tests: Add tests for FileDescriptorActivity

rock-core · Apr 4, 2014 · e887898 · e887898
1 parent 6cf8c90
commit e887898
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Showing 3 changed files with 289 additions and 1 deletion.
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
@@ -110,7 +110,7 @@ IF (BUILD_TESTING)
     COMPILE_DEFINITIONS "${COMPILE_DEFS}")
     ADD_TEST( core-test ${RUNTIME_OUTPUT_DIRECTORY}/core-test )
 
-    ADD_EXECUTABLE( task-test test-runner.cpp tasks_test.cpp taskthread_test.cpp tasks_multiple_test.cpp )
+    ADD_EXECUTABLE( task-test test-runner.cpp tasks_test.cpp taskthread_test.cpp taskthread_fd_test.cpp tasks_multiple_test.cpp )
     TARGET_LINK_LIBRARIES( task-test orocos-rtt-${OROCOS_TARGET}_dynamic ${TEST_LIBRARIES})
     SET_TARGET_PROPERTIES( task-test PROPERTIES
     COMPILE_FLAGS "${CMAKE_CXX_FLAGS_ADD}"

diff --git a/tests/taskthread_fd_test.cpp b/tests/taskthread_fd_test.cpp
@@ -0,0 +1,286 @@
+/***************************************************************************
+  tag: S Roderick taskthread_fd_test.cpp
+
+                        taskthread_fd_test.cpp -  description
+                           -------------------
+    copyright            : (C) 2012 S Roderick
+    email                : [email protected]
+
+ ***************************************************************************
+ *                                                                         *
+ *   This program is free software; you can redistribute it and/or modify  *
+ *   it under the terms of the GNU General Public License as published by  *
+ *   the Free Software Foundation; either version 2 of the License, or     *
+ *   (at your option) any later version.                                   *
+ *                                                                         *
+ ***************************************************************************/
+
+
+#include "taskthread_test.hpp"
+
+#include <iostream>
+#include <errno.h>
+
+#include <TaskContext.hpp>
+#include <extras/FileDescriptorActivity.hpp>
+#include <os/MainThread.hpp>
+#include <Logger.hpp>
+#include <rtt-config.h>
+
+using namespace std;
+
+#include <boost/test/unit_test.hpp>
+#include <boost/test/floating_point_comparison.hpp>
+
+
+using namespace RTT;
+
+
+struct TestFileDescriptor
+	: public TaskContext
+{
+	TestFileDescriptor(std::string name) :
+			TaskContext(name, TaskContext::PreOperational),
+			countError(0),
+			countTimeout(0),
+			countRead(0),
+			countUpdate(0)
+	{
+		fd[0] = fd[1] = -1;
+	}
+
+	virtual ~TestFileDescriptor()
+	{
+	}
+
+	virtual bool configureHook()
+	{
+		int rc = pipe(fd);
+		assert(0 == rc);
+        (void)rc;       // avoid compiler warning
+
+        extras::FileDescriptorActivity* fd_activity =
+			dynamic_cast<extras::FileDescriptorActivity*>(getActivity());
+        assert(0 != fd_activity);
+
+		fd_activity->watch(fd[0]);
+        // set no timeout - leave that for test code
+
+		return true;
+	}
+
+	virtual bool startHook()
+	{
+		countError		= 0;
+		countTimeout	= 0;
+		countRead		= 0;
+		countUpdate		= 0;
+		return true;
+	}
+
+	virtual void updateHook()
+	{
+		extras::FileDescriptorActivity* fd_activity =
+			dynamic_cast<extras::FileDescriptorActivity*>(getActivity());
+		assert(0 != fd_activity);
+
+		++countUpdate;
+		if (fd_activity->hasError())
+		{
+			++countError;
+		}
+		else if (fd_activity->hasTimeout())
+		{
+			++countTimeout;
+		}
+		else
+		{
+			if (fd_activity->isUpdated(fd[0]))
+			{
+				++countRead;
+				// remove pipe contents
+				char ch;
+				int rc = read(fd[0], &ch, sizeof(ch));
+				if (0 >= rc)
+				{
+//					std::cerr << "Failed read: rc=" << rc << " errno=" << errno << ":" << strerror(errno) << std::endl;
+				}
+			}
+		}
+	}
+
+	virtual void cleanupHook()
+	{
+		if (-1 != fd[0]) close(fd[0]);
+		if (-1 != fd[1]) close(fd[1]);
+		fd[0] = fd[1] = -1;
+	}
+
+	int countError;
+	int countTimeout;
+	int countRead;
+	int countUpdate;
+	int fd[2];	// from pipe()
+};
+
+// Registers the fixture into the 'registry'
+BOOST_FIXTURE_TEST_SUITE( ActivitiesThreadTestSuite, ActivitiesThreadTest )
+
+BOOST_AUTO_TEST_CASE(testFileDescriptor )
+{
+    FileDescriptorActivity mtask( 15 );
+    BOOST_CHECK( mtask.isActive() == false );
+    BOOST_CHECK( mtask.isRunning() == false );
+    BOOST_CHECK( !mtask.thread()->isRunning() );
+    BOOST_CHECK_EQUAL( 0.0, mtask.thread()->getPeriod() );
+
+    // Adapt priority levels to OS.
