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Orocos Real-Time Toolkit

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rtt: define some other useful types in the default toolkit
Janosch Machowinski (author)
Wed Nov 26 07:50:12 -0800 2008
Sylvain Joyeux (committer)
Fri Dec 19 07:31:38 -0800 2008
commit  d2b3831c2ffab7a923dd310f56ba3e302e5ea0af
tree    abca5b45ebc61b08578d2e6a28943e58ad71bdd8
parent  3824f6dccff6a8b804743589a8a4980d4e9af34f
orocos-rtt / tests / tasks_test.hpp
100644 103 lines (73 sloc) 2.802 kb
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/***************************************************************************
  tag: Peter Soetens  Mon Jan 10 15:59:18 CET 2005  tasks_test.hpp
 
                        tasks_test.hpp -  description
                           -------------------
    begin                : Mon January 10 2005
    copyright            : (C) 2005 Peter Soetens
    email                : peter.soetens@mech.kuleuven.ac.be
 
 ***************************************************************************
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 ***************************************************************************/
 
 
#ifndef TASKSTEST_H
#define TASKSTEST_H
 
#include <cppunit/extensions/HelperMacros.h>
 
#include <RTT.hpp>
#include <PeriodicActivity.hpp>
#include <SimulationActivity.hpp>
#include <NonPeriodicActivity.hpp>
 
using namespace RTT;
using namespace RTT::detail;
 
struct TestRunnableInterface;
struct TestSelfRemove;
 
class ActivitiesTest : public CppUnit::TestFixture
{
    CPPUNIT_TEST_SUITE( ActivitiesTest );
    // Periodic Thread Test :
    CPPUNIT_TEST( testThreads );
 
    // Periodic Overrun Thread Test :
    // Does not work in GNU/Linux nor RAI
    //CPPUNIT_TEST( testOverrun );
 
    // Start - Stop Test :
    CPPUNIT_TEST( testStartStop );
 
    // Runnable Interface Test :
    CPPUNIT_TEST( testRunnableInterface );
    CPPUNIT_TEST( testFailInit );
 
    // Allocation Test : [disabled, kills RTAI/LXRT]
    CPPUNIT_TEST( testAddAllocate );
 
    // Self Removal Test :
    CPPUNIT_TEST( testSelfRemove );
 
    // non periodic Test :
    CPPUNIT_TEST( testNonPeriodic );
 
    CPPUNIT_TEST_SUITE_END();
 
    PeriodicActivity*   t_task_prio;
 
    TestRunnableInterface*  t_run_int_prio;
    TestRunnableInterface*  t_run_int_fail;
 
    RunnableInterface* t_run_allocate;
    TestSelfRemove* t_self_remove;
 
public:
 
    void setUp();
    void tearDown();
 
    void testThreads();
    void testOverrun();
 
    void testStartStop();
    void testStart();
    void testPause();
    void testStop();
 
    void testSelfRemove();
 
    void testNonPeriodic();
 
    void testAllocation();
    void testRemoveAllocate();
    void testAddAllocate();
 
    void testFailInit();
    void testRunnableInterface();
    void testAddRunnableInterface();
    void testRunnableInterfaceInit();
    void testRunnableInterfaceExecution();
    void testRemoveRunnableInterface();
 
};
 
#endif