ParallelContainer: unittests

This commit is contained in:
eirtech 2018-02-23 14:51:41 +01:00 committed by Robert Haschke
parent a2fd5fb7b8
commit 3e4aa19246
2 changed files with 172 additions and 67 deletions

View File

@ -187,7 +187,7 @@ protected:
class Alternatives : public ParallelContainerBase
{
public:
Alternatives(const std::string &name) : ParallelContainerBase(name) {}
Alternatives(const std::string &name = "alternatives") : ParallelContainerBase(name) {}
bool canCompute() const override;
bool compute() override;
@ -205,7 +205,7 @@ class Fallbacks : public ParallelContainerBase
mutable Stage* active_child_ = nullptr;
public:
Fallbacks(const std::string &name) : ParallelContainerBase(name) {}
Fallbacks(const std::string &name = "fallbacks") : ParallelContainerBase(name) {}
void reset() override;
void init(const moveit::core::RobotModelConstPtr& robot_model) override;

View File

@ -100,29 +100,56 @@ TEST(ContainerBase, position) {
}
class SerialTest : public ::testing::Test {
template <typename Container>
class InitTest : public ::testing::Test {
protected:
moveit::core::RobotModelConstPtr robot_model;
SerialContainer serial;
Container container;
InterfacePtr dummy;
SerialTest() : ::testing::Test(), dummy(new Interface) {}
InitTest() : ::testing::Test(), dummy(new Interface) {}
void pushInterface(bool start=true, bool end=true) {
// pretend, that the container is connected
SerialContainerPrivate *impl = serial.pimpl();
ContainerBasePrivate *impl = container.pimpl();
if (start) impl->setPrevEnds(dummy);
if (end) impl->setNextStarts(dummy);
}
void reset(bool start=true, bool end=true) {
serial.reset();
serial.clear();
SerialContainerPrivate *impl = serial.pimpl();
container.reset();
container.clear();
ContainerBasePrivate *impl = container.pimpl();
impl->setNextStarts(InterfacePtr());
impl->setPrevEnds(InterfacePtr());
pushInterface(start, end);
}
void validateInit(bool start, bool end, const std::initializer_list<StageType>& types, bool expect_failure) {
reset(start, end);
append(container, types);
try {
container.init(robot_model);
// prune pull interfaces based on provided external interface (start, end)
InterfaceFlags accepted;
if (start) accepted |= WRITES_PREV_END;
if (end) accepted |= WRITES_NEXT_START;
container.pimpl()->pruneInterface(accepted);
container.validateConnectivity();
if (!expect_failure) return; // as expected
ADD_FAILURE() << "init() didn't recognize a failure condition as expected\n" << container;
} catch (const InitStageException &e) {
if (expect_failure) return; // as expected
ADD_FAILURE() << "unexpected init failure: \n" << e << "\n" << container;
} catch (const std::exception &e) {
ADD_FAILURE() << "unexpected exception thrown:\n" << e.what();
} catch (...) {
ADD_FAILURE() << "unexpected unknown exception thrown";
}
}
};
class SerialTest : public InitTest<SerialContainer> {
protected:
void validateOrder(const SerialContainerPrivate* container, const std::initializer_list<StagePrivate*> &expected) {
size_t num = container->children().size();
ASSERT_TRUE(num == expected.size()) << "different list lengths";
@ -142,28 +169,6 @@ protected:
EXPECT_EQ(it, container->position(pos-num-1)) << "bad backward position resolution";
}
}
