
         * write.timeout: 1.0
         *
         */
        void test_block_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "do_nothing";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���9
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_wr()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���10 read -> write
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_rw()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }



  };
}; // namespace RingBuffer

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(RingBuffer::RingBufferTests);

#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 // RingBuffer_cpp

      long int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
      for (int i = 0; i < length2; i++) {
        buff2.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����        buff2.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff2.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ��������
      // �ɽФ�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
      long int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff3.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
    }
                
    /*!
     * @brief write()�᥽�åɤ����read()�᥽�åɤΥƥ��ȡʥХåե�Ĺ���ξ���
     * 
     * - �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ�����������
     *   �ɤ߽Ф��뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ���
     *   �񤭹�����ǡ������������ɤ߽Ф��뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ���
     *   �񤭹�����ǡ������������ɤ߽Ф��뤫��
     */
    void test_write_read_with_small_length()
    {
      // (1) �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ���
      // ���������ɤ߽Ф��뤫���Хåե������������Τޤޤˤ���
      long int length1 = 2;
      RTC::RingBuffer<int> buff1(length1);
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff1.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff1.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
                        
      // (2) ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ����������
      // �Ф�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫���Хåե���������
      // �ե���֤ˤ���
      long int length2 = 2;
      RTC::RingBuffer<int> buff2(length2);
      coil::Properties prop;
      prop["write.full_policy"] = "overwrite";
      buff2.init(prop);

      for (int i = 0; i < length2; i++) {
        buff2.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
//      for (int writeValue = 0; writeValue < 100; writeValue++) {
//      // �����
//      buff2.write(writeValue);
//                              
//      // �ɽФ�
//      int readValue;
//      buff2.read(readValue);
//                              
//      // �񤭹�����ǡ������������ɤ߽Ф�������
//      CPPUNIT_ASSERT_EQUAL(writeValue+1+123, readValue);
//     }

        // �����
        /* policy��overwrite��full���֤ǽ񤭹���ȡ��Ť��ǡ������񤭤����ɤ߹���¦�Υݥ��󥿤򥤥󥯥���Ȥ��롣*/
        buff2.write(0);
                                
        CPPUNIT_ASSERT_EQUAL(true, buff2.full());
        // �ɽФ�
        int readValue;
        /* �ɤ߽Ф����ɤ߹���¦�Υݥ��󥿤򥤥󥯥��Ȥ��뤿��full���֤ǤϤʤ��ʤ� */
        buff2.read(readValue);

        CPPUNIT_ASSERT_EQUAL(false, buff2.full());
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(1+123, readValue);
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
      long int length3 = 2;
      RTC::RingBuffer<int> buff3(length3);
      coil::Properties prop3;
      prop3["write.full_policy"] = "overwrite";
      buff3.init(prop3);

      for (int i = 0; i < 1; i++) {
        buff3.write(i + 123);
      }
      { 
        // �����
        buff3.write(-1);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(123, readValue);
      }
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff3.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue-1, readValue);
      }
    }
                
    /*!
     * @brief isNew()�᥽�åɤΥƥ���
     * 
     * - �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ�
     *   �ǡ���������isNewȽ�꤬���ˤʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ����������
     *   ���Υǡ����ɽФ�Ԥä����isNewȽ�꤬���ˤʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ���������isNew
     *   Ƚ�꤬���ˤʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ����������
     *   ���Υǡ����ɽФ�Ԥä����isNewȽ�꤬���ˤʤ뤫��
     */
    void test_isNew()
    {
      // (1) �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
      long int length1 = 10;
      RTC::RingBuffer<int> buff1(length1);
      CPPUNIT_ASSERT_EQUAL(true, buff1.empty());
                        
      // ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
                        
      for (int i = 0; i < length2; i++) {
        // (2) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff2.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff2.empty());
                                
        // (3) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff2.read(readValue);
        CPPUNIT_ASSERT_EQUAL(true, buff2.empty());
      }
                        
      // �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i + 456);
      }
                        
      for (int i = 0; i < length3; i++) {
        // (4) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff3.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
                                
        // (5) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff3.read(readValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
      }
    }
    /*!
     * @brief reset()�᥽�åɤΥƥ���
     * 
     */
    void test_reset()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);

      for(int ic(0);ic<8;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.advanceRptr(3);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[3]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)5);

      buff.reset();
      CPPUNIT_ASSERT(buff.empty());
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[0]);
      buff.put(idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)0);
      
    }   
    /*!
     * @brief wptr(),put()�᥽�åɤΥƥ���
     * 
     */
    void test_wptr_put()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);
      for(int ic(0);ic<10;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.reset();
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.wptr(-ic));
      }
      buff.advanceWptr(5);
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.wptr(-ic));
      }
        
    }
    /*!
     * @brief advanceWptr()�᥽�åɤΥƥ���
     * 
     */
    void test_advanceWptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        buff.advanceRptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.readable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.readable());
    }
    /*!
     * @brief rptr(),get()�᥽�åɤΥƥ���
     * 
     */
    void test_rptr_get()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        for(int ic(0);ic<10;++ic)
        {  
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        { 
            CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.rptr(-ic));
        }
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.rptr(-ic));
        }
        buff.reset();
        buff.advanceWptr(10);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],buff.get());
            int ret;
            buff.get(ret);
            CPPUNIT_ASSERT_EQUAL(idata[ic],ret);
            buff.advanceRptr();
        }
    }
    /*!
     * @brief advanceRptr()�᥽�åɤΥƥ���
     * 
     */
    void test_advanceRptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        buff.advanceWptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.writable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.writable());
    }

        /*
         * �ǥåɥ��å��θ���1
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: readback
         *
         */
        void test_owrite_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);

          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���2
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: do_nothing
         *
         */
        void test_owrite_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���3
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: block
         * read.timeout: 3.0
         *
         */
        void test_owrite_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }
                

        /*
         * �ǥåɥ��å��θ���4
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: readback
         *
         */
        void test_dnothing_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���5
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: do_nothing
         *
         */
        void test_dnothing_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���6
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: block
         * read.timeout: 1.0
         *
         */
        void test_dnothing_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���7
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: readback
         * write.timeout: 1.0
         *
         */
        void test_block_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "readback";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���8
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: do_nothing
         * write.timeout: 1.0
         *
         */
        void test_block_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "do_nothing";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���9
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_wr()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���10 read -> write
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_rw()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }



  };
}; // namespace RingBuffer

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(RingBuffer::RingBufferTests);

#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 // RingBuffer_cpp

        buff2.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff2.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ��������
      // �ɽФ�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
      long int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����        buff3.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
    }
                
