testActiveObject.cpp

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/*
Copyright 2007, 2008, 2009, 2010, 2011 Instituto de Sistemas e Robotica, Instituto Superior Tecnico

This file is part of MeRMaID.

MeRMaID is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.

MeRMaID is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License
along with MeRMaID.  If not, see <http://www.gnu.org/licenses/>.
*/



/**
 * @Filename testActiveObject.cpp
 * @Description Tests the DataSemantics framework implementation
 * @Status unknown
 * @Version $Id: testActiveObject.cpp 1 2011-03-04 18:13:18Z jreis $
 * @Maintainer Marco Barbosa + Nelson Ramos
 */

#include "config.h"

#include <iostream>
#include <string>

#include <ace/Trace.h>

#include <ActiveObject.hpp>
#include <ActiveObjectAce.hpp>
#include <ActiveObjectManager.hpp>
#include <ActiveObjectManagerAce.hpp>
#include <Task.hpp>


#include <Exception.hpp>
#include <Service.hpp>
#include <Time.hpp>

#include <pthread.h>

using namespace std;
using mermaid::support::activeobject::ActiveObject;
using mermaid::support::activeobject::ActiveObjectAce;
using mermaid::support::activeobject::ActiveObjectManager;
using mermaid::support::activeobject::ActiveObjectManagerAce;
using mermaid::support::activeobject::ActiveObjectState;
using mermaid::support::activeobject::Task;
using mermaid::support::errorhandling::Exception;
using boost::shared_ptr;
using mermaid::support::service::Service;
using mermaid::support::system::Time;

shared_ptr<ActiveObject> ao;

void * stopAo (void * arg)
{
  shared_ptr<ActiveObject> a = ao;
  sleep (2);
  std::cerr << "Stopping ActiveObject" << std::endl;
  a->stop();
  return 0;
}; // stopAo

int main (int argc, char * const argv[])
{
  ACE_Trace::stop_tracing();
  
  // insert code here...
  
  std::cerr << "ActiveObject framework test" << endl;
  
  
  ao = ActiveObjectManagerAce::getInstance()->createActiveObject();
  
  
  std::cerr << "# of ActiveObjects: " << ActiveObjectManagerAce::getInstance()->getNumberOfActiveObjects() << endl;
  
  
  try {
    ao->stop();
    cout << "It is supposed to return an error because the ActiveObject wasn't in the right state to do a 'stop'" << endl;
    return 1;
  }
  catch (Exception &e) {
    // do nothing
    cout << "ActiveObject::stop() failed as expected." << endl;
  }
  
  
  // test if starting and stopping works, no tasks
  try {
    ao->start();
    pthread_t stopThread;
    pthread_create (&stopThread, 0, &stopAo, 0);
    
    cout << "Waiting for ActiveObjects to stop..." << endl;
    ActiveObjectManagerAce::getInstance()->waitForActiveObjectsToStop();
    cout << "All ActiveObjects stopped." << endl;
    
  }
  catch (Exception &e) {
    cout << e.what() << endl;
    cout << "Test failed." << endl;
    return (1);
  }
  catch (...) {
    cout << "Test failed." << endl;
    return (1);
  }
  
  
  
  // test if starting and stopping works, periodic task
  try {
    ao = ActiveObjectManagerAce::getInstance()->createActiveObject();
    ao->start();
    shared_ptr<Task> periodicTask (new Task (Time::getCurrentTime(), true, 2));
    ao->addTask (periodicTask);
    
    pthread_t stopThread;
    pthread_create (&stopThread, 0, &stopAo, 0);
    
    cout << "Waiting for ActiveObjects to stop..." << endl;
    ActiveObjectManagerAce::getInstance()->waitForActiveObjectsToStop();
    cout << "All ActiveObjects stopped." << endl;
  }
  catch (Exception &e) {
    cout << e.what() << endl;
    cout << "Test failed." << endl;
    return (1);
  }
  catch (...) {
    cout << "Test failed." << endl;
    return (1);
  }
  
  cout << "Test succeeded." << endl;
  return (0);
  
}; // main