void validateInit(bool start, bool end, const std::initializer_list<StageType>& types, bool expect_failure) {
reset(start, end);
append(serial, types);
try {
serial.init(robot_model);
// prune pull interfaces based on provided external interface (start, end)
InterfaceFlags accepted;
if (start) accepted |= WRITES_PREV_END;
if (end) accepted |= WRITES_NEXT_START;
serial.pimpl()->pruneInterface(accepted);
serial.validateConnectivity();
if (!expect_failure) return; // as expected
ADD_FAILURE() << "init() didn't recognize a failure condition as expected\n" << serial;
} catch (const InitStageException &e) {
if (expect_failure) return; // as expected
ADD_FAILURE() << "unexpected init failure: \n" << e << "\n" << serial;
} catch (const std::exception &e) {
ADD_FAILURE() << "unexpected exception thrown:\n" << e.what();
} catch (...) {
ADD_FAILURE() << "unexpected unknown exception thrown";
}
}
};
#define VALIDATE(...) {\
@ -172,37 +177,37 @@ protected:
}
TEST_F(SerialTest, insertion_order) {
SerialContainerPrivate *impl = serial.pimpl();
SerialContainerPrivate *impl = container.pimpl();
EXPECT_EQ(impl->parent(), nullptr);
EXPECT_THROW(serial.init(robot_model), InitStageException);
EXPECT_THROW(container.init(robot_model), InitStageException);
VALIDATE();
/***** inserting first stage *****/
auto g = std::make_unique<GeneratorMockup>();
StagePrivate *gp = g->pimpl();
ASSERT_TRUE(serial.insert(std::move(g)));
ASSERT_TRUE(container.insert(std::move(g)));
EXPECT_FALSE(g); // ownership transferred to container
VALIDATE(gp);
/***** inserting second stage *****/
auto f = std::make_unique<ForwardMockup>();
StagePrivate *fp = f->pimpl();
ASSERT_TRUE(serial.insert(std::move(f)));
ASSERT_TRUE(container.insert(std::move(f)));
EXPECT_FALSE(f); // ownership transferred to container
VALIDATE(gp, fp);
/***** inserting third stage *****/
auto f2 = std::make_unique<ForwardMockup>();
StagePrivate *fp2 = f2->pimpl();
ASSERT_TRUE(serial.insert(std::move(f2), 1));
ASSERT_TRUE(container.insert(std::move(f2), 1));
EXPECT_FALSE(f2); // ownership transferred to container
VALIDATE(gp, fp2, fp);
/***** inserting another generator stage *****/
auto g2 = std::make_unique<GeneratorMockup>();
StagePrivate *gp2 = g2->pimpl();
ASSERT_TRUE(serial.insert(std::move(g2)));
ASSERT_TRUE(container.insert(std::move(g2)));
VALIDATE(gp, fp2, fp, gp2);
}
@ -219,27 +224,27 @@ TEST_F(SerialTest, insertion_order) {
TEST_F(SerialTest, init_empty) {
EXPECT_INIT_FAILURE(true, true); // no children
EXPECT_EQ(serial.pimpl()->interfaceFlags(), InterfaceFlags(GENERATE));
EXPECT_EQ(container.pimpl()->interfaceFlags(), InterfaceFlags(GENERATE));
EXPECT_INIT_FAILURE(false, false); // no children
EXPECT_EQ(serial.pimpl()->interfaceFlags(), InterfaceFlags());
EXPECT_EQ(container.pimpl()->interfaceFlags(), InterfaceFlags());
}
TEST_F(SerialTest, init_connecting) {
EXPECT_INIT_SUCCESS(false, false, CONN);
EXPECT_EQ(serial.pimpl()->interfaceFlags(), InterfaceFlags(CONNECT));
EXPECT_EQ(serial.pimpl()->interfaceFlags(), serial.pimpl()->children().front()->pimpl()->interfaceFlags());
EXPECT_EQ(container.pimpl()->interfaceFlags(), InterfaceFlags(CONNECT));
EXPECT_EQ(container.pimpl()->interfaceFlags(), container.pimpl()->children().front()->pimpl()->interfaceFlags());
EXPECT_INIT_FAILURE(true, true, CONN);