    /*!
     * @brief write()�᥽�åɤ����read()�᥽�åɤΥƥ��ȡʥХåե�Ĺ���ξ���
     * 
     * - �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ�����������
     *   �ɤ߽Ф��뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ���
     *   �񤭹�����ǡ������������ɤ߽Ф��뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ���
     *   �񤭹�����ǡ������������ɤ߽Ф��뤫��
     */
    void test_write_read_with_small_length()
    {
      // (1) �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ���
      // ���������ɤ߽Ф��뤫���Хåե������������Τޤޤˤ���
      long int length1 = 2;
      RTC::RingBuffer<int> buff1(length1);
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff1.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff1.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
                        
      // (2) ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ����������
      // �Ф�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫���Хåե���������
      // �ե���֤ˤ���
      long int length2 = 2;
      RTC::RingBuffer<int> buff2(length2);
      coil::Properties prop;
      prop["write.full_policy"] = "overwrite";
      buff2.init(prop);

      for (int i = 0; i < length2; i++) {
        buff2.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
//      for (int writeValue = 0; writeValue < 100; writeValue++) {
//      // �����
//      buff2.write(writeValue);
//                              
//      // �ɽФ�
//      int readValue;
//      buff2.read(readValue);
//                              
//      // �񤭹�����ǡ������������ɤ߽Ф�������
//      CPPUNIT_ASSERT_EQUAL(writeValue+1+123, readValue);
//     }

        // �����
        /* policy��overwrite��full���֤ǽ񤭹���ȡ��Ť��ǡ������񤭤����ɤ߹���¦�Υݥ��󥿤򥤥󥯥���Ȥ��롣*/
        buff2.write(0);
                                
        CPPUNIT_ASSERT_EQUAL(true, buff2.full());
        // �ɽФ�
        int readValue;
        /* �ɤ߽Ф����ɤ߹���¦�Υݥ��󥿤򥤥󥯥��Ȥ��뤿��full���֤ǤϤʤ��ʤ� */
        buff2.read(readValue);

        CPPUNIT_ASSERT_EQUAL(false, buff2.full());
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(1+123, readValue);
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
      long int length3 = 2;
      RTC::RingBuffer<int> buff3(length3);
      coil::Properties prop3;
      prop3["write.full_policy"] = "overwrite";
      buff3.init(prop3);

      for (int i = 0; i < 1; i++) {
        buff3.write(i + 123);
      }
      { 
        // �����
        buff3.write(-1);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(123, readValue);
      }
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff3.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue-1, readValue);
      }
    }
                
    /*!
     * @brief isNew()�᥽�åɤΥƥ���
     * 
     * - �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ�
     *   �ǡ���������isNewȽ�꤬���ˤʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ����������
     *   ���Υǡ����ɽФ�Ԥä����isNewȽ�꤬���ˤʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ���������isNew
     *   Ƚ�꤬���ˤʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ����������
     *   ���Υǡ����ɽФ�Ԥä����isNewȽ�꤬���ˤʤ뤫��
     */
    void test_isNew()
    {
      // (1) �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
      long int length1 = 10;
      RTC::RingBuffer<int> buff1(length1);
      CPPUNIT_ASSERT_EQUAL(true, buff1.empty());
                        
      // ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
                        
      for (int i = 0; i < length2; i++) {
        // (2) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff2.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff2.empty());
                                
        // (3) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff2.read(readValue);
        CPPUNIT_ASSERT_EQUAL(true, buff2.empty());
      }
                        
      // �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i + 456);
      }
                        
      for (int i = 0; i < length3; i++) {
        // (4) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff3.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
                                
        // (5) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff3.read(readValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
      }
    }
    /*!
     * @brief reset()�᥽�åɤΥƥ���
     * 
     */
    void test_reset()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);

      for(int ic(0);ic<8;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.advanceRptr(3);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[3]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)5);

      buff.reset();
      CPPUNIT_ASSERT(buff.empty());
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[0]);
      buff.put(idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)0);
      
    }   
    /*!
     * @brief wptr(),put()�᥽�åɤΥƥ���
     * 
     */
    void test_wptr_put()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);
      for(int ic(0);ic<10;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.reset();
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.wptr(-ic));
      }
      buff.advanceWptr(5);
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.wptr(-ic));
      }
        
    }
    /*!
     * @brief advanceWptr()�᥽�åɤΥƥ���
     * 
     */
    void test_advanceWptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        buff.advanceRptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.readable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.readable());
    }
    /*!
     * @brief rptr(),get()�᥽�åɤΥƥ���
     * 
     */
    void test_rptr_get()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        for(int ic(0);ic<10;++ic)
        {  
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        { 
            CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.rptr(-ic));
        }
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.rptr(-ic));
        }
        buff.reset();
        buff.advanceWptr(10);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],buff.get());
            int ret;
            buff.get(ret);
            CPPUNIT_ASSERT_EQUAL(idata[ic],ret);
            buff.advanceRptr();
        }
    }
    /*!
     * @brief advanceRptr()�᥽�åɤΥƥ���
     * 
     */
    void test_advanceRptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        buff.advanceWptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.writable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.writable());
    }

        /*
         * �ǥåɥ��å��θ���1
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: readback
         *
         */
        void test_owrite_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);

          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���2
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: do_nothing
         *
         */
        void test_owrite_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���3
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: block
         * read.timeout: 3.0
         *
         */
        void test_owrite_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }
                

        /*
         * �ǥåɥ��å��θ���4
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: readback
         *
         */
        void test_dnothing_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���5
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: do_nothing
         *
         */
        void test_dnothing_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���6
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: block
         * read.timeout: 1.0
         *
         */
        void test_dnothing_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���7
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: readback
         * write.timeout: 1.0
         *
         */
        void test_block_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "readback";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���8
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: do_nothing
         * write.timeout: 1.0
         *
         */
        void test_block_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "do_nothing";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���9
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_wr()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���10 read -> write
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_rw()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }



  };
}; // namespace RingBuffer

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(RingBuffer::RingBufferTests);

#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 // RingBuffer_cpp

        buff3.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
    }
                
    void test_write_read_with_small_length()
    {
      // (1) �Хåե������֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ���
      // ���������ɤ߽Ф��뤫���Хåե������������Τޤޤˤ���      long int length1 = 2;
      RTC::RingBuffer<int> buff1(length1);
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff1.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff1.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
                        
      // (2) ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ����������
      // �Ф�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫���Хåե���������
      // �ե���֤ˤ���
      long int length2 = 2;
      RTC::RingBuffer<int> buff2(length2);
      coil::Properties prop;
      prop["write.full_policy"] = "overwrite";
      buff2.init(prop);

      for (int i = 0; i < length2; i++) {
        buff2.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
//      for (int writeValue = 0; writeValue < 100; writeValue++) {
//      // �����
//      buff2.write(writeValue);
//                              
//      // �ɽФ�
//      int readValue;
//      buff2.read(readValue);
//                              
//      // �񤭹�����ǡ������������ɤ߽Ф�������
//      CPPUNIT_ASSERT_EQUAL(writeValue+1+123, readValue);
//     }

