Merge branch 'parallel-container'

This commit is contained in:
Robert Haschke 2018-02-25 23:12:35 +01:00
commit d731e943f1
5 changed files with 214 additions and 84 deletions

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

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@ -105,12 +105,12 @@ protected:
// If, during pruneInterface() later, we notice that it's not needed, prune there. // If, during pruneInterface() later, we notice that it's not needed, prune there.
inline void setChildsPushBackwardInterface(Stage& child) { inline void setChildsPushBackwardInterface(Stage& child) {
bool allowed = (child.pimpl()->requiredInterface() & WRITES_PREV_END) || bool allowed = (child.pimpl()->requiredInterface() & WRITES_PREV_END) ||
(child.pimpl()->requiredInterface() == 0); // unknown interface (child.pimpl()->requiredInterface() == UNKNOWN);
child.pimpl()->setPrevEnds(allowed ? pending_backward_ : InterfacePtr()); child.pimpl()->setPrevEnds(allowed ? pending_backward_ : InterfacePtr());
} }
inline void setChildsPushForwardInterface(Stage& child) { inline void setChildsPushForwardInterface(Stage& child) {
bool allowed = (child.pimpl()->requiredInterface() & WRITES_NEXT_START) || bool allowed = (child.pimpl()->requiredInterface() & WRITES_NEXT_START) ||
(child.pimpl()->requiredInterface() == 0); // unknown interface (child.pimpl()->requiredInterface() == UNKNOWN);
child.pimpl()->setNextStarts(allowed ? pending_forward_ : InterfacePtr()); child.pimpl()->setNextStarts(allowed ? pending_forward_ : InterfacePtr());
} }

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@ -85,6 +85,7 @@ typedef Flags<InterfaceFlag> InterfaceFlags;
constexpr InterfaceFlags UNKNOWN; constexpr InterfaceFlags UNKNOWN;
constexpr InterfaceFlags INPUT_IF_MASK({READS_START, WRITES_PREV_END}); constexpr InterfaceFlags INPUT_IF_MASK({READS_START, WRITES_PREV_END});
constexpr InterfaceFlags OUTPUT_IF_MASK({READS_END, WRITES_NEXT_START}); constexpr InterfaceFlags OUTPUT_IF_MASK({READS_END, WRITES_NEXT_START});
constexpr InterfaceFlags PROPAGATE_BOTHWAYS({PROPAGATE_FORWARDS, PROPAGATE_BACKWARDS});
MOVEIT_CLASS_FORWARD(Interface) MOVEIT_CLASS_FORWARD(Interface)
MOVEIT_CLASS_FORWARD(Stage) MOVEIT_CLASS_FORWARD(Stage)

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@ -487,11 +487,10 @@ void SerialContainer::init(const moveit::core::RobotModelConstPtr& robot_model)
// called by parent asking for pruning of this' interface // called by parent asking for pruning of this' interface
void SerialContainerPrivate::pruneInterface(InterfaceFlags accepted) { void SerialContainerPrivate::pruneInterface(InterfaceFlags accepted) {
if (children().empty()) return; if (children().empty()) return;
constexpr InterfaceFlags BOTHWAYS({PROPAGATE_FORWARDS, PROPAGATE_BACKWARDS});
// We only need to deal with the special case of the whole sequence to be pruned. // We only need to deal with the special case of the whole sequence to be pruned.
if (accepted != BOTHWAYS && // will interface be restricted at all? if (accepted != PROPAGATE_BOTHWAYS && // will interface be restricted at all?
children().front()->pimpl()->interfaceFlags() == BOTHWAYS) // still undecided? children().front()->pimpl()->interfaceFlags() == PROPAGATE_BOTHWAYS) // still undecided?
