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Commit 0e28a9ee authored by Martin Christoph Hierholzer's avatar Martin Christoph Hierholzer
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extended the test to make sure also the "observer" variables in the control... 

extended the test to make sure also the "observer" variables in the control system show the right values
parent 7c3fadc9
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tests/executables_src/testBidirectionalVariables.cc
+ 71
− 16
View file @ 0e28a9ee
......@@ -109,6 +109,8 @@ BOOST_AUTO_TEST_CASE(testNormalOperation) {
app.initialise();
app.run();
auto var1 = test.getScalar<int>("var1");
auto var1_copied = test.getScalar<int>("var1_copied");
auto var2 = test.getScalar<double>("var2");
auto var3 = test.getScalar<double>("var3");
auto max = test.getScalar<double>("max");
......@@ -122,62 +124,109 @@ BOOST_AUTO_TEST_CASE(testNormalOperation) {
var1 = 49;
var1.write();
test.stepApplication();
var1_copied.read();
var2.read();
var3.read();
BOOST_CHECK_EQUAL(static_cast<int>(var1_copied), 49);
BOOST_CHECK_CLOSE(static_cast<double>(var2), 49*2.54, 0.001);
BOOST_CHECK_CLOSE(static_cast<double>(var3), 49*2.54, 0.001);
BOOST_CHECK( var1.readNonBlocking() == false ); // nothing was sent through the return channel
BOOST_CHECK( var1_copied.readLatest() == false );
BOOST_CHECK( var2.readNonBlocking() == false );
BOOST_CHECK( var3.readNonBlocking() == false );
// inject value which gets limited
var1 = 50;
var1.write();
test.stepApplication();
var1.read();
BOOST_CHECK_EQUAL(static_cast<int>(var1), 49);
var1_copied.read();
BOOST_CHECK_EQUAL(static_cast<int>(var1_copied), 50);
var1_copied.read();
BOOST_CHECK_EQUAL(static_cast<int>(var1_copied), 49);
var2.read();
BOOST_CHECK_CLOSE(static_cast<double>(var2), 50*2.54, 0.001);
var2.read();
BOOST_CHECK_CLOSE(static_cast<double>(var2), 49.5*2.54, 0.001);
var2.read();
BOOST_CHECK_CLOSE(static_cast<double>(var2), 49*2.54, 0.001);
var3.read();
BOOST_CHECK_CLOSE(static_cast<double>(var3), 49.5*2.54, 0.001);
var3.read();
BOOST_CHECK_CLOSE(static_cast<double>(var3), 49*2.54, 0.001);
var1.read();
BOOST_CHECK_EQUAL(static_cast<int>(var1), 49);
BOOST_CHECK( var1.readNonBlocking() == false );
BOOST_CHECK( var1_copied.readLatest() == false );
BOOST_CHECK( var2.readNonBlocking() == false );
BOOST_CHECK( var3.readNonBlocking() == false );
// change the limit so the current value gets changed
max = 48.5*2.54;
max.write();
test.stepApplication();
var1.read();
BOOST_CHECK_EQUAL(static_cast<int>(var1), 48);
var1_copied.read();
BOOST_CHECK_EQUAL(static_cast<int>(var1_copied), 48);
var2.read();
BOOST_CHECK_CLOSE(static_cast<double>(var2), 48.5*2.54, 0.001);
var2.read();
BOOST_CHECK_CLOSE(static_cast<double>(var2), 48*2.54, 0.001);
var3.read();
BOOST_CHECK_CLOSE(static_cast<double>(var3), 48.5*2.54, 0.001);
var3.read();
BOOST_CHECK_CLOSE(static_cast<double>(var3), 48*2.54, 0.001);
var1.read();
BOOST_CHECK_EQUAL(static_cast<int>(var1), 48);
BOOST_CHECK( var1.readNonBlocking() == false );
BOOST_CHECK( var1_copied.readLatest() == false );
BOOST_CHECK( var2.readNonBlocking() == false );
BOOST_CHECK( var3.readNonBlocking() == false );
// Run the following tests a couple of times, as they are testing for the absence of race conditions. This makes