        // �����
        /* policy��overwrite��full���֤ǽ񤭹���ȡ��Ť��ǡ������񤭤����ɤ߹���¦�Υݥ��󥿤򥤥󥯥���Ȥ��롣*/
        buff2.write(0);
                                
        CPPUNIT_ASSERT_EQUAL(true, buff2.full());
        // �ɽФ�
        int readValue;
        /* �ɤ߽Ф����ɤ߹���¦�Υݥ��󥿤򥤥󥯥��Ȥ��뤿��full���֤ǤϤʤ��ʤ� */
        buff2.read(readValue);

        CPPUNIT_ASSERT_EQUAL(false, buff2.full());
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(1+123, readValue);
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
      long int length3 = 2;
      RTC::RingBuffer<int> buff3(length3);
      coil::Properties prop3;
      prop3["write.full_policy"] = "overwrite";
      buff3.init(prop3);

      for (int i = 0; i < 1; i++) {
        buff3.write(i + 123);
      }
      { 
        // �����
        buff3.write(-1);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(123, readValue);
      }
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff3.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue-1, readValue);
      }
    }
                
    /*!
     * @brief isNew()�᥽�åɤΥƥ���
     * 
     * - �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ�
     *   �ǡ���������isNewȽ�꤬���ˤʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ����������
     *   ���Υǡ����ɽФ�Ԥä����isNewȽ�꤬���ˤʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ���������isNew
     *   Ƚ�꤬���ˤʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ����������
     *   ���Υǡ����ɽФ�Ԥä����isNewȽ�꤬���ˤʤ뤫��
     */
    void test_isNew()
    {
      // (1) �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
      long int length1 = 10;
      RTC::RingBuffer<int> buff1(length1);
      CPPUNIT_ASSERT_EQUAL(true, buff1.empty());
                        
      // ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
                        
      for (int i = 0; i < length2; i++) {
        // (2) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff2.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff2.empty());
                                
        // (3) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff2.read(readValue);
        CPPUNIT_ASSERT_EQUAL(true, buff2.empty());
      }
                        
      // �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i + 456);
      }
                        
      for (int i = 0; i < length3; i++) {
        // (4) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff3.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
                                
        // (5) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff3.read(readValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
      }
    }
    /*!
     * @brief reset()�᥽�åɤΥƥ���
     * 
     */
    void test_reset()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);

      for(int ic(0);ic<8;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.advanceRptr(3);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[3]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)5);

      buff.reset();
      CPPUNIT_ASSERT(buff.empty());
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[0]);
      buff.put(idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)0);
      
    }   
    /*!
     * @brief wptr(),put()�᥽�åɤΥƥ���
     * 
     */
    void test_wptr_put()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);
      for(int ic(0);ic<10;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.reset();
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.wptr(-ic));
      }
      buff.advanceWptr(5);
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.wptr(-ic));
      }
        
    }
    /*!
     * @brief advanceWptr()�᥽�åɤΥƥ���
     * 
     */
    void test_advanceWptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        buff.advanceRptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.readable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.readable());
    }
    /*!
     * @brief rptr(),get()�᥽�åɤΥƥ���
     * 
     */
    void test_rptr_get()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        for(int ic(0);ic<10;++ic)
        {  
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        { 
            CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.rptr(-ic));
        }
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.rptr(-ic));
        }
        buff.reset();
        buff.advanceWptr(10);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],buff.get());
            int ret;
            buff.get(ret);
            CPPUNIT_ASSERT_EQUAL(idata[ic],ret);
            buff.advanceRptr();
        }
    }
    /*!
     * @brief advanceRptr()�᥽�åɤΥƥ���
     * 
     */
    void test_advanceRptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        buff.advanceWptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.writable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.writable());
    }

        /*
         * �ǥåɥ��å��θ���1
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: readback
         *
         */
        void test_owrite_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);

          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���2
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: do_nothing
         *
         */
        void test_owrite_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���3
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: block
         * read.timeout: 3.0
         *
         */
        void test_owrite_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }
                

        /*
         * �ǥåɥ��å��θ���4
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: readback
         *
         */
        void test_dnothing_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���5
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: do_nothing
         *
         */
        void test_dnothing_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���6
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: block
         * read.timeout: 1.0
         *
         */
        void test_dnothing_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���7
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: readback
         * write.timeout: 1.0
         *
         */
        void test_block_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "readback";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���8
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: do_nothing
         * write.timeout: 1.0
         *
         */
        void test_block_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "do_nothing";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���9
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_wr()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���10 read -> write
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_rw()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }



  };
}; // namespace RingBuffer

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(RingBuffer::RingBufferTests);

#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 // RingBuffer_cpp

      long int length1 = 2;
      RTC::RingBuffer<int> buff1(length1);
                        
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����        buff1.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff1.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
                        
      // (2) ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ����������
      // �Ф�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫���Хåե���������
      // �ե���֤ˤ���
      long int length2 = 2;
      RTC::RingBuffer<int> buff2(length2);
      coil::Properties prop;
      prop["write.full_policy"] = "overwrite";
      buff2.init(prop);

      for (int i = 0; i < length2; i++) {
        buff2.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
//      for (int writeValue = 0; writeValue < 100; writeValue++) {
//      // �����
//      buff2.write(writeValue);
//                              
//      // �ɽФ�
//      int readValue;
//      buff2.read(readValue);
//                              
//      // �񤭹�����ǡ������������ɤ߽Ф�������
//      CPPUNIT_ASSERT_EQUAL(writeValue+1+123, readValue);
//     }

        // �����
        /* policy��overwrite��full���֤ǽ񤭹���ȡ��Ť��ǡ������񤭤����ɤ߹���¦�Υݥ��󥿤򥤥󥯥���Ȥ��롣*/
        buff2.write(0);
                                
        CPPUNIT_ASSERT_EQUAL(true, buff2.full());
        // �ɽФ�
        int readValue;
        /* �ɤ߽Ф����ɤ߹���¦�Υݥ��󥿤򥤥󥯥��Ȥ��뤿��full���֤ǤϤʤ��ʤ� */
        buff2.read(readValue);

        CPPUNIT_ASSERT_EQUAL(false, buff2.full());
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(1+123, readValue);
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
      long int length3 = 2;
      RTC::RingBuffer<int> buff3(length3);
      coil::Properties prop3;
      prop3["write.full_policy"] = "overwrite";
      buff3.init(prop3);

      for (int i = 0; i < 1; i++) {
        buff3.write(i + 123);
      }
      { 
        // �����
        buff3.write(-1);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(123, readValue);
      }
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff3.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue-1, readValue);
      }
    }
                
    /*!
     * @brief isNew()�᥽�åɤΥƥ���
     * 
     * - �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ�
     *   �ǡ���������isNewȽ�꤬���ˤʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ����������
     *   ���Υǡ����ɽФ�Ԥä����isNewȽ�꤬���ˤʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ���������isNew
     *   Ƚ�꤬���ˤʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ����������
     *   ���Υǡ����ɽФ�Ԥä����isNewȽ�꤬���ˤʤ뤫��
     */
    void test_isNew()
    {
      // (1) �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
      long int length1 = 10;
      RTC::RingBuffer<int> buff1(length1);
      CPPUNIT_ASSERT_EQUAL(true, buff1.empty());
                        
      // ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
                        
      for (int i = 0; i < length2; i++) {
        // (2) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff2.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff2.empty());
                                
        // (3) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff2.read(readValue);
        CPPUNIT_ASSERT_EQUAL(true, buff2.empty());
      }
                        
      // �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i + 456);
      }
                        
      for (int i = 0; i < length3; i++) {
        // (4) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff3.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
                                
        // (5) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff3.read(readValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
      }
    }
    /*!
     * @brief reset()�᥽�åɤΥƥ���
     * 
     */
    void test_reset()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);

      for(int ic(0);ic<8;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.advanceRptr(3);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[3]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)5);

      buff.reset();
      CPPUNIT_ASSERT(buff.empty());
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[0]);
      buff.put(idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)0);
      
    }   
    /*!
     * @brief wptr(),put()�᥽�åɤΥƥ���
     * 
     */
    void test_wptr_put()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);
      for(int ic(0);ic<10;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.reset();
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.wptr(-ic));
      }
      buff.advanceWptr(5);
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.wptr(-ic));
      }
        
    }
    /*!
     * @brief advanceWptr()�᥽�åɤΥƥ���
     * 
     */
    void test_advanceWptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        buff.advanceRptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.readable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.readable());
    }
    /*!
     * @brief rptr(),get()�᥽�åɤΥƥ���
     * 
     */
    void test_rptr_get()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        for(int ic(0);ic<10;++ic)
        {  
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        { 
            CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.rptr(-ic));
        }
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.rptr(-ic));
        }
        buff.reset();
        buff.advanceWptr(10);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],buff.get());
            int ret;
            buff.get(ret);
            CPPUNIT_ASSERT_EQUAL(idata[ic],ret);
            buff.advanceRptr();
        }
    }
    /*!
     * @brief advanceRptr()�᥽�åɤΥƥ���
     * 
     */
    void test_advanceRptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        buff.advanceWptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.writable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.writable());
    }

        /*
         * �ǥåɥ��å��θ���1
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: readback
         *
         */
        void test_owrite_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);

          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���2
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: do_nothing
         *
         */
        void test_owrite_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���3
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: block
         * read.timeout: 3.0
         *
         */
        void test_owrite_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }
                

        /*
         * �ǥåɥ��å��θ���4
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: readback
         *
         */
        void test_dnothing_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���5
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: do_nothing
         *
         */
        void test_dnothing_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���6
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: block
         * read.timeout: 1.0
         *
         */
        void test_dnothing_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���7
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: readback
         * write.timeout: 1.0
         *
         */
        void test_block_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "readback";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���8
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: do_nothing
         * write.timeout: 1.0
         *
         */
        void test_block_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "do_nothing";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���9
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_wr()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���10 read -> write
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_rw()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }



  };
}; // namespace RingBuffer

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(RingBuffer::RingBufferTests);

#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 // RingBuffer_cpp

        buff1.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff1.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue, readValue);
      }
                        
      // (2) ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ����������
      // �Ф�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫���Хåե���������
      // �ե���֤ˤ���      long int length2 = 2;
      RTC::RingBuffer<int> buff2(length2);
      coil::Properties prop;
      prop["write.full_policy"] = "overwrite";
      buff2.init(prop);

      for (int i = 0; i < length2; i++) {
        buff2.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
//      for (int writeValue = 0; writeValue < 100; writeValue++) {
//      // �����
//      buff2.write(writeValue);
//                              
//      // �ɽФ�
//      int readValue;
//      buff2.read(readValue);
//                              
//      // �񤭹�����ǡ������������ɤ߽Ф�������
//      CPPUNIT_ASSERT_EQUAL(writeValue+1+123, readValue);
//     }

        // �����
        /* policy��overwrite��full���֤ǽ񤭹���ȡ��Ť��ǡ������񤭤����ɤ߹���¦�Υݥ��󥿤򥤥󥯥���Ȥ��롣*/
        buff2.write(0);
                                
        CPPUNIT_ASSERT_EQUAL(true, buff2.full());
        // �ɽФ�
        int readValue;
        /* �ɤ߽Ф����ɤ߹���¦�Υݥ��󥿤򥤥󥯥��Ȥ��뤿��full���֤ǤϤʤ��ʤ� */
        buff2.read(readValue);

        CPPUNIT_ASSERT_EQUAL(false, buff2.full());
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(1+123, readValue);
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
      long int length3 = 2;
      RTC::RingBuffer<int> buff3(length3);
      coil::Properties prop3;
      prop3["write.full_policy"] = "overwrite";
      buff3.init(prop3);

      for (int i = 0; i < 1; i++) {
        buff3.write(i + 123);
      }
      { 
        // �����
        buff3.write(-1);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(123, readValue);
      }
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff3.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue-1, readValue);
      }
    }
                
    /*!
     * @brief isNew()�᥽�åɤΥƥ���
     * 
     * - �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ�
     *   �ǡ���������isNewȽ�꤬���ˤʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ����������
     *   ���Υǡ����ɽФ�Ԥä����isNewȽ�꤬���ˤʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ���������isNew
     *   Ƚ�꤬���ˤʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ����������
     *   ���Υǡ����ɽФ�Ԥä����isNewȽ�꤬���ˤʤ뤫��
     */
    void test_isNew()
    {
      // (1) �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
      long int length1 = 10;
      RTC::RingBuffer<int> buff1(length1);
      CPPUNIT_ASSERT_EQUAL(true, buff1.empty());
                        
      // ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
                        
      for (int i = 0; i < length2; i++) {
        // (2) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff2.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff2.empty());
                                
        // (3) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff2.read(readValue);
        CPPUNIT_ASSERT_EQUAL(true, buff2.empty());
      }
                        
      // �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i + 456);
      }
                        
      for (int i = 0; i < length3; i++) {
        // (4) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff3.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
                                
        // (5) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff3.read(readValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
      }
    }
    /*!
     * @brief reset()�᥽�åɤΥƥ���
     * 
     */
    void test_reset()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);

      for(int ic(0);ic<8;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.advanceRptr(3);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[3]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)5);

      buff.reset();
      CPPUNIT_ASSERT(buff.empty());
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[0]);
      buff.put(idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)0);
      
    }   
    /*!
     * @brief wptr(),put()�᥽�åɤΥƥ���
     * 
     */
    void test_wptr_put()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);
      for(int ic(0);ic<10;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.reset();
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.wptr(-ic));
      }
      buff.advanceWptr(5);
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.wptr(-ic));
      }
        