EXPECT_EQ(serial.pimpl()->interfaceFlags(), InterfaceFlags({CONNECT, GENERATE}));
EXPECT_EQ(container.pimpl()->interfaceFlags(), InterfaceFlags({CONNECT, GENERATE}));
EXPECT_INIT_FAILURE(false, false, CONN, CONN); // two connecting stages cannot be connected
}
TEST_F(SerialTest, init_generator) {
EXPECT_INIT_SUCCESS(true, true, GEN);
EXPECT_EQ(serial.pimpl()->interfaceFlags(), InterfaceFlags(GENERATE));
EXPECT_EQ(serial.pimpl()->interfaceFlags(), serial.pimpl()->children().front()->pimpl()->interfaceFlags());
EXPECT_EQ(container.pimpl()->interfaceFlags(), InterfaceFlags(GENERATE));
EXPECT_EQ(container.pimpl()->interfaceFlags(), container.pimpl()->children().front()->pimpl()->interfaceFlags());
EXPECT_INIT_FAILURE(false, false, GEN); // generator wants to push, but container cannot propagate pushes
@ -254,13 +259,13 @@ TEST_F(SerialTest, init_forward) {
// these should be fine
EXPECT_INIT_SUCCESS(false, true, FW);
EXPECT_EQ(serial.pimpl()->interfaceFlags(), serial.pimpl()->children().front()->pimpl()->interfaceFlags());
EXPECT_EQ(container.pimpl()->interfaceFlags(), container.pimpl()->children().front()->pimpl()->interfaceFlags());
EXPECT_INIT_SUCCESS(false, true, FW, FW);
EXPECT_EQ(serial.pimpl()->interfaceFlags(), serial.pimpl()->children().front()->pimpl()->interfaceFlags());
EXPECT_EQ(container.pimpl()->interfaceFlags(), container.pimpl()->children().front()->pimpl()->interfaceFlags());
EXPECT_INIT_SUCCESS(true, true, GEN, FW);
EXPECT_EQ(serial.pimpl()->interfaceFlags(), InterfaceFlags(GENERATE));
EXPECT_EQ(container.pimpl()->interfaceFlags(), InterfaceFlags(GENERATE));
}
TEST_F(SerialTest, init_backward) {
@ -271,69 +276,169 @@ TEST_F(SerialTest, init_backward) {
// these should be fine
EXPECT_INIT_SUCCESS(true, false, BW);
EXPECT_EQ(serial.pimpl()->interfaceFlags(), serial.pimpl()->children().front()->pimpl()->interfaceFlags());
EXPECT_EQ(container.pimpl()->interfaceFlags(), container.pimpl()->children().front()->pimpl()->interfaceFlags());
EXPECT_INIT_SUCCESS(true, false, BW, BW);
EXPECT_EQ(serial.pimpl()->interfaceFlags(), serial.pimpl()->children().front()->pimpl()->interfaceFlags());
EXPECT_EQ(container.pimpl()->interfaceFlags(), container.pimpl()->children().front()->pimpl()->interfaceFlags());
EXPECT_INIT_SUCCESS(true, true, BW, GEN);
EXPECT_EQ(serial.pimpl()->interfaceFlags(), InterfaceFlags(GENERATE));
EXPECT_EQ(container.pimpl()->interfaceFlags(), InterfaceFlags(GENERATE));
EXPECT_INIT_SUCCESS(true, true, BW, GEN, FW);
EXPECT_EQ(serial.pimpl()->interfaceFlags(), InterfaceFlags(GENERATE));
EXPECT_EQ(container.pimpl()->interfaceFlags(), InterfaceFlags(GENERATE));
}
TEST_F(SerialTest, interface_detection) {
// derive propagation direction from inner generator
EXPECT_INIT_SUCCESS(true, true, ANY, GEN, ANY); // <- <-> ->
auto it = serial.pimpl()->children().begin();
auto it = container.pimpl()->children().begin();
EXPECT_EQ( (*it)->pimpl()->interfaceFlags(), InterfaceFlags(PROPAGATE_BACKWARDS));
EXPECT_EQ((*++it)->pimpl()->interfaceFlags(), InterfaceFlags(GENERATE));
EXPECT_EQ((*++it)->pimpl()->interfaceFlags(), InterfaceFlags(PROPAGATE_FORWARDS));
EXPECT_EQ(serial.pimpl()->interfaceFlags(), InterfaceFlags(GENERATE));
EXPECT_EQ(container.pimpl()->interfaceFlags(), InterfaceFlags(GENERATE));