+    int bprio = 15, rtsched = ORO_SCHED_RT;
+    os::CheckPriority( rtsched, bprio );
+
+    BOOST_CHECK_EQUAL( bprio, mtask.thread()->getPriority() );
+    BOOST_CHECK_EQUAL( rtsched, mtask.thread()->getScheduler() );
+
+    FileDescriptorActivity m2task( 15 );
+    BOOST_CHECK( mtask.thread() != m2task.thread() );
+
+    // starting...
+    BOOST_CHECK( mtask.start() == true );
+    BOOST_CHECK( mtask.isRunning() == false );
+    BOOST_CHECK( m2task.isRunning() == false );
+    BOOST_CHECK( m2task.start() == true );
+    BOOST_CHECK( m2task.isRunning() == false );
+
+    usleep(1000000/4);
+
+    // stopping...
+    BOOST_CHECK( mtask.stop() == true );
+    BOOST_CHECK( mtask.isRunning() == false );
+    BOOST_CHECK( m2task.isRunning() == false );
+    BOOST_CHECK( m2task.stop() == true );
+    BOOST_CHECK( m2task.isRunning() == false );
+
+    // Starting thread if thread not running
+    BOOST_CHECK( mtask.thread()->stop() == false );
+    BOOST_CHECK( mtask.thread()->isRunning() == false );
+    BOOST_CHECK( mtask.start() );
+    BOOST_CHECK( mtask.isRunning() == false );
+    BOOST_CHECK( mtask.thread()->isRunning() == false);
+}
+
+BOOST_AUTO_TEST_CASE(testFileDescriptor_Write )
+{
+	TestFileDescriptor		mcomp("Comp");
+    FileDescriptorActivity	mtask( 15, mcomp.engine());
+	char					ch='a';
+	int						rc;
+
+    BOOST_CHECK( mtask.hasError() == false );
+    BOOST_CHECK( mtask.hasTimeout() == false );
+
+    BOOST_CHECK( mcomp.configure() == true );
+    BOOST_CHECK( mtask.isWatched(mcomp.fd[0]) == true );
+
+    BOOST_CHECK( mtask.start() == true );
+    BOOST_CHECK( mtask.isRunning() == false );
+    BOOST_CHECK( mtask.hasError() == false );
+    BOOST_CHECK( mtask.hasTimeout() == false );
+
+	// no activity
+    usleep(1000000/4);
+    BOOST_CHECK_EQUAL( 0, mcomp.countError );
+    BOOST_CHECK_EQUAL( 0, mcomp.countTimeout );
+    BOOST_CHECK_EQUAL( 0, mcomp.countRead );
+    BOOST_CHECK_LE( 0, mcomp.countUpdate );
+
+	// write to fd
+	rc = write(mcomp.fd[1], &ch, sizeof(ch));
+	if (1 != rc) std::cerr << "rc=" << rc << " errno=" << errno << ":" << strerror(errno) << std::endl;
+    BOOST_CHECK_EQUAL( 1, rc );
+    usleep(1000000/10);
+    BOOST_CHECK_EQUAL( 0, mcomp.countError );
+    BOOST_CHECK_EQUAL( 0, mcomp.countTimeout );
+    BOOST_CHECK_EQUAL( 1, mcomp.countRead );
+    BOOST_CHECK_LE( 0, mcomp.countUpdate );
+
+	++ch;
+	rc = write(mcomp.fd[1], &ch, sizeof(ch));
+	if (1 != rc) std::cerr << "rc=" << rc << " errno=" << errno << ":" << strerror(errno) << std::endl;
+    BOOST_CHECK_EQUAL( 1, rc );
+    usleep(1000000/10);
+    BOOST_CHECK_EQUAL( 0, mcomp.countError );
+    BOOST_CHECK_EQUAL( 0, mcomp.countTimeout );
+    BOOST_CHECK_EQUAL( 2, mcomp.countRead );
