test_subscription_queue.cpp

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/*
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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.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();
}