EXPECT_INIT_SUCCESS(true, true, GEN, ANY);
EXPECT_EQ(serial.pimpl()->interfaceFlags(), InterfaceFlags(GENERATE));
EXPECT_EQ(container.pimpl()->interfaceFlags(), InterfaceFlags(GENERATE));
EXPECT_INIT_SUCCESS(true, true, ANY, GEN);
EXPECT_EQ(serial.pimpl()->interfaceFlags(), InterfaceFlags(GENERATE));
EXPECT_EQ(container.pimpl()->interfaceFlags(), InterfaceFlags(GENERATE));
// derive propagation direction from inner connector
EXPECT_INIT_SUCCESS(false, false, ANY, CONN, ANY); // -> -- <-
it = serial.pimpl()->children().begin();
it = container.pimpl()->children().begin();
EXPECT_EQ( (*it)->pimpl()->interfaceFlags(), InterfaceFlags(PROPAGATE_FORWARDS));
EXPECT_EQ((*++it)->pimpl()->interfaceFlags(), InterfaceFlags(CONNECT));
EXPECT_EQ((*++it)->pimpl()->interfaceFlags(), InterfaceFlags(PROPAGATE_BACKWARDS));
EXPECT_EQ(serial.pimpl()->interfaceFlags(), InterfaceFlags(CONNECT));
EXPECT_EQ(container.pimpl()->interfaceFlags(), InterfaceFlags(CONNECT));
EXPECT_INIT_SUCCESS(false, false, CONN, ANY);
EXPECT_EQ(serial.pimpl()->interfaceFlags(), InterfaceFlags(CONNECT));
EXPECT_EQ(container.pimpl()->interfaceFlags(), InterfaceFlags(CONNECT));
EXPECT_INIT_SUCCESS(false, false, ANY, CONN);
EXPECT_EQ(serial.pimpl()->interfaceFlags(), InterfaceFlags(CONNECT));
EXPECT_EQ(container.pimpl()->interfaceFlags(), InterfaceFlags(CONNECT));
// derive propagation direction from outer interface
EXPECT_INIT_SUCCESS(false, true, ANY, ANY); // -> ->
it = serial.pimpl()->children().begin();
it = container.pimpl()->children().begin();
EXPECT_EQ( (*it)->pimpl()->interfaceFlags(), InterfaceFlags(PROPAGATE_FORWARDS));
EXPECT_EQ((*++it)->pimpl()->interfaceFlags(), InterfaceFlags(PROPAGATE_FORWARDS));
EXPECT_EQ(serial.pimpl()->interfaceFlags(), InterfaceFlags(PROPAGATE_FORWARDS));
EXPECT_EQ(container.pimpl()->interfaceFlags(), InterfaceFlags(PROPAGATE_FORWARDS));
EXPECT_INIT_SUCCESS(true, false, ANY, ANY); // <- <-
it = serial.pimpl()->children().begin();
it = container.pimpl()->children().begin();
EXPECT_EQ( (*it)->pimpl()->interfaceFlags(), InterfaceFlags(PROPAGATE_BACKWARDS));
EXPECT_EQ((*++it)->pimpl()->interfaceFlags(), InterfaceFlags(PROPAGATE_BACKWARDS));
EXPECT_EQ(serial.pimpl()->interfaceFlags(), InterfaceFlags(PROPAGATE_BACKWARDS));
EXPECT_EQ(container.pimpl()->interfaceFlags(), InterfaceFlags(PROPAGATE_BACKWARDS));
EXPECT_INIT_SUCCESS(true, true, ANY, ANY); // <> <>
it = serial.pimpl()->children().begin();
it = container.pimpl()->children().begin();
EXPECT_EQ( (*it)->pimpl()->interfaceFlags(), PROPAGATE_BOTHWAYS);
EXPECT_EQ((*++it)->pimpl()->interfaceFlags(), PROPAGATE_BOTHWAYS);
EXPECT_EQ(serial.pimpl()->interfaceFlags(), PROPAGATE_BOTHWAYS);
EXPECT_EQ(container.pimpl()->interfaceFlags(), PROPAGATE_BOTHWAYS);
EXPECT_INIT_FAILURE(false, false, ANY, ANY); // -- --
it = serial.pimpl()->children().begin();
it = container.pimpl()->children().begin();
EXPECT_EQ( (*it)->pimpl()->interfaceFlags(), UNKNOWN);
EXPECT_EQ((*++it)->pimpl()->interfaceFlags(), UNKNOWN);
EXPECT_EQ(serial.pimpl()->interfaceFlags(), UNKNOWN);
EXPECT_EQ(container.pimpl()->interfaceFlags(), UNKNOWN);
}
class ParallelTest : public InitTest<Alternatives> {
};
TEST_F(ParallelTest, init_propagating) {
EXPECT_INIT_SUCCESS(true, true, BW, FW);
