test_callback_queue.cpp
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00001 /*
00002  * Copyright (c) 2010, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 /* Author: Josh Faust */
00031 
00032 /*
00033  * Test callback queue
00034  */
00035 
00036 #include <gtest/gtest.h>
00037 #include <ros/callback_queue.h>
00038 #include <ros/console.h>
00039 #include <ros/timer.h>
00040 
00041 #include <boost/shared_ptr.hpp>
00042 #include <boost/bind.hpp>
00043 #include <boost/thread.hpp>
00044 #include <boost/function.hpp>
00045 
00046 using namespace ros;
00047 
00048 class CountingCallback : public CallbackInterface
00049 {
00050 public:
00051   CountingCallback()
00052   : count(0)
00053   {}
00054 
00055   virtual CallResult call()
00056   {
00057     boost::mutex::scoped_lock lock(mutex);
00058     ++count;
00059 
00060     return Success;
00061   }
00062 
00063   boost::mutex mutex;
00064   size_t count;
00065 };
00066 typedef boost::shared_ptr<CountingCallback> CountingCallbackPtr;
00067 
00068 TEST(CallbackQueue, singleCallback)
00069 {
00070   CountingCallbackPtr cb(new CountingCallback);
00071   CallbackQueue queue;
00072   queue.addCallback(cb, 1);
00073   queue.callOne();
00074 
00075   EXPECT_EQ(cb->count, 1U);
00076 
00077   queue.addCallback(cb, 1);
00078   queue.callAvailable();
00079 
00080   EXPECT_EQ(cb->count, 2U);
00081 
00082   queue.callOne();
00083   EXPECT_EQ(cb->count, 2U);
00084 
00085   queue.callAvailable();
00086   EXPECT_EQ(cb->count, 2U);
00087 }
00088 
00089 TEST(CallbackQueue, multipleCallbacksCallAvailable)
00090 {
00091   CountingCallbackPtr cb(new CountingCallback);
00092   CallbackQueue queue;
00093   for (uint32_t i = 0; i < 1000; ++i)
00094   {
00095     queue.addCallback(cb, 1);
00096   }
00097 
00098   queue.callAvailable();
00099 
00100   EXPECT_EQ(cb->count, 1000U);
00101 }
00102 
00103 TEST(CallbackQueue, multipleCallbacksCallOne)
00104 {
00105   CountingCallbackPtr cb(new CountingCallback);
00106   CallbackQueue queue;
00107   for (uint32_t i = 0; i < 1000; ++i)
00108   {
00109     queue.addCallback(cb, 1);
00110   }
00111 
00112   for (uint32_t i = 0; i < 1000; ++i)
00113   {
00114     queue.callOne();
00115     EXPECT_EQ(cb->count, i + 1);
00116   }
00117 }
00118 
00119 TEST(CallbackQueue, remove)
00120 {
00121   CountingCallbackPtr cb1(new CountingCallback);
00122   CountingCallbackPtr cb2(new CountingCallback);
00123   CallbackQueue queue;
00124   queue.addCallback(cb1, 1);
00125   queue.addCallback(cb2, 2);
00126   queue.removeByID(1);
00127   queue.callAvailable();
00128 
00129   EXPECT_EQ(cb1->count, 0U);
00130   EXPECT_EQ(cb2->count, 1U);
00131 }
00132 
00133 class SelfRemovingCallback : public CallbackInterface
00134 {
00135 public:
00136   SelfRemovingCallback(CallbackQueue* queue, uint64_t id)
00137   : count(0)
00138   , queue(queue)
00139   , id(id)
00140   {}
00141 
00142   virtual CallResult call()
00143   {
00144     ++count;
00145 
00146     queue->removeByID(id);
00147 
00148     return Success;
00149   }
00150 
00151   size_t count;
00152 
00153   CallbackQueue* queue;
00154   uint64_t id;
00155 };
00156 typedef boost::shared_ptr<SelfRemovingCallback> SelfRemovingCallbackPtr;
00157 
00158 TEST(CallbackQueue, removeSelf)
00159 {
00160   CallbackQueue queue;
