BusyHandler.cpp

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// SPDX-License-Identifier: BSD-3-Clause

/*
 * Copyright (c) 2020, Bjarne von Horn
 * 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 the copyright holder 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 BJARNE VON HORN 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.
 */

#include <gtest/gtest.h>
#include <boost/filesystem.hpp>
#include <warehouse_ros_sqlite/database_connection.h>
#include <warehouse_ros_sqlite/utils.h>
#include <warehouse_ros_sqlite/exceptions.h>
#include <geometry_msgs/Vector3.h>
#include <sqlite3.h>
#include <thread>
#include <mutex>
#include <condition_variable>
#include <atomic>

namespace bf = boost::filesystem;
using V = geometry_msgs::Vector3;

struct BusyHandler : ::testing::Test
{
  void SetUp() override
  {
    tmp_dir_ = boost::filesystem::temp_directory_path() / boost::filesystem::unique_path();
    if (!bf::create_directory(tmp_dir_))
    {
      // clear tmp_dir so that it's not removed in TearDown()
      tmp_dir_ = "";
      FAIL() << "could not create temporary dir";
    }
    tmp_file_ = tmp_dir_ / "db.sqlite";
    db_conn_.reset(new warehouse_ros_sqlite::DatabaseConnection());
    db_conn_->setParams(tmp_file_.string(), 0);
    ASSERT_TRUE(db_conn_->connect());
    coll_ = db_conn_->openCollectionPtr<V>("main", "coll");
    ASSERT_TRUE(coll_->md5SumMatches());
  }

  void TearDown() override
  {
    bf::remove_all(tmp_dir_);
    coll_.reset();
    db_conn_.reset();
  }

  static bf::path tmp_dir_;
  static bf::path tmp_file_;
  static std::unique_ptr<warehouse_ros_sqlite::DatabaseConnection> db_conn_;
  static warehouse_ros::MessageCollection<V>::Ptr coll_;
  static sqlite3* startSecondInsert() noexcept;
};

bf::path BusyHandler::tmp_dir_;
bf::path BusyHandler::tmp_file_;
warehouse_ros::MessageCollection<V>::Ptr BusyHandler::coll_;
std::unique_ptr<warehouse_ros_sqlite::DatabaseConnection> BusyHandler::db_conn_;

sqlite3* BusyHandler::startSecondInsert() noexcept
{
  sqlite3* raw_db = nullptr;
  if (sqlite3_open(tmp_file_.c_str(), &raw_db) != SQLITE_OK)
    return nullptr;
  const char* query = "BEGIN TRANSACTION; INSERT INTO \"T_main@coll\" ( \"Data\" ) VALUES (x'DEADBEEF');";
  if (sqlite3_exec(raw_db, query, nullptr, nullptr, nullptr) != SQLITE_OK)
  {
    sqlite3_close(raw_db);
    return nullptr;
  }
  return raw_db;
}

TEST_F(BusyHandler, TimeoutFires)
{
  auto meta = coll_->createMetadata();
  // prepare second database accessor
  warehouse_ros_sqlite::sqlite3_ptr second_db(startSecondInsert(), warehouse_ros_sqlite::sqlite3_delete);
  ASSERT_TRUE(static_cast<bool>(second_db));
  EXPECT_THROW(coll_->insert(V(), meta), warehouse_ros_sqlite::InternalError);
}

TEST_F(BusyHandler, HandlerWorks)
{
  std::mutex m;
  std::condition_variable cv;
  std::atomic_bool second_db_setup{ false };
  auto meta = coll_->createMetadata();

  std::unique_lock<std::mutex> lk1(m);

  // start second thread, protected by mutex
  std::thread worker([&cv, &m, &second_db_setup]() {
    std::unique_lock<std::mutex> lk2(m);
    // block the database, protected under the mutex
    warehouse_ros_sqlite::sqlite3_ptr second_db(startSecondInsert(), warehouse_ros_sqlite::sqlite3_delete);

    // tell main thread if blocking the db was successul and wake it up
    second_db_setup.store(static_cast<bool>(second_db));
    lk2.unlock();
    cv.notify_one();

    if (second_db_setup)
    {
      // wait for some time and unblock the db afterwards
      constexpr auto wait_interval =
          3 * std::chrono::milliseconds{ warehouse_ros_sqlite::DatabaseConnection::BUSY_WAIT_MILLISECS };
      std::this_thread::sleep_for(wait_interval);
      second_db.reset();
    }
  });

  // wait for the second thread to block the db
  cv.wait(lk1);
  if (!second_db_setup)
  {
    ADD_FAILURE() << "Second db setup failed";
  }
  else
  {
    // inserting data should work after second thread unblocks in the background
    EXPECT_NO_THROW(coll_->insert(V(), meta));
  }
  // join second thread
  worker.join();
}

int main(int argc, char** argv)
{
  ros::Time::init();
  ::testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}