rtt: rtt: remote_method_test.cpp Source File

00001 /***************************************************************************
00002   tag: The SourceWorks  Tue Sep 7 00:54:57 CEST 2010  remote_method_test.cpp
00003 
00004                         remote_method_test.cpp -  description
00005                            -------------------
00006     begin                : Tue September 07 2010
00007     copyright            : (C) 2010 The SourceWorks
00008     email                : peter@thesourceworks.com
00009 
00010  ***************************************************************************
00011  *                                                                         *
00012  *   This program is free software; you can redistribute it and/or modify  *
00013  *   it under the terms of the GNU General Public License as published by  *
00014  *   the Free Software Foundation; either version 2 of the License, or     *
00015  *   (at your option) any later version.                                   *
00016  *                                                                         *
00017  ***************************************************************************/
00018 
00019 
00020 
00021 #define ORO_TEST_OPERATION_CALLER
00022 
00023 #include <iostream>
00024 #include <TaskContext.hpp>
00025 #include <OperationCaller.hpp>
00026 #include <Operation.hpp>
00027 #include <internal/RemoteOperationCaller.hpp>
00028 #include <Service.hpp>
00029 
00030 #include "unit.hpp"
00031 #include "operations_fixture.hpp"
00032 
00037 BOOST_FIXTURE_TEST_SUITE(  RemoteOperationCallerTestSuite,  OperationsFixture )
00038 
00039 BOOST_AUTO_TEST_CASE(testRemoteOperationCaller)
00040 {
00041     OperationCaller<double(void)> m0("mo");
00042     boost::shared_ptr<DisposableInterface> implementation( new RemoteOperationCaller<double(void)>(tc->provides("methods")->getPart("m0"),"m0", caller->engine() ) );
00043     m0 = implementation;
00044     BOOST_CHECK( m0.ready() );
00045 
00046     OperationCaller<double(int)> m1;
00047     implementation.reset( new RemoteOperationCaller<double(int)>(tc->provides("methods")->getPart("m1"),"m1", caller->engine()) );
00048     m1 = implementation;
00049     BOOST_CHECK( m1.ready() );
00050     
00051     OperationCaller<void(void)> m0e;
00052     implementation.reset( new RemoteOperationCaller<void(void)>(tc->provides("methods")->getPart("m0except"),"m0except", caller->engine()) );
00053     m0e = implementation;
00054     BOOST_CHECK( m0e.ready() );
00055 
00056     BOOST_CHECK_EQUAL(  2.0, m1(0) );
00057     BOOST_CHECK_EQUAL( -2.0, m1(1) );
00058     BOOST_CHECK_EQUAL( -1.0, m0() );
00059     BOOST_CHECK_THROW( m0e(), std::runtime_error);
00060     BOOST_REQUIRE( tc->inException() );
00061 }
00062 
00063 BOOST_AUTO_TEST_CASE(testOperationCallerC_Call)
00064 {
00065     OperationCallerC mc;
00066     double r = 0.0;
00067     mc = tc->provides("methods")->create("m0", caller->engine()).ret( r );
00068     BOOST_CHECK( mc.call() );
00069     BOOST_CHECK_EQUAL( r, -1.0 );
00070 
00071     mc = tc->provides("methods")->create("m2", caller->engine()).argC(1).argC(2.0).ret( r );
00072     BOOST_CHECK( mc.call() );
00073     BOOST_CHECK_EQUAL( r, -3.0 );
00074 
00075     mc = tc->provides("methods")->create("m3", caller->engine()).ret( r ).argC(1).argC(2.0).argC(true);
00076     BOOST_CHECK( mc.call() );
00077     BOOST_CHECK( r == -4.0 );
00078 
00079     mc = tc->provides("methods")->create("m4", caller->engine()).ret( r ).argC(1).argC(2.0).argC(true).argC(string("hello"));