+    BOOST_CHECK_LE( 0, mcomp.countUpdate );
+
+	// unwatch
+    BOOST_CHECK( mtask.isWatched(mcomp.fd[0]) == true );
+	mtask.unwatch(mcomp.fd[0]);
+    BOOST_CHECK( mtask.isWatched(mcomp.fd[0]) == false );
+
+	++ch;
+	rc = write(mcomp.fd[1], &ch, sizeof(ch));
+	if (1 != rc) std::cerr << "rc=" << rc << " errno=" << errno << ":" << strerror(errno) << std::endl;
+    BOOST_CHECK_EQUAL( 1, rc );
+    usleep(1000000/10);
+    BOOST_CHECK_EQUAL( 0, mcomp.countError );
+    BOOST_CHECK_EQUAL( 0, mcomp.countTimeout );
+    BOOST_CHECK_EQUAL( 2, mcomp.countRead );	// no change
+    BOOST_CHECK_LE( 0, mcomp.countUpdate );
+
+#if 0
+	// close pipe => cause error
+	(void)close(mcomp.fd[1]);
+    usleep(1000000/100);
+
+    BOOST_CHECK_EQUAL( 1, mcomp.countError );
+    BOOST_CHECK_EQUAL( 0, mcomp.countTimeout );
+    BOOST_CHECK_EQUAL( 2, mcomp.countRead );
+    BOOST_CHECK_LE( 0, mcomp.countUpdate );
+#endif
+
+    BOOST_CHECK( mtask.stop() == true );
+}
+
+BOOST_AUTO_TEST_CASE(testFileDescriptor_Timeout )
+{
+	TestFileDescriptor		mcomp("Comp");
+    FileDescriptorActivity	mtask( 15, mcomp.engine());
+	char					ch='a';
+	int						rc;
+	static const int		RATE = 10;
+	static const int		timeout_ms = 1000 / RATE;
+
+    BOOST_CHECK( mcomp.configure() == true );
+	mtask.setTimeout( timeout_ms );
+	BOOST_CHECK( timeout_ms == mtask.getTimeout() );
+    BOOST_CHECK( mtask.start() == true );
+    BOOST_CHECK( mtask.isRunning() == false );
+
+	// no activity
+    usleep(1000000/4);
+    BOOST_CHECK_EQUAL( 0, mcomp.countError );
+    BOOST_CHECK_CLOSE_FRACTION( 4., (double)mcomp.countTimeout, 2. );
+    BOOST_CHECK_EQUAL( 0, mcomp.countRead );
+    BOOST_CHECK_LE( 0, mcomp.countUpdate );
+
+	// write to fd
+	rc = write(mcomp.fd[1], &ch, sizeof(ch));
+	if (1 != rc) std::cerr << "rc=" << rc << " errno=" << errno << ":" << strerror(errno) << std::endl;
+    BOOST_CHECK_EQUAL( 1, rc );
+    usleep(1000000/RATE);	// ~1 timeout period
+    BOOST_CHECK_EQUAL( 0, mcomp.countError );
+    BOOST_CHECK_CLOSE_FRACTION( 4. , (double)mcomp.countTimeout, 1. );
+    BOOST_CHECK_EQUAL( 1, mcomp.countRead );
+    BOOST_CHECK_LE( 0, mcomp.countUpdate );
+
+	// no activity
+    usleep(1000000/3);
+    BOOST_CHECK_EQUAL( 0, mcomp.countError );
+    BOOST_CHECK_CLOSE_FRACTION( 4. + 3., (double)mcomp.countTimeout, 2. );
+    BOOST_CHECK_EQUAL( 1, mcomp.countRead );
+    BOOST_CHECK_LE( 0, mcomp.countUpdate );
+}
+
+BOOST_AUTO_TEST_SUITE_END()
+
diff --git a/tests/taskthread_test.hpp b/tests/taskthread_test.hpp
@@ -62,6 +62,8 @@ class ActivitiesThreadTest
     void testSequential();
     void testScheduler();
     void testAllocation();
+	void testFileDescriptor();
+	void testFileDescriptor_NoFD();
 };
 
 #endif