{ {
pruneInterfaces(children().begin(), children().end(), accepted); pruneInterfaces(children().begin(), children().end(), accepted);
@ -707,19 +706,40 @@ InterfaceFlags ParallelContainerBasePrivate::requiredInterface() const
{ {
if (children().empty()) if (children().empty())
return UNKNOWN; return UNKNOWN;
/* TODO: replace this with a proper check for consistency of interfaces. Allowed combinations are: /* The interfaces of all children need to be consistent with each other. Allowed combinations are:
* = (connecting stages) * = (connecting stages)
* = (backward propagating) * = (backward propagating)
* = (forward propagating) * = (forward propagating)
* = = = (propagating in both directions) * = = = (propagating in both directions)
* = (generating) * = (generating)
*/ */
return children().front()->pimpl()->requiredInterface();
InterfaceFlags accumulated = children().front()->pimpl()->requiredInterface();
for (const Stage::pointer& stage : children()) {
InterfaceFlags current = stage->pimpl()->requiredInterface();
if (accumulated != PROPAGATE_BOTHWAYS &&
(accumulated & current) == current) // all flags of current are already available in accumulated
continue;
bool current_is_propagating = (current == PROPAGATE_BOTHWAYS ||
current == PROPAGATE_FORWARDS ||
current == PROPAGATE_BACKWARDS);
if (current_is_propagating && accumulated != CONNECT && accumulated != GENERATE)
accumulated |= current; // propagating is compatible to all except CONNECT and GENERATE
else
throw InitStageException(*me(), "child '" + stage->name() + "' has conflicting interface to previous children");
}
return accumulated;
} }
void ParallelContainerBasePrivate::pruneInterface(InterfaceFlags accepted) void ParallelContainerBasePrivate::pruneInterface(InterfaceFlags accepted)
{ {
// TODO: forward pruning to all children with UNKNOWN required interface // forward pruning to all children with UNKNOWN required interface
for (const Stage::pointer& stage : children()) {
if (stage->pimpl()->requiredInterface() == UNKNOWN)
stage->pimpl()->pruneInterface(accepted);
}
} }
void ParallelContainerBasePrivate::onNewExternalState(Interface::Direction dir, Interface::iterator external, bool updated) { void ParallelContainerBasePrivate::onNewExternalState(Interface::Direction dir, Interface::iterator external, bool updated) {
@ -759,9 +779,7 @@ void ParallelContainerBase::init(const moveit::core::RobotModelConstPtr& robot_m
// determine the union of interfaces required by children // determine the union of interfaces required by children
// TODO: should we better use the least common interface? // TODO: should we better use the least common interface?
InterfaceFlags required; InterfaceFlags required = impl->requiredInterface();
for (const Stage::pointer& stage : impl->children())
required |= stage->pimpl()->requiredInterface();
// initialize this' pull connections // initialize this' pull connections
impl->starts().reset(required & READS_START impl->starts().reset(required & READS_START
@ -785,12 +803,18 @@ void ParallelContainerBase::validateConnectivity() const
InitStageException errors; InitStageException errors;
auto impl = pimpl(); auto impl = pimpl();
InterfaceFlags my_interface = impl->interfaceFlags(); InterfaceFlags my_interface = impl->interfaceFlags();
InterfaceFlags children_interfaces;
// check that input / output interfaces of all children match my_interface // check that input / output interfaces of all children are handled by my interface
for (const auto& child : pimpl()->children()) { for (const auto& child : pimpl()->children()) {
if (child->pimpl()->interfaceFlags() != my_interface) InterfaceFlags current = child->pimpl()->interfaceFlags();
children_interfaces |= current; // compute union of all children interfaces
if ((current & my_interface) != current)
errors.push_back(*this, "interface of child '" + child->name() + "' doesn't match mine"); errors.push_back(*this, "interface of child '" + child->name() + "' doesn't match mine");
} }
// check that there is a child matching the expected push interfaces
if ((my_interface & GENERATE) != (children_interfaces & GENERATE))
errors.push_back(*this, "no child provides expected push interface");
// recursively validate children // recursively validate children
try { ContainerBase::validateConnectivity(); } catch (InitStageException& e) { errors.append(e); } try { ContainerBase::validateConnectivity(); } catch (InitStageException& e) { errors.append(e); }

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@ -100,29 +100,56 @@ TEST(ContainerBase, position) {
} }
class SerialTest : public ::testing::Test { template <typename Container>
class InitTest : public ::testing::Test {
protected: protected:
