porttest.cpp

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// -*- 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.
 *
 */

#include <yarp/os/Port.h>
#include <yarp/NameClient.h>
#include <yarp/Companion.h>
#include <yarp/os/Time.h>
#include <yarp/os/Thread.h>
#include <yarp/os/Semaphore.h>
#include <yarp/os/Bottle.h>
#include <yarp/os/PortReaderBuffer.h>
#include <yarp/os/PortWriterBuffer.h>
#include <yarp/os/PortablePair.h>
#include <yarp/os/BinPortable.h>
#include <yarp/Logger.h>
#include <yarp/NetType.h>

#include <yarp/os/BufferedPort.h>
#include <yarp/os/Network.h>

#include "TestList.h"

using namespace yarp::os;

using yarp::String;
using yarp::NetType;
using yarp::Logger;

#ifndef DOXYGEN_SHOULD_SKIP_THIS

class ServiceProvider : public PortReader {
public:

    virtual bool read(ConnectionReader& connection) {
        Bottle receive;
        //printf("service provider reading data\n");
        receive.read(connection);
        //printf("service provider read data\n");
        receive.addInt(5);
        ConnectionWriter *writer = connection.getWriter();
        if (writer!=NULL) {
            //printf("service provider replying\n");
            receive.write(*writer);
            //printf("service provider replied\n");
        }
        return true;
    }
};

class ServiceTester : public Portable {
public:
    yarp::UnitTest& owner;
    Bottle send, receive;
    int ct;

    ServiceTester(yarp::UnitTest& owner) : owner(owner) {}

    virtual bool write(ConnectionWriter& connection) {
        ct = 0;
        //printf("service tester writing data\n");
        send.write(connection);
        //printf("service tester wrote data\n");
        connection.setReplyHandler(*this);
        return true;
    }

    virtual bool read(ConnectionReader& connection) {
        //printf("service tester getting reply\n");
        receive.read(connection);
        //printf("service tester got reply\n");
        ct++;
        return true;
    }

    void finalCheck() {
        owner.checkEqual(receive.size(),send.size()+1,"size incremented");
        owner.checkEqual(ct,1,"just one read");
    }
};


class DelegatedReader : public Thread {
public:
    Port p;

    DelegatedReader() {
        p.open("/reader");
    }
    
    virtual void run() {
        for (int i=0; i<3; i++) {
            Bottle b,b2;
            p.read(b,true);
            b2.addInt(b.get(0).asInt()+1);
            p.reply(b2);
        }
    }
};

class DelegatedWriter : public Thread {
public:
    Port p;
    int total;

    DelegatedWriter() {
        p.open("/writer");
        Network::connect("/writer","/reader");
    }

    virtual void run() {
        total = 0;
        for (int i=0; i<3; i++) {
            Bottle b, b2;
            b.addInt(i);
            p.write(b,b2);
            total += b2.get(0).asInt(); // should be i+1
        }
        // total should be 1+2+3 = 6
    }
};


class DelegatedCallback : public TypedReaderCallback<Bottle> {
public:
    Bottle saved;
    Semaphore produce;

    DelegatedCallback() : produce(0) {}

    virtual void onRead(Bottle& bot) {
        saved = bot;
        produce.post();
    }
};

#endif /*DOXYGEN_SHOULD_SKIP_THIS*/


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

    void testOpen() {
        report(0,"checking opening and closing ports");
        Port out, in;

        in.open("/in");
        out.open(Contact::bySocket("tcp","",9999));

        Contact conIn = in.where();
        Contact conOut = out.where();

        out.addOutput(Contact::byName("/in").addCarrier("udp"));
        //Time::delay(0.2);

        checkEqual(conIn.getName().c_str(),"/in","name is recorded");

        checkTrue(String(conOut.getName().c_str()).strstr("/tmp")==0,
                  "name is created");

        Bottle bot1, bot2;
        bot1.fromString("5 10 \"hello\"");
        out.write(bot1);
        in.read(bot2);
        checkEqual(bot1.get(0).asInt(),5,"check bot[0]");
        checkEqual(bot1.get(1).asInt(),10,"check bot[1]");
        checkEqual(bot1.get(2).asString().c_str(),"hello","check bot[2]");

        bot1.fromString("18");
        out.write(bot1);
        in.read(bot2);
        checkEqual(bot1.get(0).asInt(),18,"check one more send/receive");

        in.close();
        out.close();
    }


    void testReadBuffer() {
        report(0,"checking read buffering");
        Bottle bot1;
        PortReaderBuffer<Bottle> buf;
        buf.setStrict(true);

        bot1.fromString("1 2 3");
        for (int i=0; i<10000; i++) {
            bot1.addInt(i);
        }

