public void TestOnOfferedDeadlineMissed()
{
DataWriter writer = null;
int totalCount = 0;
int totalCountChange = 0;
var lastInstanceHandle = InstanceHandle.HandleNil;
// Attach to the event
int count = 0;
_listener.OfferedDeadlineMissed += (w, s) =>
{
writer = w;
totalCount = s.TotalCount;
totalCountChange = s.TotalCountChange;
lastInstanceHandle = s.LastInstanceHandle;
count++;
};
// Prepare QoS for the test
DataWriterQos dwQos = new DataWriterQos();
dwQos.Deadline.Period = new Duration {
Seconds = 1
};
ReturnCode result = _writer.SetQos(dwQos);
Assert.AreEqual(ReturnCode.Ok, result);
// Enable entities
result = _writer.Enable();
Assert.AreEqual(ReturnCode.Ok, result);
result = _reader.Enable();
Assert.AreEqual(ReturnCode.Ok, result);
// Wait for discovery and write an instance
bool found = _writer.WaitForSubscriptions(1, 1000);
Assert.IsTrue(found);
_dataWriter.Write(new TestStruct {
Id = 1
});
// After half second deadline should not be lost yet
System.Threading.Thread.Sleep(500);
Assert.AreEqual(0, count);
// After one second and a half one deadline should be lost
System.Threading.Thread.Sleep(1000);
Assert.AreEqual(1, count);
Assert.AreEqual(_writer, writer);
Assert.AreEqual(1, totalCount);
Assert.AreEqual(1, totalCountChange);
// Remove the listener to avoid extra messages
result = _publisher.SetListener(null);
Assert.AreEqual(ReturnCode.Ok, result);
}
public void TestOnRequestedIncompatibleQos()
{
int count = 0;
DataReader dr = null;
int totalCount = 0;
int totalCountChange = 0;
int lastPolicyId = 0;
ICollection <QosPolicyCount> policies = new List <QosPolicyCount>();
// Attach to the event
_listener.RequestedIncompatibleQos += (r, s) =>
{
dr = r;
totalCount = s.TotalCount;
totalCountChange = s.TotalCountChange;
lastPolicyId = s.LastPolicyId;
policies = s.Policies;
count++;
};
// Create a incompatible DataWriter
DataWriterQos dwQos = new DataWriterQos();
dwQos.Reliability.Kind = ReliabilityQosPolicyKind.BestEffortReliabilityQos;
DataWriter otherDataWriter = _publisher.CreateDataWriter(_topic, dwQos);
Assert.IsNotNull(otherDataWriter);
// Enable entities
ReturnCode result = _writer.Enable();
Assert.AreEqual(ReturnCode.Ok, result);
result = _reader.Enable();
Assert.AreEqual(ReturnCode.Ok, result);
result = otherDataWriter.Enable();
Assert.AreEqual(ReturnCode.Ok, result);
// Wait for discovery
bool found = _writer.WaitForSubscriptions(1, 1000);
Assert.IsTrue(found);
// Check the number of incompatible DataWriter
Thread.Sleep(100);
Assert.AreEqual(1, count);
Assert.AreEqual(_reader, dr);
Assert.AreEqual(1, totalCount);
Assert.AreEqual(1, totalCountChange);
Assert.AreEqual(11, lastPolicyId);
Assert.IsNotNull(policies);
Assert.AreEqual(1, policies.Count);
Assert.AreEqual(1, policies.First().Count);
Assert.AreEqual(11, policies.First().PolicyId);
}
public void TestOnDataOnReaders()
{
Subscriber subscriber = null;
// Attach to the event
int count = 0;
_listener.DataOnReaders += (s) =>
{
subscriber = s;
count++;
};
// Enable entities
ReturnCode result = _writer.Enable();
Assert.AreEqual(ReturnCode.Ok, result);
result = _reader.Enable();
Assert.AreEqual(ReturnCode.Ok, result);
// Wait for discovery
bool found = _writer.WaitForSubscriptions(1, 1000);
Assert.IsTrue(found);
// Write some instances
int total = 5;
for (int i = 1; i <= total; i++)
{
result = _dataWriter.Write(new TestStruct
{
Id = i,
});
Assert.AreEqual(ReturnCode.Ok, result);
result = _dataWriter.WaitForAcknowledgments(new Duration {
Seconds = 5
});
Assert.AreEqual(ReturnCode.Ok, result);
}
System.Threading.Thread.Sleep(100);
Assert.AreEqual(total, count);
Assert.IsNotNull(subscriber);
Assert.AreEqual(_subscriber, subscriber);
}
public void TestOnRequestedIncompatibleQos()
{
// Attach to the event
int count = 0;
_listener.RequestedIncompatibleQos += (r, s) =>
{
Assert.AreEqual(_reader, r);
Assert.AreEqual(1, s.TotalCount);
Assert.AreEqual(1, s.TotalCountChange);
Assert.AreEqual(11, s.LastPolicyId);
Assert.IsNotNull(s.Policies);
Assert.AreEqual(1, s.Policies.Count());
Assert.AreEqual(1, s.Policies.First().Count);
Assert.AreEqual(11, s.Policies.First().PolicyId);
count++;
};
// Create a incompatible DataWriter
DataWriterQos dwQos = new DataWriterQos();
dwQos.Reliability.Kind = ReliabilityQosPolicyKind.BestEffortReliabilityQos;