    }
    /*!
     * @brief advanceWptr()�᥽�åɤΥƥ���
     * 
     */
    void test_advanceWptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        buff.advanceRptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.readable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.readable());
    }
    /*!
     * @brief rptr(),get()�᥽�åɤΥƥ���
     * 
     */
    void test_rptr_get()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        for(int ic(0);ic<10;++ic)
        {  
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        { 
            CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.rptr(-ic));
        }
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.rptr(-ic));
        }
        buff.reset();
        buff.advanceWptr(10);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],buff.get());
            int ret;
            buff.get(ret);
            CPPUNIT_ASSERT_EQUAL(idata[ic],ret);
            buff.advanceRptr();
        }
    }
    /*!
     * @brief advanceRptr()�᥽�åɤΥƥ���
     * 
     */
    void test_advanceRptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        buff.advanceWptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.writable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.writable());
    }

        /*
         * �ǥåɥ��å��θ���1
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: readback
         *
         */
        void test_owrite_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);

          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���2
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: do_nothing
         *
         */
        void test_owrite_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���3
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: block
         * read.timeout: 3.0
         *
         */
        void test_owrite_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }
                

        /*
         * �ǥåɥ��å��θ���4
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: readback
         *
         */
        void test_dnothing_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���5
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: do_nothing
         *
         */
        void test_dnothing_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���6
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: block
         * read.timeout: 1.0
         *
         */
        void test_dnothing_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���7
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: readback
         * write.timeout: 1.0
         *
         */
        void test_block_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "readback";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���8
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: do_nothing
         * write.timeout: 1.0
         *
         */
        void test_block_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "do_nothing";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���9
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_wr()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���10 read -> write
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_rw()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }



  };
}; // namespace RingBuffer

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(RingBuffer::RingBufferTests);

#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 // RingBuffer_cpp

      long int length2 = 2;
      RTC::RingBuffer<int> buff2(length2);
      coil::Properties prop;
      prop["write.full_policy"] = "overwrite";
      buff2.init(prop);

      for (int i = 0; i < length2; i++) {
        buff2.write(i + 123);
      }
                        
      // ���ǡ���������ɽФ�Ԥ�
//      for (int writeValue = 0; writeValue < 100; writeValue++) {
//      // �����//      buff2.write(writeValue);
//                              
//      // �ɽФ�
//      int readValue;
//      buff2.read(readValue);
//                              
//      // �񤭹�����ǡ������������ɤ߽Ф�������
//      CPPUNIT_ASSERT_EQUAL(writeValue+1+123, readValue);
//     }

        // �����
        /* policy��overwrite��full���֤ǽ񤭹���ȡ��Ť��ǡ������񤭤����ɤ߹���¦�Υݥ��󥿤򥤥󥯥���Ȥ��롣*/
        buff2.write(0);
                                
        CPPUNIT_ASSERT_EQUAL(true, buff2.full());
        // �ɽФ�
        int readValue;
        /* �ɤ߽Ф����ɤ߹���¦�Υݥ��󥿤򥤥󥯥��Ȥ��뤿��full���֤ǤϤʤ��ʤ� */
        buff2.read(readValue);

        CPPUNIT_ASSERT_EQUAL(false, buff2.full());
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(1+123, readValue);
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
      long int length3 = 2;
      RTC::RingBuffer<int> buff3(length3);
      coil::Properties prop3;
      prop3["write.full_policy"] = "overwrite";
      buff3.init(prop3);

      for (int i = 0; i < 1; i++) {
        buff3.write(i + 123);
      }
      { 
        // �����
        buff3.write(-1);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(123, readValue);
      }
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff3.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue-1, readValue);
      }
    }
                
    /*!
     * @brief isNew()�᥽�åɤΥƥ���
     * 
     * - �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ�
     *   �ǡ���������isNewȽ�꤬���ˤʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ����������
     *   ���Υǡ����ɽФ�Ԥä����isNewȽ�꤬���ˤʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ���������isNew
     *   Ƚ�꤬���ˤʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ����������
     *   ���Υǡ����ɽФ�Ԥä����isNewȽ�꤬���ˤʤ뤫��
     */
    void test_isNew()
    {
      // (1) �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
      long int length1 = 10;
      RTC::RingBuffer<int> buff1(length1);
      CPPUNIT_ASSERT_EQUAL(true, buff1.empty());
                        
      // ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
                        
      for (int i = 0; i < length2; i++) {
        // (2) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff2.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff2.empty());
                                
        // (3) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff2.read(readValue);
        CPPUNIT_ASSERT_EQUAL(true, buff2.empty());
      }
                        
      // �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i + 456);
      }
                        
      for (int i = 0; i < length3; i++) {
        // (4) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff3.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
                                
        // (5) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff3.read(readValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
      }
    }
    /*!
     * @brief reset()�᥽�åɤΥƥ���
     * 
     */
    void test_reset()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);

      for(int ic(0);ic<8;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.advanceRptr(3);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[3]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)5);

      buff.reset();
      CPPUNIT_ASSERT(buff.empty());
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[0]);
      buff.put(idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)0);
      
    }   
    /*!
     * @brief wptr(),put()�᥽�åɤΥƥ���
     * 
     */
    void test_wptr_put()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);
      for(int ic(0);ic<10;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.reset();
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.wptr(-ic));
      }
      buff.advanceWptr(5);
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.wptr(-ic));
      }
        
    }
    /*!
     * @brief advanceWptr()�᥽�åɤΥƥ���
     * 
     */
    void test_advanceWptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        buff.advanceRptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.readable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.readable());
    }
    /*!
     * @brief rptr(),get()�᥽�åɤΥƥ���
     * 
     */
    void test_rptr_get()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        for(int ic(0);ic<10;++ic)
        {  
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        { 
            CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.rptr(-ic));
        }
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.rptr(-ic));
        }
        buff.reset();
        buff.advanceWptr(10);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],buff.get());
            int ret;
            buff.get(ret);
            CPPUNIT_ASSERT_EQUAL(idata[ic],ret);
            buff.advanceRptr();
        }
    }
    /*!
     * @brief advanceRptr()�᥽�åɤΥƥ���
     * 
     */
    void test_advanceRptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        buff.advanceWptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.writable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.writable());
    }

        /*
         * �ǥåɥ��å��θ���1
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: readback
         *
         */
        void test_owrite_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);

          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���2
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: do_nothing
         *
         */
        void test_owrite_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���3
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: block
         * read.timeout: 3.0
         *
         */
        void test_owrite_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }
                

        /*
         * �ǥåɥ��å��θ���4
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: readback
         *
         */
        void test_dnothing_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���5
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: do_nothing
         *
         */
        void test_dnothing_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���6
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: block
         * read.timeout: 1.0
         *
         */
        void test_dnothing_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���7
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: readback
         * write.timeout: 1.0
         *
         */
        void test_block_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "readback";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���8
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: do_nothing
         * write.timeout: 1.0
         *
         */
        void test_block_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "do_nothing";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���9
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_wr()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���10 read -> write
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_rw()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }



