Initial commit

2026-07-27 13:51:19 +08:00
commit 7bec56ca51
5408 changed files with 1126933 additions and 0 deletions
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+// Bring in my package's API, which is what I'm testing
+#include <socketcan_interface/dispatcher.h>
+
+// Bring in gtest
+#include <gtest/gtest.h>
+
+class Counter {
+public:
+    size_t counter_;
+    Counter() : counter_(0) {}
+    void count(const can::Frame &msg) {
+        ++counter_;
+    }
+};
+
+TEST(DispatcherTest, testFilteredDispatcher)
+{
+    can::FilteredDispatcher<unsigned int, can::CommInterface::FrameListener> dispatcher;
+    Counter counter1;
+    Counter counter2;
+    std::vector<can::CommInterface::FrameListenerConstSharedPtr> listeners;
+    const size_t max_id = (1<<11);
+    for(size_t i=0; i < max_id; i+=2) {
+        listeners.push_back(dispatcher.createListener(can::MsgHeader(i), can::CommInterface::FrameDelegate(&counter1, &Counter::count)));
+        listeners.push_back(dispatcher.createListener(can::MsgHeader(i+1), can::CommInterface::FrameDelegate(&counter2, &Counter::count)));
+    }
+
+    boost::chrono::steady_clock::time_point start = boost::chrono::steady_clock::now();
+    const size_t num = 1000 * max_id;
+    for(size_t i=0; i < num; ++i) {
+        dispatcher.dispatch(can::Frame(can::MsgHeader(i%max_id)));
+    }
+    boost::chrono::steady_clock::time_point now = boost::chrono::steady_clock::now();
+    double diff = boost::chrono::duration_cast<boost::chrono::duration<double> >(now-start).count();
+
+    EXPECT_EQ(num, counter1.counter_+ counter2.counter_);
+    EXPECT_EQ(counter1.counter_, counter2.counter_);
+    std::cout << std::fixed << diff << "\t" <<  num << "\t" << num / diff << std::endl;
+
+}
+
+TEST(DispatcherTest, testSimpleDispatcher)
+{
+    can::SimpleDispatcher<can::CommInterface::FrameListener> dispatcher;
+    Counter counter;
+    can::CommInterface::FrameListenerConstSharedPtr listener = dispatcher.createListener(can::CommInterface::FrameDelegate(&counter, &Counter::count));
+
+    boost::chrono::steady_clock::time_point start = boost::chrono::steady_clock::now();
+    const size_t max_id = (1<<11);
+    const size_t num = 1000*max_id;
+    for(size_t i=0; i < num; ++i) {
+        dispatcher.dispatch(can::Frame(can::MsgHeader(i%max_id)));
+    }
+    boost::chrono::steady_clock::time_point now = boost::chrono::steady_clock::now();
+    double diff = boost::chrono::duration_cast<boost::chrono::duration<double> >(now-start).count();
+
+    EXPECT_EQ(num, counter.counter_);
+    std::cout << std::fixed << diff << "\t" <<  num << "\t" << num / diff << std::endl;
+}
+
+TEST(DispatcherTest, testDelegateOnly)
+{
+    Counter counter;
+    can::CommInterface::FrameDelegate delegate(&counter, &Counter::count);
+
+    boost::chrono::steady_clock::time_point start = boost::chrono::steady_clock::now();
+    const size_t max_id = (1<<11);
+    const size_t num = 10000*max_id;
+    for(size_t i=0; i < num; ++i) {
+        delegate(can::Frame(can::MsgHeader(i%max_id)));
+    }
+    boost::chrono::steady_clock::time_point now = boost::chrono::steady_clock::now();
+    double diff = boost::chrono::duration_cast<boost::chrono::duration<double> >(now-start).count();
+
+    EXPECT_EQ(num, counter.counter_);
+    std::cout << std::fixed << diff << "\t" <<  num << "\t" << num / diff << std::endl;
+
+}
+
+// Run all the tests that were declared with TEST()
+int main(int argc, char **argv){
+testing::InitGoogleTest(&argc, argv);
+return RUN_ALL_TESTS();
+}