00161   SelfRemovingCallbackPtr cb1(new SelfRemovingCallback(&queue, 1));
00162   CountingCallbackPtr cb2(new CountingCallback());
00163   queue.addCallback(cb1, 1);
00164   queue.addCallback(cb2, 1);
00165   queue.addCallback(cb2, 1);
00166 
00167   queue.callOne();
00168 
00169   queue.addCallback(cb2, 1);
00170   
00171   queue.callAvailable();
00172 
00173   EXPECT_EQ(cb1->count, 1U);
00174   EXPECT_EQ(cb2->count, 1U);
00175 }
00176 
00177 class RecursiveCallback : public CallbackInterface
00178 {
00179 public:
00180   RecursiveCallback(CallbackQueue* queue, bool use_available)
00181   : count(0)
00182   , queue(queue)
00183   , use_available(use_available)
00184   {}
00185 
00186   virtual CallResult call()
00187   {
00188     ++count;
00189 
00190     if (count < 3)
00191     {
00192       if (use_available)
00193       {
00194         queue->callAvailable();
00195       }
00196       else
00197       {
00198         queue->callOne();
00199       }
00200     }
00201 
00202     return Success;
00203   }
00204 
00205   size_t count;
00206 
00207   CallbackQueue* queue;
00208   bool use_available;
00209 };
00210 typedef boost::shared_ptr<RecursiveCallback> RecursiveCallbackPtr;
00211 
00212 TEST(CallbackQueue, recursive1)
00213 {
00214   CallbackQueue queue;
00215   RecursiveCallbackPtr cb(new RecursiveCallback(&queue, true));
00216   queue.addCallback(cb, 1);
00217   queue.addCallback(cb, 1);
00218   queue.addCallback(cb, 1);
00219   queue.callAvailable();
00220 
00221   EXPECT_EQ(cb->count, 3U);
00222 }
00223 
00224 TEST(CallbackQueue, recursive2)
00225 {
00226   CallbackQueue queue;
00227   RecursiveCallbackPtr cb(new RecursiveCallback(&queue, false));
00228   queue.addCallback(cb, 1);
00229   queue.addCallback(cb, 1);
00230   queue.addCallback(cb, 1);
00231   queue.callOne();
00232 
00233   EXPECT_EQ(cb->count, 3U);
00234 }
00235 
00236 TEST(CallbackQueue, recursive3)
00237 {
00238   CallbackQueue queue;
00239   RecursiveCallbackPtr cb(new RecursiveCallback(&queue, false));
00240   queue.addCallback(cb, 1);
00241   queue.addCallback(cb, 1);
00242   queue.addCallback(cb, 1);
00243   queue.callAvailable();
00244 
00245   EXPECT_EQ(cb->count, 3U);
00246 }
00247 
00248 TEST(CallbackQueue, recursive4)
00249 {
00250   CallbackQueue queue;
00251   RecursiveCallbackPtr cb(new RecursiveCallback(&queue, true));
00252   queue.addCallback(cb, 1);
00253   queue.addCallback(cb, 1);
00254   queue.addCallback(cb, 1);
00255   queue.callOne();
00256 
00257   EXPECT_EQ(cb->count, 3U);
00258 }
00259 
00260 void callAvailableThread(CallbackQueue* queue, bool& done)
00261 {
00262   while (!done)
00263   {
00264     queue->callAvailable(ros::WallDuration(0.1));
00265   }
00266 }
00267 
00268 size_t runThreadedTest(const CountingCallbackPtr& cb, const boost::function<void(CallbackQueue*, bool&)>& threadFunc)
00269 {
00270   CallbackQueue queue;
00271   boost::thread_group tg;
00272   bool done = false;
00273 
00274   for (uint32_t i = 0; i < 10; ++i)
00275   {
00276     tg.create_thread(boost::bind(threadFunc, &queue, boost::ref(done)));
00277   }
00278 
00279   ros::WallTime start = ros::WallTime::now();
00280   size_t i = 0;
00281   while (ros::WallTime::now() - start < ros::WallDuration(5))
00282   {
00283     queue.addCallback(cb);
00284     ++i;