  };
}; // namespace RingBuffer

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(RingBuffer::RingBufferTests);

#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 // RingBuffer_cpp

//      buff2.write(writeValue);
//                              
//      // �ɽФ�
//      int readValue;
//      buff2.read(readValue);
//                              
//      // �񤭹�����ǡ������������ɤ߽Ф�������
//      CPPUNIT_ASSERT_EQUAL(writeValue+1+123, readValue);
//     }

        // �����        /* policy��overwrite��full���֤ǽ񤭹���ȡ��Ť��ǡ������񤭤����ɤ߹���¦�Υݥ��󥿤򥤥󥯥���Ȥ��롣*/
        buff2.write(0);
                                
        CPPUNIT_ASSERT_EQUAL(true, buff2.full());
        // �ɽФ�
        int readValue;
        /* �ɤ߽Ф����ɤ߹���¦�Υݥ��󥿤򥤥󥯥��Ȥ��뤿��full���֤ǤϤʤ��ʤ� */
        buff2.read(readValue);

        CPPUNIT_ASSERT_EQUAL(false, buff2.full());
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(1+123, readValue);
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
      long int length3 = 2;
      RTC::RingBuffer<int> buff3(length3);
      coil::Properties prop3;
      prop3["write.full_policy"] = "overwrite";
      buff3.init(prop3);

      for (int i = 0; i < 1; i++) {
        buff3.write(i + 123);
      }
      { 
        // �����
        buff3.write(-1);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(123, readValue);
      }
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff3.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue-1, readValue);
      }
    }
                
    /*!
     * @brief isNew()�᥽�åɤΥƥ���
     * 
     * - �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ�
     *   �ǡ���������isNewȽ�꤬���ˤʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ����������
     *   ���Υǡ����ɽФ�Ԥä����isNewȽ�꤬���ˤʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ���������isNew
     *   Ƚ�꤬���ˤʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ����������
     *   ���Υǡ����ɽФ�Ԥä����isNewȽ�꤬���ˤʤ뤫��
     */
    void test_isNew()
    {
      // (1) �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
      long int length1 = 10;
      RTC::RingBuffer<int> buff1(length1);
      CPPUNIT_ASSERT_EQUAL(true, buff1.empty());
                        
      // ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
                        
      for (int i = 0; i < length2; i++) {
        // (2) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff2.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff2.empty());
                                
        // (3) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff2.read(readValue);
        CPPUNIT_ASSERT_EQUAL(true, buff2.empty());
      }
                        
      // �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i + 456);
      }
                        
      for (int i = 0; i < length3; i++) {
        // (4) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff3.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
                                
        // (5) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff3.read(readValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
      }
    }
    /*!
     * @brief reset()�᥽�åɤΥƥ���
     * 
     */
    void test_reset()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);

      for(int ic(0);ic<8;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.advanceRptr(3);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[3]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)5);

      buff.reset();
      CPPUNIT_ASSERT(buff.empty());
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[0]);
      buff.put(idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)0);
      
    }   
    /*!
     * @brief wptr(),put()�᥽�åɤΥƥ���
     * 
     */
    void test_wptr_put()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);
      for(int ic(0);ic<10;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.reset();
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.wptr(-ic));
      }
      buff.advanceWptr(5);
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.wptr(-ic));
      }
        
    }
    /*!
     * @brief advanceWptr()�᥽�åɤΥƥ���
     * 
     */
    void test_advanceWptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        buff.advanceRptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.readable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.readable());
    }
    /*!
     * @brief rptr(),get()�᥽�åɤΥƥ���
     * 
     */
    void test_rptr_get()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        for(int ic(0);ic<10;++ic)
        {  
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        { 
            CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.rptr(-ic));
        }
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.rptr(-ic));
        }
        buff.reset();
        buff.advanceWptr(10);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],buff.get());
            int ret;
            buff.get(ret);
            CPPUNIT_ASSERT_EQUAL(idata[ic],ret);
            buff.advanceRptr();
        }
    }
    /*!
     * @brief advanceRptr()�᥽�åɤΥƥ���
     * 
     */
    void test_advanceRptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        buff.advanceWptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.writable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.writable());
    }

        /*
         * �ǥåɥ��å��θ���1
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: readback
         *
         */
        void test_owrite_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);

          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���2
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: do_nothing
         *
         */
        void test_owrite_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���3
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: block
         * read.timeout: 3.0
         *
         */
        void test_owrite_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }
                

        /*
         * �ǥåɥ��å��θ���4
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: readback
         *
         */
        void test_dnothing_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���5
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: do_nothing
         *
         */
        void test_dnothing_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���6
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: block
         * read.timeout: 1.0
         *
         */
        void test_dnothing_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���7
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: readback
         * write.timeout: 1.0
         *
         */
        void test_block_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "readback";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���8
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: do_nothing
         * write.timeout: 1.0
         *
         */
        void test_block_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "do_nothing";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���9
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_wr()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���10 read -> write
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_rw()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }



  };
}; // namespace RingBuffer

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(RingBuffer::RingBufferTests);

#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 // RingBuffer_cpp

        /* policy��overwrite��full���֤ǽ񤭹���ȡ��Ť��ǡ������񤭤����ɤ߹���¦�Υݥ��󥿤򥤥󥯥���Ȥ��롣*/
        buff2.write(0);
                                
        CPPUNIT_ASSERT_EQUAL(true, buff2.full());
        // �ɽФ�
        int readValue;
        /* �ɤ߽Ф����ɤ߹���¦�Υݥ��󥿤򥤥󥯥��Ȥ��뤿��full���֤ǤϤʤ��ʤ� */
        buff2.read(readValue);

        CPPUNIT_ASSERT_EQUAL(false, buff2.full());
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(1+123, readValue);
                        
      // (3) �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǣ��ǡ���������ɽФ�Ԥ����񤭹�����ǡ������������ɤ߽Ф��뤫��
      long int length3 = 2;
      RTC::RingBuffer<int> buff3(length3);
      coil::Properties prop3;
      prop3["write.full_policy"] = "overwrite";
      buff3.init(prop3);

      for (int i = 0; i < 1; i++) {
        buff3.write(i + 123);
      }
      { 
        // �����        buff3.write(-1);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(123, readValue);
      }
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����
        buff3.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue-1, readValue);
      }
    }
                
    /*!
     * @brief isNew()�᥽�åɤΥƥ���
     * 
     * - �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ�
     *   �ǡ���������isNewȽ�꤬���ˤʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ����������
     *   ���Υǡ����ɽФ�Ԥä����isNewȽ�꤬���ˤʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ���������isNew
     *   Ƚ�꤬���ˤʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ����������
     *   ���Υǡ����ɽФ�Ԥä����isNewȽ�꤬���ˤʤ뤫��
     */
    void test_isNew()
    {
      // (1) �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
      long int length1 = 10;
      RTC::RingBuffer<int> buff1(length1);
      CPPUNIT_ASSERT_EQUAL(true, buff1.empty());
                        
      // ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
                        
      for (int i = 0; i < length2; i++) {
        // (2) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff2.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff2.empty());
                                
        // (3) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff2.read(readValue);
        CPPUNIT_ASSERT_EQUAL(true, buff2.empty());
      }
                        
      // �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i + 456);
      }
                        
      for (int i = 0; i < length3; i++) {
        // (4) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff3.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
                                
        // (5) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff3.read(readValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
      }
    }
    /*!
     * @brief reset()�᥽�åɤΥƥ���
     * 
     */
    void test_reset()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);

      for(int ic(0);ic<8;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.advanceRptr(3);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[3]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)5);

      buff.reset();
      CPPUNIT_ASSERT(buff.empty());
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[0]);
      buff.put(idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)0);
      
    }   
    /*!
     * @brief wptr(),put()�᥽�åɤΥƥ���
     * 
     */
    void test_wptr_put()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);
      for(int ic(0);ic<10;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.reset();
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.wptr(-ic));
      }
      buff.advanceWptr(5);
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.wptr(-ic));
      }
        
    }
    /*!
     * @brief advanceWptr()�᥽�åɤΥƥ���
     * 
     */
    void test_advanceWptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        buff.advanceRptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.readable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.readable());
    }
    /*!
     * @brief rptr(),get()�᥽�åɤΥƥ���
     * 
     */
    void test_rptr_get()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        for(int ic(0);ic<10;++ic)
        {  
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        { 
            CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.rptr(-ic));
        }
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.rptr(-ic));
        }
        buff.reset();
        buff.advanceWptr(10);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],buff.get());
            int ret;
            buff.get(ret);
            CPPUNIT_ASSERT_EQUAL(idata[ic],ret);
            buff.advanceRptr();
        }
    }
    /*!
     * @brief advanceRptr()�᥽�åɤΥƥ���
     * 
     */
    void test_advanceRptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        buff.advanceWptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.writable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.writable());
    }

        /*
         * �ǥåɥ��å��θ���1
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: readback
         *
         */
        void test_owrite_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);

          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���2
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: do_nothing
         *
         */
        void test_owrite_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���3
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: block
         * read.timeout: 3.0
         *
         */
        void test_owrite_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }
                

        /*
         * �ǥåɥ��å��θ���4
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: readback
         *
         */
        void test_dnothing_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���5
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: do_nothing
         *
         */
        void test_dnothing_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���6
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: block
         * read.timeout: 1.0
         *
         */
        void test_dnothing_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���7
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: readback
         * write.timeout: 1.0
         *
         */
        void test_block_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "readback";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���8
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: do_nothing
         * write.timeout: 1.0
         *
         */
        void test_block_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "do_nothing";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���9
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_wr()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���10 read -> write
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_rw()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }



  };
}; // namespace RingBuffer

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(RingBuffer::RingBufferTests);

#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 // RingBuffer_cpp

        buff3.write(-1);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(123, readValue);
      }
      // ���ǡ���������ɽФ�Ԥ�
      for (int writeValue = 0; writeValue < 100; writeValue++) {
        // �����        buff3.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue-1, readValue);
      }
    }
                
    /*!
     * @brief isNew()�᥽�åɤΥƥ���
     * 
     * - �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ�
     *   �ǡ���������isNewȽ�꤬���ˤʤ뤫��
     * - ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ����������
     *   ���Υǡ����ɽФ�Ԥä����isNewȽ�꤬���ˤʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ���������isNew
     *   Ƚ�꤬���ˤʤ뤫��
     * - �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤ǡ��ǡ����������
     *   ���Υǡ����ɽФ�Ԥä����isNewȽ�꤬���ˤʤ뤫��
     */
    void test_isNew()
    {
      // (1) �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
      long int length1 = 10;
      RTC::RingBuffer<int> buff1(length1);
      CPPUNIT_ASSERT_EQUAL(true, buff1.empty());
                        
      // ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
                        
      for (int i = 0; i < length2; i++) {
        // (2) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff2.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff2.empty());
                                
        // (3) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff2.read(readValue);
        CPPUNIT_ASSERT_EQUAL(true, buff2.empty());
      }
                        
      // �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i + 456);
      }
                        
      for (int i = 0; i < length3; i++) {
        // (4) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff3.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
                                
        // (5) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff3.read(readValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
      }
    }
    /*!
     * @brief reset()�᥽�åɤΥƥ���
     * 
     */
    void test_reset()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);

      for(int ic(0);ic<8;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.advanceRptr(3);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[3]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)5);

      buff.reset();
      CPPUNIT_ASSERT(buff.empty());
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[0]);
      buff.put(idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)0);
      
    }   
    /*!
     * @brief wptr(),put()�᥽�åɤΥƥ���
     * 
     */
    void test_wptr_put()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);
      for(int ic(0);ic<10;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.reset();
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.wptr(-ic));
      }
      buff.advanceWptr(5);
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.wptr(-ic));
      }
        
    }
    /*!
     * @brief advanceWptr()�᥽�åɤΥƥ���
     * 
     */
    void test_advanceWptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        buff.advanceRptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.readable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.readable());
    }
    /*!
     * @brief rptr(),get()�᥽�åɤΥƥ���
     * 
     */
    void test_rptr_get()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        for(int ic(0);ic<10;++ic)
        {  
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        { 
            CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.rptr(-ic));
        }
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.rptr(-ic));
        }
        buff.reset();
        buff.advanceWptr(10);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],buff.get());
            int ret;
            buff.get(ret);
            CPPUNIT_ASSERT_EQUAL(idata[ic],ret);
            buff.advanceRptr();
        }
    }
    /*!
     * @brief advanceRptr()�᥽�åɤΥƥ���
     * 
     */
    void test_advanceRptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        buff.advanceWptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.writable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.writable());
    }

        /*
         * �ǥåɥ��å��θ���1
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: readback
         *
         */
        void test_owrite_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);

          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���2
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: do_nothing
         *
         */
        void test_owrite_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���3
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: block
         * read.timeout: 3.0
         *
         */
        void test_owrite_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }
                

        /*
         * �ǥåɥ��å��θ���4
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: readback
         *
         */
        void test_dnothing_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���5
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: do_nothing
         *
         */
        void test_dnothing_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���6
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: block
         * read.timeout: 1.0
         *
         */
        void test_dnothing_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���7
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: readback
         * write.timeout: 1.0
         *
         */
        void test_block_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "readback";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���8
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: do_nothing
         * write.timeout: 1.0
         *
         */
        void test_block_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "do_nothing";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���9
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_wr()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���10 read -> write
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_rw()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }



  };
}; // namespace RingBuffer

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(RingBuffer::RingBufferTests);