moveit::core::RobotModelConstPtr robot_model; moveit::core::RobotModelConstPtr robot_model;
SerialContainer serial; Container container;
InterfacePtr dummy; InterfacePtr dummy;
SerialTest() : ::testing::Test(), dummy(new Interface) {} InitTest() : ::testing::Test(), dummy(new Interface) {}
void pushInterface(bool start=true, bool end=true) { void pushInterface(bool start=true, bool end=true) {
// pretend, that the container is connected // pretend, that the container is connected
SerialContainerPrivate *impl = serial.pimpl(); ContainerBasePrivate *impl = container.pimpl();
if (start) impl->setPrevEnds(dummy); if (start) impl->setPrevEnds(dummy);
if (end) impl->setNextStarts(dummy); if (end) impl->setNextStarts(dummy);
} }
void reset(bool start=true, bool end=true) { void reset(bool start=true, bool end=true) {
serial.reset(); container.reset();
serial.clear(); container.clear();
SerialContainerPrivate *impl = serial.pimpl(); ContainerBasePrivate *impl = container.pimpl();
impl->setNextStarts(InterfacePtr()); impl->setNextStarts(InterfacePtr());
impl->setPrevEnds(InterfacePtr()); impl->setPrevEnds(InterfacePtr());
pushInterface(start, end); 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) { void validateOrder(const SerialContainerPrivate* container, const std::initializer_list<StagePrivate*> &expected) {
size_t num = container->children().size(); size_t num = container->children().size();
ASSERT_TRUE(num == expected.size()) << "different list lengths"; 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"; 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(...) {\ #define VALIDATE(...) {\
@ -172,37 +177,37 @@ protected:
} }
TEST_F(SerialTest, insertion_order) { TEST_F(SerialTest, insertion_order) {
SerialContainerPrivate *impl = serial.pimpl(); SerialContainerPrivate *impl = container.pimpl();
EXPECT_EQ(impl->parent(), nullptr); EXPECT_EQ(impl->parent(), nullptr);
EXPECT_THROW(serial.init(robot_model), InitStageException); EXPECT_THROW(container.init(robot_model), InitStageException);
VALIDATE(); VALIDATE();
/***** inserting first stage *****/ /***** inserting first stage *****/
auto g = std::make_unique<GeneratorMockup>(); auto g = std::make_unique<GeneratorMockup>();
StagePrivate *gp = g->pimpl(); 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 EXPECT_FALSE(g); // ownership transferred to container
VALIDATE(gp); VALIDATE(gp);
/***** inserting second stage *****/ /***** inserting second stage *****/
auto f = std::make_unique<ForwardMockup>(); auto f = std::make_unique<ForwardMockup>();
StagePrivate *fp = f->pimpl(); 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 EXPECT_FALSE(f); // ownership transferred to container
VALIDATE(gp, fp); VALIDATE(gp, fp);
/***** inserting third stage *****/ /***** inserting third stage *****/
auto f2 = std::make_unique<ForwardMockup>(); auto f2 = std::make_unique<ForwardMockup>();
StagePrivate *fp2 = f2->pimpl(); 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 EXPECT_FALSE(f2); // ownership transferred to container
VALIDATE(gp, fp2, fp); VALIDATE(gp, fp2, fp);
/***** inserting another generator stage *****/ /***** inserting another generator stage *****/
auto g2 = std::make_unique<GeneratorMockup>(); auto g2 = std::make_unique<GeneratorMockup>();
StagePrivate *gp2 = g2->pimpl(); StagePrivate *gp2 = g2->pimpl();
ASSERT_TRUE(serial.insert(std::move(g2))); ASSERT_TRUE(container.insert(std::move(g2)));
VALIDATE(gp, fp2, fp, gp2); VALIDATE(gp, fp2, fp, gp2);
} }
@ -219,27 +224,27 @@ TEST_F(SerialTest, insertion_order) {
TEST_F(SerialTest, init_empty) { TEST_F(SerialTest, init_empty) {
EXPECT_INIT_FAILURE(true, true); // no children EXPECT_INIT_FAILURE(true, true); // no children
EXPECT_EQ(serial.pimpl()->interfaceFlags(), InterfaceFlags({WRITES_NEXT_START, WRITES_PREV_END})); EXPECT_EQ(container.pimpl()->interfaceFlags(), InterfaceFlags(GENERATE));
EXPECT_INIT_FAILURE(false, false); // no children EXPECT_INIT_FAILURE(false, false); // no children
EXPECT_EQ(serial.pimpl()->interfaceFlags(), InterfaceFlags()); EXPECT_EQ(container.pimpl()->interfaceFlags(), InterfaceFlags());
} }
TEST_F(SerialTest, init_connecting) { TEST_F(SerialTest, init_connecting) {
EXPECT_INIT_SUCCESS(false, false, CONN); EXPECT_INIT_SUCCESS(false, false, CONN);
EXPECT_EQ(serial.pimpl()->interfaceFlags(), InterfaceFlags(CONNECT)); EXPECT_EQ(container.pimpl()->interfaceFlags(), InterfaceFlags(CONNECT));
EXPECT_EQ(serial.pimpl()->interfaceFlags(), serial.pimpl()->children().front()->pimpl()->interfaceFlags()); EXPECT_EQ(container.pimpl()->interfaceFlags(), container.pimpl()->children().front()->pimpl()->interfaceFlags());
