testControlSystemAccessors.cc

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// SPDX-FileCopyrightText: Deutsches Elektronen-Synchrotron DESY, MSK, ChimeraTK Project <chimeratk-support@desy.de>
// SPDX-License-Identifier: LGPL-3.0-or-later
#include <future>
 
#define BOOST_TEST_MODULE testControlSystemAccessors
 
#include "Application.h"
#include "ApplicationModule.h"
#include "ScalarAccessor.h"
 
#include <ChimeraTK/BackendFactory.h>
#include <ChimeraTK/ControlSystemAdapter/ControlSystemPVManager.h>
#include <ChimeraTK/ControlSystemAdapter/DevicePVManager.h>
#include <ChimeraTK/ControlSystemAdapter/PVManager.h>
 
#include <boost/mpl/list.hpp>
#include <boost/test/included/unit_test.hpp>
#include <boost/thread/barrier.hpp>
 
using namespace boost::unit_test_framework;
namespace ctk = ChimeraTK;
 
namespace Tests::testControlSystemAccessors {
 
  // list of user types the accessors are tested with
  using test_types = boost::mpl::list<int8_t, uint8_t, int16_t, uint16_t, int32_t, uint32_t, float, double>;
 
#define CHECK_TIMEOUT(condition, maxMilliseconds)                                                                      \
  {                                                                                                                    \
    std::chrono::steady_clock::time_point t0 = std::chrono::steady_clock::now();                                       \
    while(!(condition)) {                                                                                              \
      bool timeout_reached = (std::chrono::steady_clock::now() - t0) > std::chrono::milliseconds(maxMilliseconds);     \
      BOOST_CHECK(!timeout_reached);                                                                                   \
      if(timeout_reached) break;                                                                                       \
      usleep(1000);                                                                                                    \
    }                                                                                                                  \
  }
 
  /********************************************************************************************************************/
  /* the ApplicationModule for the test is a template of the user type */
 
  template<typename T>
  struct TestModule : public ctk::ApplicationModule {
    TestModule(ctk::ModuleGroup* owner, const std::string& name, const std::string& description,
        const std::unordered_set<std::string>& tags = {})
    : ApplicationModule(owner, name, description, tags), mainLoopStarted(2) {}
 
    ctk::ScalarPushInput<T> consumer{this, "consumer", "", "No comment."};
    ctk::ScalarOutput<T> feeder{this, "feeder", "MV/m", "Some fancy explanation about this variable"};
 
    // We do not use testable mode for this test, so we need this barrier to synchronise to the beginning of the
    // mainLoop(). This is required since the mainLoopWrapper accesses the module variables before the start of the
    // mainLoop.
    // execute this right after the Application::run():
    //   app.testModule.mainLoopStarted.wait(); // make sure the module's mainLoop() is entered
    boost::barrier mainLoopStarted;
 
    void mainLoop() override { mainLoopStarted.wait(); }
  };
 
  /********************************************************************************************************************/
  /* dummy application */
 
  template<typename T>
  struct TestApplication : public ctk::Application {
    TestApplication() : Application("testSuite") {
      ChimeraTK::BackendFactory::getInstance().setDMapFilePath("test.dmap");
    }
    ~TestApplication() override { shutdown(); }
 
    TestModule<T> testModule{this, "TestModule", "The test module"};
  };
 
  /********************************************************************************************************************/
  /* test feeding a scalar to the control system adapter */
 
  BOOST_AUTO_TEST_CASE_TEMPLATE(testFeedToCS, T, test_types) {
    TestApplication<T> app;
 
    app.debugMakeConnections();
 
    auto pvManagers = ctk::createPVManager();
    app.setPVManager(pvManagers.second);
 
    // app.testModule.feeder >> app.cs("myFeeder");
    app.initialise();
 
    auto myFeeder = pvManagers.first->getProcessArray<T>("/TestModule/feeder");
    auto consumer = pvManagers.first->getProcessArray<T>("/TestModule/consumer");
 
    app.run();
    consumer->write();                     // send initial value so the application module can start up
    app.testModule.mainLoopStarted.wait(); // make sure the module's mainLoop() is entered
 
    BOOST_TEST(myFeeder->getName() == "/TestModule/feeder");
    BOOST_TEST(myFeeder->getUnit() == "MV/m");
    BOOST_TEST(myFeeder->getDescription() == "The test module - Some fancy explanation about this variable");
 
    app.testModule.feeder = 42;
    BOOST_CHECK_EQUAL(myFeeder->readNonBlocking(), false);
    app.testModule.feeder.write();
    BOOST_CHECK_EQUAL(myFeeder->readNonBlocking(), true);
    BOOST_CHECK_EQUAL(myFeeder->readNonBlocking(), false);
    BOOST_CHECK(myFeeder->accessData(0) == 42);
 
    app.testModule.feeder = 120;
    BOOST_CHECK_EQUAL(myFeeder->readNonBlocking(), false);
    app.testModule.feeder.write();
    BOOST_CHECK_EQUAL(myFeeder->readNonBlocking(), true);
    BOOST_CHECK_EQUAL(myFeeder->readNonBlocking(), false);
    BOOST_CHECK(myFeeder->accessData(0) == 120);
  }
 
  /********************************************************************************************************************/
  /* test consuming a scalar from the control system adapter */
 
  BOOST_AUTO_TEST_CASE_TEMPLATE(testConsumeFromCS, T, test_types) {
    TestApplication<T> app;
 
    auto pvManagers = ctk::createPVManager();
    app.setPVManager(pvManagers.second);
 
    // app.cs("myConsumer") >> app.testModule.consumer;
    app.initialise();
 
    auto myConsumer = pvManagers.first->getProcessArray<T>("/TestModule/consumer");
    BOOST_TEST(myConsumer->getName() == "/TestModule/consumer");
    BOOST_TEST(myConsumer->getUnit() == "");
    BOOST_TEST(myConsumer->getDescription() == "The test module - No comment.");
 
    myConsumer->accessData(0) = 123; // set inital value
    myConsumer->write();
 
    app.run();                             // should propagate initial value
    app.testModule.mainLoopStarted.wait(); // make sure the module's mainLoop() is entered
 
    BOOST_CHECK(app.testModule.consumer == 123); // check initial value
 
    myConsumer->accessData(0) = 42;
    myConsumer->write();
    app.testModule.consumer.read();
    BOOST_CHECK(app.testModule.consumer == 42);
 
    myConsumer->accessData(0) = 120;
    myConsumer->write();
    app.testModule.consumer.read();
    BOOST_CHECK(app.testModule.consumer == 120);
  }
 
  /********************************************************************************************************************/
 
} // namespace Tests::testControlSystemAccessors