DataWriter otherDataWriter = _publisher.CreateDataWriter(_topic, dwQos);
Assert.IsNotNull(otherDataWriter);
// Enable entities
ReturnCode result = _writer.Enable();
Assert.AreEqual(ReturnCode.Ok, result);
result = _reader.Enable();
Assert.AreEqual(ReturnCode.Ok, result);
result = otherDataWriter.Enable();
Assert.AreEqual(ReturnCode.Ok, result);
// Wait for discovery
bool found = _writer.WaitForSubscriptions(1, 1000);
Assert.IsTrue(found);
// Check the number of incompatible DataWriter
System.Threading.Thread.Sleep(100);
Assert.AreEqual(1, count);
}
public void TestOnDataAvailable()
{
// Attach to the event
int count = 0;
_listener.DataAvailable += (r) =>
{
Assert.AreEqual(_reader, r);
count++;
};
// Enable entities
ReturnCode result = _writer.Enable();
Assert.AreEqual(ReturnCode.Ok, result);
result = _reader.Enable();
Assert.AreEqual(ReturnCode.Ok, result);
// Wait for discovery
bool found = _writer.WaitForSubscriptions(1, 1000);
Assert.IsTrue(found);
// Write some instances
for (int i = 1; i <= 5; i++)
{
result = _dataWriter.Write(new TestStruct
{
Id = i
});
Assert.AreEqual(ReturnCode.Ok, result);
result = _dataWriter.WaitForAcknowledgments(new Duration {
Seconds = 5
});
Assert.AreEqual(ReturnCode.Ok, result);
}
Thread.Sleep(100);
Assert.AreEqual(5, count);
}
public void TestOnInconsistentTopic()
{
using (ManualResetEventSlim evt = new ManualResetEventSlim(false))
{
Topic topic = null;
int totalCount = 0;
int totalCountChange = 0;
// Attach to the event
int count = 0;
_listener.InconsistentTopic += (t, s) =>
{
topic = t;
totalCount = s.TotalCount;
totalCountChange = s.TotalCountChange;
count++;
evt.Set();
};
// Enable entities
ReturnCode result = _writer.Enable();
Assert.AreEqual(ReturnCode.Ok, result);
SupportProcessHelper supportProcess = new SupportProcessHelper(TestContext);
Process process = supportProcess.SpawnSupportProcess(SupportTestKind.InconsistentTopicTest);
// Wait the signal
bool wait = evt.Wait(20000);
Assert.IsTrue(wait);
Assert.AreSame(_topic, topic);
Assert.AreEqual(1, totalCount);
Assert.AreEqual(1, totalCountChange);
// Kill the process
supportProcess.KillProcess(process);
Assert.AreEqual(1, count);
// Remove listener to avoid extra messages
result = _topic.SetListener(null);
Assert.AreEqual(ReturnCode.Ok, result);
}
}
public void TestSetQos()
{
// Create a new DataWriter using the default QoS
DataWriter dataWriter = _publisher.CreateDataWriter(_topic);
Assert.IsNotNull(dataWriter);
// Get the qos to ensure that is using the default properties
DataWriterQos qos = new DataWriterQos();
ReturnCode result = dataWriter.GetQos(qos);
Assert.AreEqual(ReturnCode.Ok, result);
TestHelper.TestDefaultDataWriterQos(qos);
// Try to change an immutable property
qos.Ownership.Kind = OwnershipQosPolicyKind.ExclusiveOwnershipQos;
result = dataWriter.SetQos(qos);
Assert.AreEqual(ReturnCode.ImmutablePolicy, result);
// Change some mutable properties and check them
qos = new DataWriterQos();
qos.OwnershipStrength.Value = 100;
result = dataWriter.SetQos(qos);
Assert.AreEqual(ReturnCode.Ok, result);
qos = new DataWriterQos();
result = dataWriter.GetQos(qos);
Assert.AreEqual(ReturnCode.Ok, result);
Assert.AreEqual(100, qos.OwnershipStrength.Value);
// Try to set immutable QoS properties before enable the datawriter
PublisherQos pubQos = new PublisherQos();
pubQos.EntityFactory.AutoenableCreatedEntities = false;
result = _publisher.SetQos(pubQos);
Assert.AreEqual(ReturnCode.Ok, result);
DataWriter otherDataWriter = _publisher.CreateDataWriter(_topic);
Assert.IsNotNull(otherDataWriter);
qos = new DataWriterQos();
qos.Ownership.Kind = OwnershipQosPolicyKind.ExclusiveOwnershipQos;
result = otherDataWriter.SetQos(qos);
Assert.AreEqual(ReturnCode.Ok, result);
qos = new DataWriterQos();
result = otherDataWriter.GetQos(qos);
Assert.AreEqual(ReturnCode.Ok, result);
Assert.AreEqual(OwnershipQosPolicyKind.ExclusiveOwnershipQos, qos.Ownership.Kind);
result = otherDataWriter.Enable();
Assert.AreEqual(ReturnCode.Ok, result);
// Set back the default publisher QoS
pubQos = new PublisherQos();
_publisher.SetQos(pubQos);
Assert.AreEqual(ReturnCode.Ok, result);
// Test SetQos with null parameter
result = dataWriter.SetQos(null);
Assert.AreEqual(ReturnCode.BadParameter, result);
}