test_subscription_queue.cpp

Go to the documentation of this file.

/*
 * Copyright (c) 2009, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
 
/* 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>
 
using namespace ros;
 
class FakeMessage
{
public:
  virtual const std::string __getDataType() const { return ""; }
  virtual const std::string __getMD5Sum() const { return ""; }
  virtual const std::string __getMessageDefinition() const { return ""; }
  virtual uint32_t serializationLength() const { return 0; }
  virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const { (void)seq; return write_ptr; }
  virtual uint8_t *deserialize(uint8_t *read_ptr) { return read_ptr; }
};
 
class FakeSubHelper : public SubscriptionCallbackHelper
{
public:
  FakeSubHelper()
  : calls_(0)
  {}
 
  virtual VoidConstPtr deserialize(const SubscriptionCallbackHelperDeserializeParams&)
  {
    return boost::make_shared<FakeMessage>();
  }
 
  virtual std::string getMD5Sum() { return ""; }
  virtual std::string getDataType() { return ""; }
 
  virtual void call(SubscriptionCallbackHelperCallParams& params)
  {
    (void)params;
    {
      boost::mutex::scoped_lock lock(mutex_);
      ++calls_;
    }
 
    if (cb_)
    {
      cb_();
    }
  }
 
  virtual const std::type_info& getTypeInfo() { return typeid(FakeMessage); }
  virtual bool isConst() { return true; }
  virtual bool hasHeader() { return false; }
 
  boost::mutex mutex_;
  int32_t calls_;
 
  boost::function<void(void)> cb_;
};
typedef boost::shared_ptr<FakeSubHelper> FakeSubHelperPtr;
 
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_, 2);
}
 
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_, 10001);
}
 
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_, 2);
}
 
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_, 1);
  queue.call();
  ASSERT_EQ(helper->calls_, 2);
}
 
int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "blah");
  return RUN_ALL_TESTS();
}