test_subscription_queue.cpp

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/*
 * Copyright (c) 2009, Willow Garage, Inc.
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/* Author: Josh Faust */
 
/*
 * Test subscription queue
 */
 
#include <gtest/gtest.h>
#include "ros/subscription_queue.h"
#include "ros/message_deserializer.h"
#include "ros/callback_queue_interface.h"
#include "ros/subscription_callback_helper.h"
#include "ros/init.h"
 
#include <boost/shared_array.hpp>
#include <boost/bind/bind.hpp>
#include <boost/thread.hpp>
 
#include "fake_message.h"
 
using namespace ros;
 
TEST(SubscriptionQueue, queueSize)
{
  SubscriptionQueue queue("blah", 1, false);
 
  FakeSubHelperPtr helper(boost::make_shared<FakeSubHelper>());
  MessageDeserializerPtr des(boost::make_shared<MessageDeserializer>(helper, SerializedMessage(), boost::shared_ptr<M_string>()));
 
  ASSERT_FALSE(queue.full());
 
  queue.push(helper, des, false, VoidConstWPtr(), true);
 
  ASSERT_TRUE(queue.full());
 
  ASSERT_EQ(queue.call(), CallbackInterface::Success);
 
  ASSERT_FALSE(queue.full());
 
  queue.push(helper, des, false, VoidConstWPtr(), true);
 
  ASSERT_TRUE(queue.full());
 
  ASSERT_TRUE(queue.ready());
 
  queue.push(helper, des, false, VoidConstWPtr(), true);
 
  ASSERT_TRUE(queue.full());
 
  ASSERT_EQ(queue.call(), CallbackInterface::Success);
  ASSERT_EQ(queue.call(), CallbackInterface::Invalid);
 
  ASSERT_EQ(helper->calls_, 2u);
}
 
TEST(SubscriptionQueue, infiniteQueue)
{
  SubscriptionQueue queue("blah", 0, false);
 
  FakeSubHelperPtr helper(boost::make_shared<FakeSubHelper>());
  MessageDeserializerPtr des(boost::make_shared<MessageDeserializer>(helper, SerializedMessage(), boost::shared_ptr<M_string>()));
 
  ASSERT_FALSE(queue.full());
 
  queue.push(helper, des, false, VoidConstWPtr(), true);
  ASSERT_EQ(queue.call(), CallbackInterface::Success);
 
  ASSERT_FALSE(queue.full());
 
  for (int i = 0; i < 10000; ++i)
  {
    queue.push(helper, des, false, VoidConstWPtr(), true);
  }
 
  ASSERT_FALSE(queue.full());
 
  for (int i = 0; i < 10000; ++i)
  {
    ASSERT_EQ(queue.call(), CallbackInterface::Success);
  }
 
  ASSERT_EQ(queue.call(), CallbackInterface::Invalid);
 
  ASSERT_EQ(helper->calls_, 10001u);
}
 
TEST(SubscriptionQueue, clearCall)
{
  SubscriptionQueue queue("blah", 1, false);
 
  FakeSubHelperPtr helper(boost::make_shared<FakeSubHelper>());
  MessageDeserializerPtr des(boost::make_shared<MessageDeserializer>(helper, SerializedMessage(), boost::shared_ptr<M_string>()));
 
  queue.push(helper, des, false, VoidConstWPtr(), true);
  queue.clear();
  ASSERT_EQ(queue.call(), CallbackInterface::Invalid);
}
 
TEST(SubscriptionQueue, clearThenAddAndCall)
{
  SubscriptionQueue queue("blah", 1, false);
 
  FakeSubHelperPtr helper(boost::make_shared<FakeSubHelper>());
  MessageDeserializerPtr des(boost::make_shared<MessageDeserializer>(helper, SerializedMessage(), boost::shared_ptr<M_string>()));
 
  queue.push(helper, des, false, VoidConstWPtr(), true);
  queue.clear();
  queue.push(helper, des, false, VoidConstWPtr(), true);
  ASSERT_EQ(queue.call(), CallbackInterface::Success);
}
 
void clearInCallbackCallback(SubscriptionQueue& queue)
{
  queue.clear();
}
 
TEST(SubscriptionQueue, clearInCallback)
{
  SubscriptionQueue queue("blah", 1, false);
 
  FakeSubHelperPtr helper(boost::make_shared<FakeSubHelper>());
  MessageDeserializerPtr des(boost::make_shared<MessageDeserializer>(helper, SerializedMessage(), boost::shared_ptr<M_string>()));
 
  helper->cb_ = boost::bind(clearInCallbackCallback, boost::ref(queue));
  queue.push(helper, des, false, VoidConstWPtr(), true);
  queue.call();
}
 
void clearWhileThreadIsBlockingCallback(bool* done, boost::barrier* barrier)
{
  barrier->wait();
  ros::WallDuration(.1).sleep();
  *done = true;
}
 
void callThread(SubscriptionQueue& queue)
{
  queue.call();
}
 
TEST(SubscriptionQueue, clearWhileThreadIsBlocking)
{
  SubscriptionQueue queue("blah", 1, false);
 
  FakeSubHelperPtr helper(boost::make_shared<FakeSubHelper>());
  MessageDeserializerPtr des(boost::make_shared<MessageDeserializer>(helper, SerializedMessage(), boost::shared_ptr<M_string>()));
 
  bool done = false;
  boost::barrier barrier(2);
  helper->cb_ = boost::bind(clearWhileThreadIsBlockingCallback, &done, &barrier);
  queue.push(helper, des, false, VoidConstWPtr(), true);
  boost::thread t(callThread, boost::ref(queue));
  barrier.wait();
 
  queue.clear();
 
  ASSERT_TRUE(done);
}
 
void waitForBarrier(boost::barrier* bar)
{
  bar->wait();
}
 
TEST(SubscriptionQueue, concurrentCallbacks)
{
  SubscriptionQueue queue("blah", 0, true);
  FakeSubHelperPtr helper(boost::make_shared<FakeSubHelper>());
  MessageDeserializerPtr des(boost::make_shared<MessageDeserializer>(helper, SerializedMessage(), boost::shared_ptr<M_string>()));
 
  boost::barrier bar(2);
  helper->cb_ = boost::bind(waitForBarrier, &bar);
  queue.push(helper, des, false, VoidConstWPtr(), true);
  queue.push(helper, des, false, VoidConstWPtr(), true);
  boost::thread t1(callThread, boost::ref(queue));
  boost::thread t2(callThread, boost::ref(queue));
  t1.join();
  t2.join();
 
  ASSERT_EQ(helper->calls_, 2u);
}
 
void waitForASecond()
{
  ros::WallDuration(1.0).sleep();
}
 
TEST(SubscriptionQueue, nonConcurrentOrdering)
{
  SubscriptionQueue queue("blah", 0, false);
  FakeSubHelperPtr helper(boost::make_shared<FakeSubHelper>());
  MessageDeserializerPtr des(boost::make_shared<MessageDeserializer>(helper, SerializedMessage(), boost::shared_ptr<M_string>()));
 
  helper->cb_ = waitForASecond;
  queue.push(helper, des, false, VoidConstWPtr(), true);
  queue.push(helper, des, false, VoidConstWPtr(), true);
  boost::thread t1(callThread, boost::ref(queue));
  boost::thread t2(callThread, boost::ref(queue));
  t1.join();
  t2.join();
 
  ASSERT_EQ(helper->calls_, 1u);
  queue.call();
  ASSERT_EQ(helper->calls_, 2u);
}
 
int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "blah");
  return RUN_ALL_TESTS();
}