headercompatibilitytest.cpp

来自「一个语言识别引擎」· C++ 代码 · 共 129 行

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-

/*
 * Copyright (C) 2006 Paul Fitzpatrick
 * CopyPolicy: Released under the terms of the GNU GPL v2.0.
 *
 */


/**
 *
 * This is a special set of tests, to see how well we support
 * the "Classic" YARP interface
 *
 */

//#include <yarp/HeaderCompatibility.h>

#include <yarp/YARPPort.h>
#include <yarp/YARPTime.h>
#include <yarp/YARPSemaphore.h>
#include <yarp/YARPThread.h>

#include <yarp/NameClient.h>
#include <yarp/os/Time.h>

#include "TestList.h"

using namespace yarp;

class HeaderCompatibilityTest : public UnitTest {
public:
    virtual String getName() { return "HeaderCompatibilityTest"; }

    void testPorts() {
        report(0,"checking YARPPort...");

        NameClient& nic = NameClient::getNameClient();

        YARPInputPortOf<int> in;
        YARPOutputPortOf<int> out;

        checkEqual(nic.queryName("/hct/read").isValid(),false,"YARPPort pre reg");
        checkEqual(nic.queryName("/hct/write").isValid(),false,"YARPPort pre reg");
        in.Register("/hct/read");
        out.Register("/hct/write");
        YARPPort::Connect("/hct/write","/hct/read");
        checkEqual(nic.queryName("/hct/read").isValid(),true,"YARPPort post reg");
        checkEqual(nic.queryName("/hct/write").isValid(),true,"YARPPort post reg");
        checkEqual((&(out.Content())==NULL),false,"output content exists...");
        out.Content() = 15;
        checkEqual((int)(out.Content()),15,"output content settable");
        out.Write();
        checkEqual(in.Read()!=0,true,"read something");
        checkEqual((int)(in.Content()),15,"got right value at input port");

        report(0,"mking sure buffering is present...");
        out.Content() = 5;
        out.Write();
        YARPTime::DelayInSeconds(0.1);
        out.Content() = 10;
        out.Write();
        YARPTime::DelayInSeconds(0.1);
        checkEqual(in.Read()!=0,true,"read something");
        checkEqual((int)(in.Content()),5,"got right value at input port");
        checkEqual(in.Read()!=0,true,"read something");
        checkEqual((int)(in.Content()),10,"got right value at input port");
    }

    virtual void testTime() {
        report(0,"testing YARPTime (there will be a short pause)...");
        double target = 0.5;
        double t1 = YARPTime::GetTimeAsSeconds();
        YARPTime::DelayInSeconds(target);
        double t2 = YARPTime::GetTimeAsSeconds();
        double dt = t2-t1-target;
        double limit = 0.1; // don't be too picky, there is a lot of undefined slop
        bool inLimits = (-limit<dt)&&(dt<limit);
        checkEqual(true,inLimits,"delay for 0.5 seconds");    
    }

    virtual void testSema() {
        report(0,"very soft test of YARPSemaphore...");
        YARPSemaphore sema(2);
        checkTrue(sema.PollingWait(),"down one");
        checkTrue(sema.PollingWait(),"down two");
        checkFalse(sema.PollingWait(),"and done");
    }

    class ThreadTest : public YARPThread {
    public:
        int v;
        ThreadTest() : v(0) {}
        void Body() {
            YARPTime::DelayInSeconds(1);
            v = 1;
        }
    };

    virtual void testThread() {
        report(0,"very soft test of YARPThread...");
        ThreadTest tt;
        checkEqual(tt.v,0,"starting value");
        tt.Begin();
        checkEqual(tt.v,0,"starting value repeat");
        tt.Join();
        checkEqual(tt.v,1,"ending value");
    }

    virtual void runTests() {
        NameClient& nic = NameClient::getNameClient();
        nic.setFakeMode(true);

        testPorts();
        testTime();
        testSema();
        testThread();

        nic.setFakeMode(false);
    }
};

static HeaderCompatibilityTest theHeaderCompatibilityTest;

UnitTest& getHeaderCompatibilityTest() {
    return theHeaderCompatibilityTest;
}