00080     BOOST_CHECK( mc.call() );
00081     BOOST_CHECK( r == -5.0 );
00082 
00083     mc = tc->provides("methods")->create("m5", caller->engine()).argC(1).argC(2.0).argC(true).argC(string("hello")).argC(5.0f).ret( r );
00084     BOOST_CHECK( mc.call() );
00085     BOOST_CHECK( r == -6.0 );
00086 
00087     mc = tc->provides("methods")->create("m6", caller->engine()).ret( r ).argC(1).argC(2.0).argC(true).argC(string("hello")).argC(5.0f).argC('a');
00088     BOOST_CHECK( mc.call() );
00089     BOOST_CHECK( r == -7.0 );
00090 
00091     mc = tc->provides("methods")->create("m7", caller->engine()).ret( r ).argC(1).argC(2.0).argC(true).argC(string("hello")).argC(5.0f).argC('a').argC((unsigned int)7);
00092     BOOST_CHECK( mc.call() );
00093     BOOST_CHECK( r == -8.0 );
00094     
00095     mc = tc->provides("methods")->create("m0except", caller->engine());
00096     BOOST_CHECK_THROW( mc.call(), std::runtime_error);
00097  
00098     mc = tc->provides("methods")->create("o0except", caller->engine());
00099     BOOST_CHECK_THROW( mc.call(), std::runtime_error);
00100     BOOST_REQUIRE( tc->inException() );
00101 }
00102 
00103 BOOST_AUTO_TEST_CASE(testOperationCallerC_Send)
00104 {
00105     OperationCallerC mc;
00106     SendHandleC shc;
00107     double r = 0.0;
00108     double cr = 0.0;
00109     mc = tc->provides("methods")->create("m0", caller->engine()).ret( r );
00110     BOOST_CHECK_NO_THROW( mc.check() );
00111     shc = mc.send();
00112     shc.arg(cr);
00113     BOOST_CHECK( shc.ready() ); // 1 argument to collect.
00114     BOOST_CHECK_NO_THROW( shc.check() );
00115     // now collect:
00116     BOOST_CHECK_EQUAL( shc.collect(), SendSuccess);
00117     BOOST_CHECK_EQUAL( r, 0.0 );
00118     BOOST_CHECK_EQUAL( cr, -1.0 );
00119 
00120     mc = tc->provides("methods")->create("m2", caller->engine()).argC(1).argC(2.0).ret( r );
00121     BOOST_CHECK_NO_THROW( mc.check() );
00122     shc = mc.send();
00123     shc.arg(cr);
00124     BOOST_CHECK( shc.ready() ); // 1 argument to collect.
00125     BOOST_CHECK_NO_THROW( shc.check() );
00126     // now collect:
00127     BOOST_CHECK_EQUAL( shc.collect(), SendSuccess);
00128     BOOST_CHECK_EQUAL( r, 0.0 );
00129     BOOST_CHECK_EQUAL( cr, -3.0 );
00130 
00131     mc = tc->provides("methods")->create("m3", caller->engine()).ret( r ).argC(1).argC(2.0).argC(true);
00132     BOOST_CHECK_NO_THROW( mc.check() );
00133     shc = mc.send();
00134     shc.arg(cr);
00135     BOOST_CHECK( shc.ready() ); // 1 argument to collect.
00136     BOOST_CHECK_NO_THROW( shc.check() );
00137     // now collect:
00138     BOOST_CHECK_EQUAL( shc.collect(), SendSuccess);
00139     BOOST_CHECK_EQUAL( r, 0.0 );
00140     BOOST_CHECK_EQUAL( cr, -4.0 );
00141 
00142     mc = tc->provides("methods")->create("m4", caller->engine()).ret( r ).argC(1).argC(2.0).argC(true).argC(string("hello"));
00143     BOOST_CHECK_NO_THROW( mc.check() );
00144     shc = mc.send();
00145     shc.arg(cr);
00146     BOOST_CHECK( shc.ready() ); // 1 argument to collect.
00147     BOOST_CHECK_NO_THROW( shc.check() );
00148     // now collect:
00149     BOOST_CHECK_EQUAL( shc.collect(), SendSuccess);
00150     BOOST_CHECK_EQUAL( r, 0.0 );
00151     BOOST_CHECK_EQUAL( cr, -5.0 );
00152 
00153     mc = tc->provides("methods")->create("m5", caller->engine()).ret( r ).argC(1).argC(2.0).argC(true).argC(string("hello")).argC(5.0f);
00154     BOOST_CHECK_NO_THROW( mc.check() );
00155     shc = mc.send();
00156     shc.arg(cr);