#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 // RingBuffer_cpp

        buff3.write(writeValue);
                                
        // �ɽФ�
        int readValue;
        buff3.read(readValue);
                                
        // �񤭹�����ǡ������������ɤ߽Ф�������
        CPPUNIT_ASSERT_EQUAL(writeValue-1, readValue);
      }
    }
                
    void test_isNew()
    {
      // (1) �Хåե������ξ��֤ǡ�isNewȽ�꤬���ˤʤ뤫��
      long int length1 = 10;
      RTC::RingBuffer<int> buff1(length1);
      CPPUNIT_ASSERT_EQUAL(true, buff1.empty());
                        
      // ���Хåե��˥ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length2 = 10;
      RTC::RingBuffer<int> buff2(length2);
                        
      for (int i = 0; i < length2; i++) {
        // (2) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff2.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff2.empty());
                                
        // (3) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff2.read(readValue);
        CPPUNIT_ASSERT_EQUAL(true, buff2.empty());
      }
                        
      // �Хåե��˴�ʬ�ǡ������񤭹��ޤ�Ƥ�����֤�...
      long int length3 = 10;
      RTC::RingBuffer<int> buff3(length3);
      for (int i = 0; i < length3 / 2; i++) {
        buff3.write(i + 456);
      }
                        
      for (int i = 0; i < length3; i++) {
        // (4) ...�ǡ���������isNewȽ�꤬���ˤʤ뤫��
        int writeValue = i + 123;
        buff3.write(writeValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
                                
        // (5) ...�ǡ�������������Υǡ����ɽФ�Ԥä����isNewȽ�꤬��
        // �ˤʤ뤫��
        int readValue;
        buff3.read(readValue);
        CPPUNIT_ASSERT_EQUAL(false, buff3.empty());
      }
    }
    void test_reset()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);

      for(int ic(0);ic<8;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.advanceRptr(3);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[3]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)5);

      buff.reset();
      CPPUNIT_ASSERT(buff.empty());
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[0]);
      buff.put(idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.get(), idata[9]);
      CPPUNIT_ASSERT_EQUAL(buff.readable(), (size_t)0);
      
    }   
    void test_wptr_put()
    {
      int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
      RTC::RingBuffer<int> buff(10);
      for(int ic(0);ic<10;++ic)
      {
          buff.put(idata[ic]);
          buff.advanceWptr();
      }
      buff.reset();
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.wptr(-ic));
      }
      buff.advanceWptr(5);
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.wptr(ic));
      }
      for(int ic(0);ic<10;++ic)
      {
          CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.wptr(-ic));
      }
        
    }
    void test_advanceWptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(5),::RTC::BufferStatus::BUFFER_OK);
        buff.advanceRptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.readable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceWptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.wptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.readable());
    }
    void test_rptr_get()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        for(int ic(0);ic<10;++ic)
        {  
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        buff.reset();
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        { 
            CPPUNIT_ASSERT_EQUAL(idata[(-ic+10)%10],*buff.rptr(-ic));
        }
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5+ic)%10],*buff.rptr(ic));
        }
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[(5-ic+10)%10],*buff.rptr(-ic));
        }
        buff.reset();
        buff.advanceWptr(10);
        for(int ic(0);ic<10;++ic)
        {
            CPPUNIT_ASSERT_EQUAL(idata[ic],buff.get());
            int ret;
            buff.get(ret);
            CPPUNIT_ASSERT_EQUAL(idata[ic],ret);
            buff.advanceRptr();
        }
    }
    void test_advanceRptr()
    {
        int idata[10] = {123,456,789,321,654,987,1234,3456,5678,7890};
        RTC::RingBuffer<int> buff(10);
        buff.advanceWptr(5);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        buff.reset();
        buff.advanceWptr(5);
        buff.advanceRptr(5);
        for(int ic(0);ic<10;++ic)
        {
            buff.put(idata[ic]);
            buff.advanceWptr();
        }
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-6),::RTC::BufferStatus::PRECONDITION_NOT_MET);
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(8),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[8],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)8,buff.writable());
        CPPUNIT_ASSERT_EQUAL(buff.advanceRptr(-5),::RTC::BufferStatus::BUFFER_OK);
        CPPUNIT_ASSERT_EQUAL(idata[3],*buff.rptr());
        CPPUNIT_ASSERT_EQUAL((size_t)3,buff.writable());
    }

        /*
         * �ǥåɥ��å��θ���1
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: readback
         *
         */
        void test_owrite_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);

          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���2
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: do_nothing
         *
         */
        void test_owrite_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);

          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;

          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���3
         *
         * �Хåե�������: 1, 8
         * write.full_policy: overwrite
         * read.empty_policy: block
         * read.timeout: 3.0
         *
         */
        void test_owrite_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "overwrite";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }
                

        /*
         * �ǥåɥ��å��θ���4
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: readback
         *
         */
        void test_dnothing_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "readback";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���5
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: do_nothing
         *
         */
        void test_dnothing_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "do_nothing";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���6
         *
         * �Хåե�������: 1, 8
         * write.full_policy: do_nothing
         * read.empty_policy: block
         * read.timeout: 1.0
         *
         */
        void test_dnothing_block()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "do_nothing";
          prop["read.empty_policy"] = "block";
          prop["read.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          // CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���7
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: readback
         * write.timeout: 1.0
         *
         */
        void test_block_rback()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "readback";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���8
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: do_nothing
         * write.timeout: 1.0
         *
         */
        void test_block_dnothing()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "do_nothing";
          prop["write.timeout"]      = "1.0";
          buff.init(prop);

          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,100);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���9
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_wr()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }


        /*
         * �ǥåɥ��å��θ���10 read -> write
         *
         * �Хåե�������: 1, 8
         * write.full_policy: block
         * read.empty_policy: block
         * write.timeout: 3.0
         * read.timeout: 3.0
         *
         */
        void test_block_block_rw()
        {
          RTC::RingBuffer<int> buff(1);

          // �ǥե��������ʳ��ΥХåե�
          coil::Properties prop;
          prop["write.full_policy"] = "block";
          prop["read.empty_policy"] = "block";
          prop["write.timeout"]     = "3.0";
          prop["read.timeout"]      = "3.0";
          buff.init(prop);

          isBlockTest = true;
          g_ret = RTC::BufferStatus::BUFFER_OK;
          do_test(buff,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          RTC::RingBuffer<int> buff2(8);
          buff2.init(prop);
          do_test(buff2,true);
          CPPUNIT_ASSERT(g_ret == RTC::BufferStatus::BUFFER_OK);
          g_ret = RTC::BufferStatus::BUFFER_OK;


          isBlockTest = false;
          std::cout << std::flush;
          return;
        }



  };
}; // namespace RingBuffer

/*
 * Register test suite
 */
CPPUNIT_TEST_SUITE_REGISTRATION(RingBuffer::RingBufferTests);

#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 // RingBuffer_cpp