pxmlw6n2f/Gazebo_Distributed_MPI/test/integration/transport_stress_nodes.cc

/*
 * Copyright (C) 2012 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#include <boost/thread.hpp>
#include "gazebo/test/ServerFixture.hh"

using namespace gazebo;

class TransportStressTestNodes : public ServerFixture
{
};

boost::mutex g_mutex;

unsigned int g_localPublishMessageCount = 0;
unsigned int g_localPublishCount = 0;
unsigned int g_totalExpectedMsgCount = 0;
common::Time g_localPublishEndTime;

void LocalPublishCB(ConstImagePtr & /*_msg*/)
{
  boost::mutex::scoped_lock lock(g_mutex);

  if (g_localPublishCount+1 >= g_totalExpectedMsgCount)
    g_localPublishEndTime = common::Time::GetWallTime();
  g_localPublishCount++;
}

/////////////////////////////////////////////////
// Create a lot of nodes, each with a publisher and subscriber. Then send
// out a few large messages.
TEST_F(TransportStressTestNodes, ManyNodes)
{
  Load("worlds/empty.world");

  // Storage for all the nodes, subscribers, and publishers
  std::list<transport::NodePtr> nodes;
  std::list<transport::SubscriberPtr> subs;
  std::list<transport::PublisherPtr> pubs;

  // The number of nodes to create
  unsigned int nodeCount = 2000;

  // The number of messages to send
  g_localPublishMessageCount = 10;

  // The expected number of messages to receive
  g_totalExpectedMsgCount = nodeCount * nodeCount * g_localPublishMessageCount;

  // Reset the received message counter
  g_localPublishCount = 0;

  // Create all the nodes.
  for (unsigned int i = 0; i < nodeCount; ++i)
  {
    nodes.push_back(transport::NodePtr(new transport::Node()));
    nodes.back()->Init();

    pubs.push_back(nodes.back()->Advertise<msgs::Image>(
          "~/test/local_publish2__", nodeCount * g_localPublishMessageCount));

    subs.push_back(nodes.back()->Subscribe("~/test/local_publish2__",
          &LocalPublishCB));
  }

  // Use a 2048x2048 image as the message
  unsigned int width = 2048;
  unsigned int height = 2048;
  unsigned char *fakeData = new unsigned char[width * height];

  // Create a large image message with fake data
  msgs::Image fakeMsg;
  fakeMsg.set_width(width);
  fakeMsg.set_height(height);
  fakeMsg.set_pixel_format(0);
  fakeMsg.set_step(1);
  fakeMsg.set_data(fakeData, width*height);

  // Get the start time
  common::Time startTime = common::Time::GetWallTime();

  // Publish the messages many times
  for (unsigned int i = 0; i < g_localPublishMessageCount; ++i)
  {
    for (std::list<transport::PublisherPtr>::iterator iter = pubs.begin();
        iter != pubs.end(); ++iter)
    {
      (*iter)->Publish(fakeMsg);
    }
  }
  common::Time publishTime = common::Time::GetWallTime();
  gzmsg << "Publish complete" << std::endl;

  // Wait for all the messages
  int waitCount = 0;
  while (g_localPublishCount < g_totalExpectedMsgCount && waitCount < 50)
  {
    common::Time::MSleep(1000);
    waitCount++;
  }

  // Time it took to publish the messages.
  common::Time pubDiff = publishTime - startTime;

  // Time it took to received the messages.
  common::Time receiveDiff = g_localPublishEndTime - startTime;

  EXPECT_LT(waitCount, 50);

  // Make sure we received all the messages.
  EXPECT_EQ(g_totalExpectedMsgCount, g_localPublishCount);

  // The total publish duration should always be very short.
  // The calculation here is the number of messages published multiplied by
  // the expected time to publish a single image message.
  EXPECT_LT(static_cast<unsigned int>(pubDiff.nsec),
      (g_localPublishMessageCount * nodes.size()) * 1500);

  // The total receive duration will be longer.
  EXPECT_LT(receiveDiff.sec, g_localPublishCount * 1e-6);

  // Out time time for human testing purposes
  gzmsg << "Time to publish " << g_localPublishMessageCount * nodes.size()
    << " = " << pubDiff << std::endl;

  gzmsg << "Time to receive " << g_localPublishCount << " = "
    << receiveDiff << std::endl;

  delete [] fakeData;
}

/////////////////////////////////////////////////
// Main function
int main(int argc, char **argv)
{
  ::testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}