00157     BOOST_CHECK( shc.ready() ); // 1 argument to collect.
00158     BOOST_CHECK_NO_THROW( shc.check() );
00159     // now collect:
00160     BOOST_CHECK_EQUAL( shc.collect(), SendSuccess);
00161     BOOST_CHECK_EQUAL( r, 0.0 );
00162     BOOST_CHECK_EQUAL( cr, -6.0 );
00163 
00164     mc = tc->provides("methods")->create("m6", caller->engine()).ret( r ).argC(1).argC(2.0).argC(true).argC(string("hello")).argC(5.0f).argC('a');
00165     BOOST_CHECK_NO_THROW( mc.check() );
00166     shc = mc.send();
00167     shc.arg(cr);
00168     BOOST_CHECK( shc.ready() ); // 1 argument to collect.
00169     BOOST_CHECK_NO_THROW( shc.check() );
00170     // now collect:
00171     BOOST_CHECK_EQUAL( shc.collect(), SendSuccess);
00172     BOOST_CHECK_EQUAL( r, 0.0 );
00173     BOOST_CHECK_EQUAL( cr, -7.0 );
00174 
00175     mc = tc->provides("methods")->create("m7", caller->engine()).ret( r ).argC(1).argC(2.0).argC(true).argC(string("hello")).argC(5.0f).argC('a').argC((unsigned int)7);
00176     BOOST_CHECK_NO_THROW( mc.check() );
00177     shc = mc.send();
00178     shc.arg(cr);
00179     BOOST_CHECK( shc.ready() ); // 1 argument to collect.
00180     BOOST_CHECK_NO_THROW( shc.check() );
00181     // now collect:
00182     BOOST_CHECK_EQUAL( shc.collect(), SendSuccess);
00183     BOOST_CHECK_EQUAL( r, 0.0 );
00184     BOOST_CHECK_EQUAL( cr, -8.0 );
00185 
00186     mc = tc->provides("methods")->create("m0except", caller->engine());
00187     BOOST_CHECK_NO_THROW( mc.check() );
00188     shc = mc.send();
00189     BOOST_CHECK( shc.ready() );
00190     BOOST_CHECK_NO_THROW( shc.check() );
00191     // now collect:
00192     BOOST_CHECK_THROW( shc.collect(), std::runtime_error );
00193     BOOST_REQUIRE(tc->inException() );
00194 }
00195 
00196 BOOST_AUTO_TEST_CASE(testOperationCallerFromDS)
00197 {
00198     ServicePtr sp = tc->provides("methods");
00199 
00200     double ret;
00201     OperationCallerC mc0 = sp->create("m0", caller->engine() );
00202     mc0.ret(ret);
00203     OperationCallerC mc1 = sp->create("m1", caller->engine() );
00204     mc1.argC(1).ret(ret);
00205     OperationCallerC mc2 = sp->create("m2", caller->engine() );
00206     mc2.argC(1).argC(2.0).ret(ret);
00207     OperationCallerC mc3 = sp->create("m3", caller->engine() );
00208     mc3.argC(1).argC(2.0).argC(true).ret(ret);
00209     OperationCallerC mc4 = sp->create("m4", caller->engine() );
00210     mc4.argC(1).argC(2.0).argC(true).argC(std::string("hello")).ret(ret);
00211     OperationCallerC mc5 = sp->create("m5", caller->engine() );
00212     mc5.argC(1).argC(2.0).argC(true).argC(std::string("hello")).argC(5.0f).ret(ret);
00213     OperationCallerC mc6 = sp->create("m6", caller->engine() );
00214     mc6.argC(1).argC(2.0).argC(true).argC(std::string("hello")).argC(5.0f).argC('a').ret(ret);
00215     OperationCallerC mc7 = sp->create("m7", caller->engine() );
00216     mc7.argC(1).argC(2.0).argC(true).argC(std::string("hello")).argC(5.0f).argC('a').argC((unsigned int)7).ret(ret);
00217 
00218     OperationCallerC mc0e = sp->create("m0except", caller->engine() );
00219 
00220     BOOST_CHECK( mc0.call() );
00221     BOOST_CHECK_EQUAL(-1.0, ret);
00222     BOOST_CHECK( mc1.call() );
00223     BOOST_CHECK_EQUAL(-2.0, ret);
00224     BOOST_CHECK( mc2.call() );
00225     BOOST_CHECK_EQUAL(-3.0, ret);
00226     BOOST_CHECK( mc3.call() );
00227     BOOST_CHECK_EQUAL(-4.0, ret);
00228     BOOST_CHECK( mc4.call() );
00229     BOOST_CHECK_EQUAL(-5.0, ret);
00230     BOOST_CHECK( mc5.call() );
00231     BOOST_CHECK_EQUAL(-6.0, ret);
00232     BOOST_CHECK( mc6.call() );
00233     BOOST_CHECK_EQUAL(-7.0, ret);
00234     BOOST_CHECK( mc7.call() );
00235     BOOST_CHECK_EQUAL(-8.0, ret);
00236 
00237     BOOST_CHECK_THROW( mc0e.call(), std::runtime_error );
00238     BOOST_REQUIRE(tc->inException() );
00239 }
00240 
00241 BOOST_AUTO_TEST_CASE(testRemoteOperationCallerFactory)
00242 {
00243     // Test the addition of methods to the operation interface,
00244     // and retrieving it back in a new OperationCaller object.