EXPECT_INIT_FAILURE(true, true, CONN); 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 EXPECT_INIT_FAILURE(false, false, CONN, CONN); // two connecting stages cannot be connected
} }
TEST_F(SerialTest, init_generator) { TEST_F(SerialTest, init_generator) {
EXPECT_INIT_SUCCESS(true, true, GEN); EXPECT_INIT_SUCCESS(true, true, GEN);
EXPECT_EQ(serial.pimpl()->interfaceFlags(), InterfaceFlags({WRITES_NEXT_START, WRITES_PREV_END})); EXPECT_EQ(container.pimpl()->interfaceFlags(), InterfaceFlags(GENERATE));
EXPECT_EQ(serial.pimpl()->interfaceFlags(), serial.pimpl()->children().front()->pimpl()->interfaceFlags()); 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 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 // these should be fine
EXPECT_INIT_SUCCESS(false, true, FW); 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_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_INIT_SUCCESS(true, true, GEN, FW);
EXPECT_EQ(serial.pimpl()->interfaceFlags(), InterfaceFlags({WRITES_NEXT_START, WRITES_PREV_END})); EXPECT_EQ(container.pimpl()->interfaceFlags(), InterfaceFlags(GENERATE));
} }
TEST_F(SerialTest, init_backward) { TEST_F(SerialTest, init_backward) {
@ -271,69 +276,169 @@ TEST_F(SerialTest, init_backward) {
// these should be fine // these should be fine
EXPECT_INIT_SUCCESS(true, false, BW); 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_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_INIT_SUCCESS(true, true, BW, GEN);
EXPECT_EQ(serial.pimpl()->interfaceFlags(), InterfaceFlags({WRITES_NEXT_START, WRITES_PREV_END})); EXPECT_EQ(container.pimpl()->interfaceFlags(), InterfaceFlags(GENERATE));
EXPECT_INIT_SUCCESS(true, true, BW, GEN, FW); EXPECT_INIT_SUCCESS(true, true, BW, GEN, FW);
EXPECT_EQ(serial.pimpl()->interfaceFlags(), InterfaceFlags({WRITES_NEXT_START, WRITES_PREV_END})); EXPECT_EQ(container.pimpl()->interfaceFlags(), InterfaceFlags(GENERATE));
} }
TEST_F(SerialTest, interface_detection) { TEST_F(SerialTest, interface_detection) {
// derive propagation direction from inner generator // derive propagation direction from inner generator
EXPECT_INIT_SUCCESS(true, true, ANY, GEN, ANY); // <- <-> -> 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(PROPAGATE_BACKWARDS));
EXPECT_EQ((*++it)->pimpl()->interfaceFlags(), InterfaceFlags(GENERATE)); EXPECT_EQ((*++it)->pimpl()->interfaceFlags(), InterfaceFlags(GENERATE));
EXPECT_EQ((*++it)->pimpl()->interfaceFlags(), InterfaceFlags(PROPAGATE_FORWARDS)); 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_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_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 // derive propagation direction from inner connector
EXPECT_INIT_SUCCESS(false, false, ANY, CONN, ANY); // -> -- <- 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(PROPAGATE_FORWARDS));
EXPECT_EQ((*++it)->pimpl()->interfaceFlags(), InterfaceFlags(CONNECT)); EXPECT_EQ((*++it)->pimpl()->interfaceFlags(), InterfaceFlags(CONNECT));
EXPECT_EQ((*++it)->pimpl()->interfaceFlags(), InterfaceFlags(PROPAGATE_BACKWARDS)); 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_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_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 // derive propagation direction from outer interface
EXPECT_INIT_SUCCESS(false, true, ANY, ANY); // -> -> 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((*++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); // <- <- 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((*++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); // <> <> EXPECT_INIT_SUCCESS(true, true, ANY, ANY); // <> <>
it = serial.pimpl()->children().begin(); it = container.pimpl()->children().begin();
EXPECT_EQ( (*it)->pimpl()->interfaceFlags(), InterfaceFlags({PROPAGATE_FORWARDS, PROPAGATE_BACKWARDS})); EXPECT_EQ( (*it)->pimpl()->interfaceFlags(), PROPAGATE_BOTHWAYS);
EXPECT_EQ((*++it)->pimpl()->interfaceFlags(), InterfaceFlags({PROPAGATE_FORWARDS, PROPAGATE_BACKWARDS})); EXPECT_EQ((*++it)->pimpl()->interfaceFlags(), PROPAGATE_BOTHWAYS);
EXPECT_EQ(serial.pimpl()->interfaceFlags(), InterfaceFlags({PROPAGATE_FORWARDS, PROPAGATE_BACKWARDS})); EXPECT_EQ(container.pimpl()->interfaceFlags(), PROPAGATE_BOTHWAYS);
EXPECT_INIT_FAILURE(false, false, ANY, ANY); // -- -- EXPECT_INIT_FAILURE(false, false, ANY, ANY); // -- --
it = serial.pimpl()->children().begin(); it = container.pimpl()->children().begin();
EXPECT_EQ( (*it)->pimpl()->interfaceFlags(), InterfaceFlags()); EXPECT_EQ( (*it)->pimpl()->interfaceFlags(), UNKNOWN);
EXPECT_EQ((*++it)->pimpl()->interfaceFlags(), InterfaceFlags()); EXPECT_EQ((*++it)->pimpl()->interfaceFlags(), UNKNOWN);
EXPECT_EQ(serial.pimpl()->interfaceFlags(), InterfaceFlags()); 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);
} }