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test_intra_process_buffer.cpp
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// Copyright 2019 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <memory>
#include <utility>
#include "gtest/gtest.h"
#include "rclcpp/rclcpp.hpp"
/*
Construtctor
*/
TEST(TestIntraProcessBuffer, constructor) {
using MessageT = char;
using Alloc = std::allocator<void>;
using Deleter = std::default_delete<MessageT>;
using SharedMessageT = std::shared_ptr<const MessageT>;
using UniqueMessageT = std::unique_ptr<MessageT, Deleter>;
using SharedIntraProcessBufferT = rclcpp::experimental::buffers::TypedIntraProcessBuffer<
MessageT, Alloc, Deleter, SharedMessageT>;
using UniqueIntraProcessBufferT = rclcpp::experimental::buffers::TypedIntraProcessBuffer<
MessageT, Alloc, Deleter, UniqueMessageT>;
auto shared_buffer_impl =
std::make_unique<rclcpp::experimental::buffers::RingBufferImplementation<SharedMessageT>>(2);
SharedIntraProcessBufferT shared_intra_process_buffer(std::move(shared_buffer_impl));
EXPECT_EQ(true, shared_intra_process_buffer.use_take_shared_method());
auto unique_buffer_impl =
std::make_unique<rclcpp::experimental::buffers::RingBufferImplementation<UniqueMessageT>>(2);
UniqueIntraProcessBufferT unique_intra_process_buffer(std::move(unique_buffer_impl));
EXPECT_EQ(false, unique_intra_process_buffer.use_take_shared_method());
}
/*
Add data to an intra-process buffer with an implementations that stores shared_ptr
Messages are extracted using the same data as the implementation, i.e. shared_ptr
- Add shared_ptr no copies are expected
- Add unique_ptr no copies are expected
*/
TEST(TestIntraProcessBuffer, shared_buffer_add) {
using MessageT = char;
using Alloc = std::allocator<void>;
using Deleter = std::default_delete<MessageT>;
using SharedMessageT = std::shared_ptr<const MessageT>;
using SharedIntraProcessBufferT = rclcpp::experimental::buffers::TypedIntraProcessBuffer<
MessageT, Alloc, Deleter, SharedMessageT>;
auto buffer_impl =
std::make_unique<rclcpp::experimental::buffers::RingBufferImplementation<SharedMessageT>>(2);
SharedIntraProcessBufferT intra_process_buffer(std::move(buffer_impl));
auto original_shared_msg = std::make_shared<char>('a');
auto original_message_pointer = reinterpret_cast<std::uintptr_t>(original_shared_msg.get());
intra_process_buffer.add_shared(original_shared_msg);
EXPECT_EQ(2L, original_shared_msg.use_count());
SharedMessageT popped_shared_msg;
popped_shared_msg = intra_process_buffer.consume_shared();
auto popped_message_pointer = reinterpret_cast<std::uintptr_t>(popped_shared_msg.get());
EXPECT_EQ(original_shared_msg.use_count(), popped_shared_msg.use_count());
EXPECT_EQ(*original_shared_msg, *popped_shared_msg);
EXPECT_EQ(original_message_pointer, popped_message_pointer);
auto original_unique_msg = std::make_unique<char>('b');
original_message_pointer = reinterpret_cast<std::uintptr_t>(original_unique_msg.get());
auto original_value = *original_unique_msg;
intra_process_buffer.add_unique(std::move(original_unique_msg));
popped_shared_msg = intra_process_buffer.consume_shared();
popped_message_pointer = reinterpret_cast<std::uintptr_t>(popped_shared_msg.get());
EXPECT_EQ(1L, popped_shared_msg.use_count());
EXPECT_EQ(original_value, *popped_shared_msg);
EXPECT_EQ(original_message_pointer, popped_message_pointer);
}
/*
Add data to an intra-process buffer with an implementations that stores unique_ptr
Messages are extracted using the same data as the implementation, i.e. unique_ptr
- Add shared_ptr a copy is expected
- Add unique_ptr no copies are expected
*/
TEST(TestIntraProcessBuffer, unique_buffer_add) {
using MessageT = char;
using Alloc = std::allocator<void>;
using Deleter = std::default_delete<MessageT>;
using UniqueMessageT = std::unique_ptr<MessageT, Deleter>;
using UniqueIntraProcessBufferT = rclcpp::experimental::buffers::TypedIntraProcessBuffer<
MessageT, Alloc, Deleter, UniqueMessageT>;
auto buffer_impl =
std::make_unique<rclcpp::experimental::buffers::RingBufferImplementation<UniqueMessageT>>(2);
UniqueIntraProcessBufferT intra_process_buffer(std::move(buffer_impl));
auto original_shared_msg = std::make_shared<char>('a');
auto original_message_pointer = reinterpret_cast<std::uintptr_t>(original_shared_msg.get());
intra_process_buffer.add_shared(original_shared_msg);
EXPECT_EQ(1L, original_shared_msg.use_count());
UniqueMessageT popped_unique_msg;
popped_unique_msg = intra_process_buffer.consume_unique();
auto popped_message_pointer = reinterpret_cast<std::uintptr_t>(popped_unique_msg.get());