00285   }
00286 
00287   while (!queue.isEmpty())
00288   {
00289     ros::WallDuration(0.01).sleep();
00290   }
00291 
00292   done = true;
00293   tg.join_all();
00294 
00295   return i;
00296 }
00297 
00298 TEST(CallbackQueue, threadedCallAvailable)
00299 {
00300   CountingCallbackPtr cb(new CountingCallback);
00301   size_t i = runThreadedTest(cb, callAvailableThread);
00302   ROS_INFO_STREAM(i);
00303   EXPECT_EQ(cb->count, i);
00304 }
00305 
00306 void callOneThread(CallbackQueue* queue, bool& done)
00307 {
00308   while (!done)
00309   {
00310     queue->callOne(ros::WallDuration(0.1));
00311   }
00312 }
00313 
00314 TEST(CallbackQueue, threadedCallOne)
00315 {
00316   CountingCallbackPtr cb(new CountingCallback);
00317   size_t i = runThreadedTest(cb, callOneThread);
00318   ROS_INFO_STREAM(i);
00319   EXPECT_EQ(cb->count, i);
00320 }
00321 
00322 // this class is just an ugly hack
00323 // to access the constructor Timer(TimerOptions)
00324 namespace ros
00325 {
00326 class NodeHandle
00327 {
00328 public:
00329   static Timer createTimer(const TimerOptions& ops)
00330   {
00331     return Timer(ops);
00332   }
00333 };
00334 }
00335 
00336 void dummyTimer(const ros::TimerEvent&)
00337 {
00338 }
00339 
00340 CallbackQueueInterface* recursiveTimerQueue;
00341 
00342 void recursiveTimer(const ros::TimerEvent&)
00343 {
00344   // wait until the timer is TimerRecreationCallback is garbaged
00345   WallDuration(2).sleep();
00346 
00347   TimerOptions ops(Duration(0.1), dummyTimer, recursiveTimerQueue, false, false);
00348   Timer t = ros::NodeHandle::createTimer(ops);
00349   t.start();
00350 }
00351 
00352 class TimerRecursionCallback : public CallbackInterface
00353 {
00354 public:
00355   TimerRecursionCallback(CallbackQueueInterface* _queue)
00356   : queue(_queue)
00357   {}
00358 
00359   virtual CallResult call()
00360   {
00361     TimerOptions ops(Duration(0.1), recursiveTimer, queue, false, false);
00362     Timer t = ros::NodeHandle::createTimer(ops);
00363     t.start();
00364 
00365     // wait until the recursiveTimer has been fired
00366     WallDuration(1).sleep();
00367 
00368     return Success;
00369   }
00370 
00371   CallbackQueueInterface* queue;
00372 };
00373 typedef boost::shared_ptr<TimerRecursionCallback> TimerRecursionCallbackPtr;
00374 
00375 TEST(CallbackQueue, recursiveTimer)
00376 {
00377   // ensure that the test does not dead-lock, see #3867
00378   ros::Time::init();
00379   CallbackQueue queue;
00380   recursiveTimerQueue = &queue;
00381   TimerRecursionCallbackPtr cb(new TimerRecursionCallback(&queue));
00382   queue.addCallback(cb, 1);
00383 
00384   boost::thread_group tg;
00385   bool done = false;
00386 
00387   for (uint32_t i = 0; i < 2; ++i)
00388   {
00389     tg.create_thread(boost::bind(callOneThread, &queue, boost::ref(done)));
00390   }
00391 
00392   while (!queue.isEmpty())
00393   {
00394     ros::WallDuration(0.01).sleep();
00395   }
00396 
00397   done = true;
00398   tg.join_all();
00399 }
00400 
00401 int main(int argc, char** argv)
00402 {
00403   testing::InitGoogleTest(&argc, argv);
00404   return RUN_ALL_TESTS();
00405 }
00406 
00407 
00408 


test_roscpp
Author(s): Morgan Quigley, Josh Faust, Brian Gerkey, Troy Straszheim
autogenerated on Fri Aug 28 2015 12:33:59