EXPECT_EQ(container.pimpl()->interfaceFlags(), PROPAGATE_BOTHWAYS);
EXPECT_INIT_SUCCESS(true, true, BOTH, BOTH);
EXPECT_EQ(container.pimpl()->interfaceFlags(), PROPAGATE_BOTHWAYS);
EXPECT_INIT_SUCCESS(true, true, BW, BOTH);
EXPECT_EQ(container.pimpl()->interfaceFlags(), PROPAGATE_BOTHWAYS);
EXPECT_INIT_SUCCESS(true, true, FW, BOTH);
EXPECT_EQ(container.pimpl()->interfaceFlags(), PROPAGATE_BOTHWAYS);
EXPECT_INIT_SUCCESS(true, true, FW, BOTH, FW);
EXPECT_EQ(container.pimpl()->interfaceFlags(), PROPAGATE_BOTHWAYS);
EXPECT_INIT_SUCCESS(true, true, FW, BW, FW);
EXPECT_EQ(container.pimpl()->interfaceFlags(), PROPAGATE_BOTHWAYS);
EXPECT_INIT_SUCCESS(true, true, BW, FW, BW);
EXPECT_EQ(container.pimpl()->interfaceFlags(), PROPAGATE_BOTHWAYS);
EXPECT_INIT_SUCCESS(false, true, FW, FW);
EXPECT_EQ(container.pimpl()->interfaceFlags(), PROPAGATE_FORWARDS);
EXPECT_INIT_SUCCESS(true, false, BW, BW);
EXPECT_EQ(container.pimpl()->interfaceFlags(), PROPAGATE_BACKWARDS);
// external interface doesn't match derived
EXPECT_INIT_FAILURE(false, false, BOTH);
EXPECT_INIT_FAILURE(false, true, BOTH);
EXPECT_INIT_FAILURE(true, false, BOTH);
EXPECT_INIT_FAILURE(false, false, BW, BW);
EXPECT_INIT_FAILURE(false, true, BW, BW);
EXPECT_INIT_FAILURE(true, true, BW, BW);
EXPECT_INIT_FAILURE(false, false, FW, FW);
EXPECT_INIT_FAILURE(true, false, FW, FW);
EXPECT_INIT_FAILURE(true, true, FW, FW);
}
TEST_F(ParallelTest, init_matching) {
EXPECT_INIT_SUCCESS(true, true, GEN, GEN);
EXPECT_EQ(container.pimpl()->interfaceFlags(), GENERATE);
EXPECT_INIT_SUCCESS(false, false, CONN, CONN);
EXPECT_EQ(container.pimpl()->interfaceFlags(), CONNECT);
// external interface doesn't match derived
EXPECT_INIT_FAILURE(false, false, GEN, GEN);
EXPECT_INIT_FAILURE(true, false, GEN, GEN);
EXPECT_INIT_FAILURE(false, true, GEN, GEN);
EXPECT_INIT_FAILURE(true, false, CONN, CONN);
EXPECT_INIT_FAILURE(false, true, CONN, CONN);
EXPECT_INIT_FAILURE(true, true, CONN, CONN);
}
TEST_F(ParallelTest, init_mismatching) {
EXPECT_INIT_FAILURE(false, false, BW, CONN);
EXPECT_INIT_FAILURE(true, false, BW, CONN);
EXPECT_INIT_FAILURE(false, true, BW, CONN);
EXPECT_INIT_FAILURE(true, true, BW, CONN);
EXPECT_INIT_FAILURE(false, false, FW, CONN);
EXPECT_INIT_FAILURE(true, false, FW, CONN);
EXPECT_INIT_FAILURE(false, true, FW, CONN);
EXPECT_INIT_FAILURE(true, true, FW, CONN);
EXPECT_INIT_FAILURE(false, false, BW, GEN);
EXPECT_INIT_FAILURE(true, false, BW, GEN);
EXPECT_INIT_FAILURE(false, true, BW, GEN);
EXPECT_INIT_FAILURE(true, true, BW, GEN);
EXPECT_INIT_FAILURE(false, false, FW, GEN);
EXPECT_INIT_FAILURE(true, false, FW, GEN);
EXPECT_INIT_FAILURE(false, true, FW, GEN);
EXPECT_INIT_FAILURE(true, true, FW, GEN);
EXPECT_INIT_FAILURE(false, false, CONN, GEN);
EXPECT_INIT_FAILURE(true, false, CONN, GEN);
EXPECT_INIT_FAILURE(false, true, CONN, GEN);
EXPECT_INIT_FAILURE(true, true, CONN, GEN);
EXPECT_INIT_FAILURE(false, false, BOTH, CONN);
EXPECT_INIT_FAILURE(true, false, BOTH, CONN);
EXPECT_INIT_FAILURE(false, true, BOTH, CONN);
EXPECT_INIT_FAILURE(true, true, BOTH, CONN);
EXPECT_INIT_FAILURE(false, false, BOTH, GEN);
EXPECT_INIT_FAILURE(true, false, BOTH, GEN);
EXPECT_INIT_FAILURE(false, true, BOTH, GEN);
EXPECT_INIT_FAILURE(true, true, BOTH, GEN);
}