EXPECT_EQ(*original_shared_msg, *popped_unique_msg);
EXPECT_NE(original_message_pointer, popped_message_pointer);
auto original_unique_msg = std::make_unique<char>('b');
original_message_pointer = reinterpret_cast<std::uintptr_t>(original_unique_msg.get());
auto original_value = *original_unique_msg;
intra_process_buffer.add_unique(std::move(original_unique_msg));
popped_unique_msg = intra_process_buffer.consume_unique();
popped_message_pointer = reinterpret_cast<std::uintptr_t>(popped_unique_msg.get());
EXPECT_EQ(original_value, *popped_unique_msg);
EXPECT_EQ(original_message_pointer, popped_message_pointer);
}
/*
Consume data from an intra-process buffer with an implementations that stores shared_ptr
Messages are inserted using the same data as the implementation, i.e. shared_ptr
- Request shared_ptr no copies are expected
- Request unique_ptr a copy is expected
*/
TEST(TestIntraProcessBuffer, shared_buffer_consume) {
using MessageT = char;
using Alloc = std::allocator<void>;
using Deleter = std::default_delete<MessageT>;
using SharedMessageT = std::shared_ptr<const MessageT>;
using UniqueMessageT = std::unique_ptr<MessageT, Deleter>;
using SharedIntraProcessBufferT = rclcpp::experimental::buffers::TypedIntraProcessBuffer<
MessageT, Alloc, Deleter, SharedMessageT>;
auto buffer_impl =
std::make_unique<rclcpp::experimental::buffers::RingBufferImplementation<SharedMessageT>>(2);
SharedIntraProcessBufferT intra_process_buffer(std::move(buffer_impl));
auto original_shared_msg = std::make_shared<char>('a');
auto original_message_pointer = reinterpret_cast<std::uintptr_t>(original_shared_msg.get());
intra_process_buffer.add_shared(original_shared_msg);
EXPECT_EQ(2L, original_shared_msg.use_count());
SharedMessageT popped_shared_msg;
popped_shared_msg = intra_process_buffer.consume_shared();
auto popped_message_pointer = reinterpret_cast<std::uintptr_t>(popped_shared_msg.get());
EXPECT_EQ(original_shared_msg.use_count(), popped_shared_msg.use_count());
EXPECT_EQ(*original_shared_msg, *popped_shared_msg);
EXPECT_EQ(original_message_pointer, popped_message_pointer);
original_shared_msg = std::make_shared<char>('b');
original_message_pointer = reinterpret_cast<std::uintptr_t>(original_shared_msg.get());
intra_process_buffer.add_shared(original_shared_msg);
UniqueMessageT popped_unique_msg;
popped_unique_msg = intra_process_buffer.consume_unique();
popped_message_pointer = reinterpret_cast<std::uintptr_t>(popped_unique_msg.get());
EXPECT_EQ(1L, original_shared_msg.use_count());
EXPECT_EQ(*original_shared_msg, *popped_unique_msg);
EXPECT_NE(original_message_pointer, popped_message_pointer);
}
/*
Consume data from an intra-process buffer with an implementations that stores unique_ptr
Messages are inserted using the same data as the implementation, i.e. unique_ptr
- Request shared_ptr no copies are expected
- Request unique_ptr no copies are expected
*/
TEST(TestIntraProcessBuffer, unique_buffer_consume) {
using MessageT = char;
using Alloc = std::allocator<void>;
using Deleter = std::default_delete<MessageT>;
using SharedMessageT = std::shared_ptr<const MessageT>;
using UniqueMessageT = std::unique_ptr<MessageT, Deleter>;
using UniqueIntraProcessBufferT = rclcpp::experimental::buffers::TypedIntraProcessBuffer<
MessageT, Alloc, Deleter, UniqueMessageT>;
auto buffer_impl =
std::make_unique<rclcpp::experimental::buffers::RingBufferImplementation<UniqueMessageT>>(2);
UniqueIntraProcessBufferT intra_process_buffer(std::move(buffer_impl));
auto original_unique_msg = std::make_unique<char>('a');
auto original_message_pointer = reinterpret_cast<std::uintptr_t>(original_unique_msg.get());
auto original_value = *original_unique_msg;
intra_process_buffer.add_unique(std::move(original_unique_msg));
SharedMessageT popped_shared_msg;
popped_shared_msg = intra_process_buffer.consume_shared();
auto popped_message_pointer = reinterpret_cast<std::uintptr_t>(popped_shared_msg.get());
EXPECT_EQ(original_value, *popped_shared_msg);
EXPECT_EQ(original_message_pointer, popped_message_pointer);
original_unique_msg = std::make_unique<char>('b');
original_message_pointer = reinterpret_cast<std::uintptr_t>(original_unique_msg.get());
original_value = *original_unique_msg;
intra_process_buffer.add_unique(std::move(original_unique_msg));
UniqueMessageT popped_unique_msg;
popped_unique_msg = intra_process_buffer.consume_unique();
popped_message_pointer = reinterpret_cast<std::uintptr_t>(popped_unique_msg.get());
EXPECT_EQ(original_value, *popped_unique_msg);
EXPECT_EQ(original_message_pointer, popped_message_pointer);
}