        Port input, output;
        input.open("/in");
        output.open("/out");

        buf.setStrict();
        buf.attach(input);

        output.addOutput(Contact::byName("/in").addCarrier("tcp"));
        //Time::delay(0.2);

        report(0,"writing...");
        output.write(bot1);
        output.write(bot1);
        output.write(bot1);
        report(0,"reading...");
        Bottle *result = buf.read();

        for (int j=0; j<3; j++) {
            if (j!=0) {
                result = buf.read();
            }
            checkTrue(result!=NULL,"got something check");
            if (result!=NULL) {
                checkEqual(bot1.size(),result->size(),"size check");
                YARP_INFO(Logger::get(),String("size is in fact ") + 
                          NetType::toString(result->size()));
            }
        }

        output.close();
        input.close();
    }

    void testUdp() {
        report(0,"checking udp");

        Bottle bot1;
        PortReaderBuffer<Bottle> buf;

        bot1.fromString("1 2 3");
        for (int i=0; i<10000; i++) {
            bot1.addInt(i);
        }

        Port input, output;
        input.open("/in");
        output.open("/out");

        buf.setStrict();
        buf.attach(input);

        output.addOutput(Contact::byName("/in").addCarrier("udp"));
        //Time::delay(0.2);

        report(0,"writing/reading three times...");

        report(0,"checking for whatever got through...");
        int ct = 0;
        while (buf.check()) {
            ct++;
            Bottle *result = buf.read();
            checkTrue(result!=NULL,"got something check");
            if (result!=NULL) {
                checkEqual(bot1.size(),result->size(),"size check");
                YARP_INFO(Logger::get(),String("size is in fact ") + 
                          NetType::toString(result->size()));
            }
        }
        if (ct==0) {
            report(0,"NOTHING got through - possible but sad");
        }

        output.close();
        input.close();
    }


    void testHeavy() {
        report(0,"checking heavy udp");

        Bottle bot1;
        PortReaderBuffer<Bottle> buf;

        bot1.fromString("1 2 3");
        for (int i=0; i<100000; i++) {
            bot1.addInt(i);
        }

        Port input, output;
        input.open("/in");
        output.open("/out");

        buf.setStrict();
        buf.attach(input);

        output.addOutput(Contact::byName("/in").addCarrier("udp"));
        //Time::delay(0.2);


        for (int j=0; j<3; j++) {
            report(0,"writing/reading three times...");
            output.write(bot1);
        }

        report(0,"checking for whatever got through...");
        int ct = 0;
        while (buf.check()) {
            ct++;
            Bottle *result = buf.read();
            checkTrue(result!=NULL,"got something check");
            if (result!=NULL) {
                checkEqual(bot1.size(),result->size(),"size check");
                YARP_INFO(Logger::get(),String("size is in fact ") + 
                          NetType::toString(result->size()));
            }
        }
        if (ct==0) {
            report(0,"NOTHING got through - possible but sad");
        }

        output.close();
        input.close();
    }


    void testPair() {
        report(0,"checking paired send/receive");
        PortReaderBuffer<PortablePair<Bottle,Bottle> > buf;

        Port input, output;
        input.open("/in");
        output.open("/out");

        buf.setStrict();
        buf.attach(input);

        output.addOutput(Contact::byName("/in").addCarrier("tcp"));
        //Time::delay(0.2);


        PortablePair<Bottle,Bottle> bot1;
        bot1.head.fromString("1 2 3");
        bot1.body.fromString("4 5 6 7");

        report(0,"writing...");
        output.write(bot1);
        report(0,"reading...");
        PortablePair<Bottle,Bottle> *result = buf.read();

        checkTrue(result!=NULL,"got something check");
        checkEqual(bot1.head.size(),result->head.size(),"head size check");
        checkEqual(bot1.body.size(),result->body.size(),"body size check");

        output.close();
        input.close();
    }


    void testReply() {
        report(0,"checking reply processing");
        ServiceProvider provider;

        Port input, output;
        input.open("/in");