// it more likely to find failures in a single run of the test
for(size_t i=0; i<10; ++i) {
// feed in some default values (so the tests can be executed multiple times in a row)
BOOST_CHECK( var1.readNonBlocking() == false );
BOOST_CHECK( var3.readNonBlocking() == false );
max = 48.5*2.54;
max.write();
test.stepApplication();
var1 = 50;
var1.write();
test.stepApplication();
var1.readLatest(); // emtpy the queue
var3.readLatest(); // emtpy the queue
var1.readLatest(); // emtpy the queues
var1_copied.readLatest();
var2.readLatest();
var3.readLatest();
BOOST_CHECK_EQUAL(static_cast<int>(var1), 48);
BOOST_CHECK_EQUAL(static_cast<int>(var1_copied), 48);
BOOST_CHECK_CLOSE(static_cast<double>(var2), 48*2.54, 0.001);
BOOST_CHECK_CLOSE(static_cast<double>(var3), 48*2.54, 0.001);
BOOST_CHECK( var1.readNonBlocking() == false );
BOOST_CHECK( var1_copied.readLatest() == false );
BOOST_CHECK( var2.readNonBlocking() == false );
BOOST_CHECK( var3.readNonBlocking() == false );
// concurrent change of value and limit
// concurrent change of value and limit. Note: The final result must be deterministic, but which values are seen
// in between is subject to race conditions between the two concurrent updates. Thus we are using readLatest() in
// some cases here.
var1 = 30;
max = 25.5*2.54;
var1.write();
max.write();
test.stepApplication();
BOOST_CHECK(var3.readLatest() == true); // it is not perfectly deterministic what happens, but we should end up with this result
BOOST_CHECK_CLOSE(static_cast<double>(var3), 25*2.54, 0.001);
var1.read();
BOOST_CHECK_EQUAL(static_cast<int>(var1), 25);
BOOST_CHECK( var3.readNonBlocking() == false ); // nothing left
BOOST_CHECK( var1.readNonBlocking() == false ); // nothing left
var1_copied.read();
BOOST_CHECK_EQUAL(static_cast<int>(var1_copied), 30);
BOOST_CHECK( var1_copied.readLatest() == true );
BOOST_CHECK_EQUAL(static_cast<int>(var1_copied), 25);
BOOST_CHECK( var2.readLatest() == true );
BOOST_CHECK_CLOSE(static_cast<double>(var2), 25*2.54, 0.001);
BOOST_CHECK( var3.readLatest() == true );
BOOST_CHECK_CLOSE(static_cast<double>(var3), 25*2.54, 0.001);
BOOST_CHECK( var1.readNonBlocking() == false );
BOOST_CHECK( var1_copied.readLatest() == false );
BOOST_CHECK( var2.readNonBlocking() == false );
BOOST_CHECK( var3.readNonBlocking() == false );
// concurrent change of value and limit - other order than before
var1 = 15;
......@@ -185,10 +234,16 @@ BOOST_AUTO_TEST_CASE(testNormalOperation) {
max.write();
var1.write();
test.stepApplication();
BOOST_CHECK(var3.readLatest() == true); // it is not perfectly deterministic what happens, but we should end up with this result
var1_copied.read();
BOOST_CHECK_EQUAL(static_cast<int>(var1_copied), 15);
BOOST_CHECK( var2.readLatest() == true );
BOOST_CHECK_CLOSE(static_cast<double>(var2), 15*2.54, 0.001);
BOOST_CHECK( var3.readLatest() == true );
BOOST_CHECK_CLOSE(static_cast<double>(var3), 15*2.54, 0.001);
BOOST_CHECK( var3.readNonBlocking() == false ); // nothing left
BOOST_CHECK( var1.readNonBlocking() == false ); // the value was rejected
BOOST_CHECK( var1.readNonBlocking() == false );
BOOST_CHECK( var1_copied.readLatest() == false );
BOOST_CHECK( var2.readNonBlocking() == false );
BOOST_CHECK( var3.readNonBlocking() == false );
}
......
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