aos/events/pingpong_test.cc

#include "aos/events/ping_lib.h"
#include "aos/events/pong_lib.h"
#include "aos/events/simulated_event_loop.h"
#include "aos/json_to_flatbuffer.h"
#include "aos/testing/path.h"
#include "glog/logging.h"
#include "gtest/gtest.h"

namespace aos {
namespace testing {

using aos::testing::ArtifactPath;

namespace chrono = std::chrono;

class PingPongTest : public ::testing::Test {
 public:
  PingPongTest()
      : config_(aos::configuration::ReadConfig(
            ArtifactPath("aos/events/pingpong_config.json"))),
        event_loop_factory_(&config_.message()),
        ping_event_loop_(event_loop_factory_.MakeEventLoop("ping")),
        ping_(ping_event_loop_.get()),
        pong_event_loop_(event_loop_factory_.MakeEventLoop("pong")),
        pong_(pong_event_loop_.get()) {}

  // Config and factory.
  // The factory is a factory for connected event loops.  Each application needs
  // a separate event loop (because you can't send a message to yourself in a
  // single event loop).  The created event loops can then send messages to each
  // other and trigger callbacks to be called, or fetchers to receive data.
  aos::FlatbufferDetachedBuffer<aos::Configuration> config_;
  SimulatedEventLoopFactory event_loop_factory_;

  // Event loop and app for Ping
  std::unique_ptr<EventLoop> ping_event_loop_;
  Ping ping_;

  // Event loop and app for Pong
  std::unique_ptr<EventLoop> pong_event_loop_;
  Pong pong_;
};

// Tests that we can startup at all.  This confirms that the channels are all in
// the config.
TEST_F(PingPongTest, Starts) {
  // RunFor lives in the factory because all the loops need to run together, and
  // the factory is the only object that conceptually knows about all of the
  // loops at once.
  event_loop_factory_.RunFor(chrono::seconds(10));
}

// Tests that the number of pong messages matches the number of ping messages.
TEST_F(PingPongTest, AlwaysReplies) {
  std::unique_ptr<EventLoop> test_event_loop =
      event_loop_factory_.MakeEventLoop("test");

  int ping_count = 0;
  int pong_count = 0;

  // Confirm that the ping value matches.
  test_event_loop->MakeWatcher("/test",
                               [&ping_count](const examples::Ping &ping) {
                                 EXPECT_EQ(ping.value(), ping_count + 1);
                                 ++ping_count;
                               });
  // Confirm that the ping and pong counts both match, and the value also
  // matches.
  test_event_loop->MakeWatcher(
      "/test", [&pong_count, &ping_count](const examples::Pong &pong) {
        EXPECT_EQ(pong.value(), pong_count + 1);
        ++pong_count;
        EXPECT_EQ(ping_count, pong_count);
      });

  event_loop_factory_.RunFor(chrono::seconds(10));

  // We run at t=0 and t=10 seconds, which means we run 1 extra time.
  EXPECT_EQ(ping_count, 1001);
}

// Multi-node ping pong test.  This test carefully mirrors the structure of the
// single node test above to help highlight the similarities and differences.
class MultiNodePingPongTest : public ::testing::Test {
 public:
  MultiNodePingPongTest()
      : config_(aos::configuration::ReadConfig(ArtifactPath(
            "aos/events/multinode_pingpong_test_split_config.json"))),
        event_loop_factory_(&config_.message()),
        pi1_(
            configuration::GetNode(event_loop_factory_.configuration(), "pi1")),
        pi2_(
            configuration::GetNode(event_loop_factory_.configuration(), "pi2")),
        ping_event_loop_(event_loop_factory_.MakeEventLoop("ping", pi1_)),
        ping_(ping_event_loop_.get()),
        pong_event_loop_(event_loop_factory_.MakeEventLoop("pong", pi2_)),
        pong_(pong_event_loop_.get()) {}

  // Config and factory.
  // The factory is a factory for connected event loops.  Each application needs
  // a separate event loop (because you can't send a message to yourself in a
  // single event loop).  The created event loops can then send messages to each
  // other and trigger callbacks to be called, or fetchers to receive data.
  aos::FlatbufferDetachedBuffer<aos::Configuration> config_;
  SimulatedEventLoopFactory event_loop_factory_;

  // Convenience pointers for each Node.
  const Node *pi1_;
  const Node *pi2_;

  // Event loop and app for Ping
  std::unique_ptr<EventLoop> ping_event_loop_;
  Ping ping_;

  // Event loop and app for Pong
  std::unique_ptr<EventLoop> pong_event_loop_;
  Pong pong_;
};

// Tests that the number of pong messages matches the number of ping messages
// (on both nodes this time)
TEST_F(MultiNodePingPongTest, AlwaysReplies) {
  // For grins, test that ping and pong appear on both nodes and match.
  std::unique_ptr<EventLoop> pi1_test_event_loop =
      event_loop_factory_.MakeEventLoop("test", pi1_);
  std::unique_ptr<EventLoop> pi2_test_event_loop =
      event_loop_factory_.MakeEventLoop("test", pi2_);

  int pi1_ping_count = 0;
  int pi2_ping_count = 0;
  int pi1_pong_count = 0;
  int pi2_pong_count = 0;

  // Confirm that the ping value matches on both nodes.
  pi1_test_event_loop->MakeWatcher(
      "/test", [&pi1_ping_count](const examples::Ping &ping) {
        EXPECT_EQ(ping.value(), pi1_ping_count + 1);
        ++pi1_ping_count;
      });
  pi2_test_event_loop->MakeWatcher(
      "/test", [&pi2_ping_count](const examples::Ping &ping) {
        EXPECT_EQ(ping.value(), pi2_ping_count + 1);
        ++pi2_ping_count;
      });

  // Confirm that the ping and pong counts both match, and the value also
  // matches.
  pi2_test_event_loop->MakeWatcher(
      "/test", [&pi2_pong_count, &pi2_ping_count](const examples::Pong &pong) {
        EXPECT_EQ(pong.value(), pi2_pong_count + 1);
        ++pi2_pong_count;
        EXPECT_EQ(pi2_ping_count, pi2_pong_count);
      });
  pi1_test_event_loop->MakeWatcher(
      "/test", [&pi1_pong_count, &pi1_ping_count](const examples::Pong &pong) {
        EXPECT_EQ(pong.value(), pi1_pong_count + 1);
        ++pi1_pong_count;
        EXPECT_EQ(pi1_ping_count, pi1_pong_count);
      });

  // Since forwarding takes "time", we need to run a bit longer to let pong
  // finish the last cycle.
  event_loop_factory_.RunFor(chrono::seconds(10) + chrono::milliseconds(5));

  // We run at t=0 and t=10 seconds, which means we run 1 extra time.
  EXPECT_EQ(pi1_ping_count, 1001);
  EXPECT_EQ(pi2_ping_count, 1001);
}

}  // namespace testing
}  // namespace aos