00245     // these operations may use the remoting facility to adapt
00246 
00247     Operation<double(void)> m0("m0");
00248     m0.calls(&OperationsFixture::m0, this);
00249     Operation<double(int)> m1("m1");
00250     m1.calls(&OperationsFixture::m1, this);
00251     Operation<double(int,double)> m2("m2");
00252     m2.calls(&OperationsFixture::m2, this);
00253     Operation<void(void)> m0e("m0e");
00254     m0e.calls(&OperationsFixture::m0except, this);
00255 
00256     Service to("task");
00257 
00258     BOOST_CHECK( !to.addOperation(m0).ready() );
00259     to.setOwner(tc);
00260     BOOST_CHECK( to.addOperation(m0).ready() );
00261     BOOST_CHECK( to.addOperation(m0).ready() );
00262     BOOST_CHECK( to.addOperation(m1).ready() );
00263     BOOST_CHECK( to.addOperation(m2).ready() );
00264     BOOST_CHECK( to.addOperation(m0e).ready() );
00265 
00266     // test constructor
00267     OperationCaller<double(void)> mm0 = to.getOperation("m0");
00268     BOOST_CHECK( mm0.getOperationCallerImpl() );
00269     BOOST_CHECK( mm0.ready() );
00270 
00271     OperationCaller<void(void)> mm0e = to.getOperation("m0e");
00272     BOOST_CHECK( mm0e.getOperationCallerImpl() );
00273     BOOST_CHECK( mm0e.ready() );
00274 
00275     // test operator=()
00276     OperationCaller<double(int)> mm1;
00277     mm1 = to.getOperation("m1");
00278     BOOST_CHECK( mm1.getOperationCallerImpl() );
00279     BOOST_CHECK( mm1.ready() );
00280 
00281     OperationCaller<double(int,double)> mm2 = to.getOperation("m2");
00282     BOOST_CHECK( mm2.getOperationCallerImpl() );
00283     BOOST_CHECK( mm2.ready() );
00284 
00285     // execute methods and check status:
00286     BOOST_CHECK_EQUAL( -1.0, mm0() );
00287 
00288     BOOST_CHECK_EQUAL( -2.0, mm1(1) );
00289     BOOST_CHECK_EQUAL( -3.0, mm2(1, 2.0) );
00290 
00291     BOOST_CHECK_THROW( mm0e(), std::runtime_error );
00292 
00293     // Add uninitialised op:
00294     Operation<void(void)> ovoid("ovoid");
00295     BOOST_CHECK(to.addOperation( ovoid ).ready() == true);
00296     ovoid = Operation<void(void)>("ovoid");
00297     BOOST_CHECK(to.addOperation( ovoid ).ready() == true);
00298 
00299     // wrong type 1:
00300     OperationCaller<void(void)> mvoid;
00301     mvoid = to.getOperation("m1");
00302     BOOST_CHECK( mvoid.ready() == false );
00303     // wrong type 2:
00304     mvoid = to.getOperation("m2");
00305     BOOST_CHECK( mvoid.ready() == false );
00306     // auto-converts double to void:
00307     mvoid = to.getOperation("m0");
00308     BOOST_CHECK( mvoid.ready() == true );
00309     // non existing
00310     mvoid = to.getOperation("voidm");
00311     BOOST_CHECK( mvoid.ready() == false );
00312 
00313     // this line may not crash:
00314     mvoid();
00315 
00316 }
00317 
00318 BOOST_AUTO_TEST_SUITE_END()