tasks_multiple_test.hpp

/***************************************************************************
  tag: Peter Soetens  Mon Jan 10 15:59:18 CET 2005  tasks_multiple_test.hpp

                        tasks_multiple_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 TASKS_MULTIPLE_TEST_HPP
#define TASKS_MULTIPLE_TEST_HPP

#include <extras/PeriodicActivity.hpp>
#include <rtt-detail-fwd.hpp>
using namespace RTT::detail;

using namespace RTT;


template<class T>
class DummyTask : public T
{
    unsigned int inits;
    unsigned int steps;
    unsigned int fins;

    unsigned int starts;
    unsigned int stops;
    unsigned int okstarts;
    unsigned int okstops;
public:
    DummyTask(int prio, double period)
        : T(prio, period),
          inits(0), steps(0), fins(0),
          starts(0), stops(0),
          okstarts(0), okstops(0) {}

    bool start() {
        ++starts;
        if ( T::start() ) {
            ++okstarts;
            return true;
        }
        return false;
    }
    bool stop() {
        ++stops;
        if ( T::stop() ) {
            ++okstops;
            return true;
        }
        return false;
    }
    bool initialize() { ++inits; return true;}
    void step() { ++steps; }
    void finalize() { ++fins; }
    unsigned int nrOfStarts() { return starts;}
    unsigned int nrOfOKStarts() { return okstarts;}
    unsigned int nrOfInits() { return inits;}
    unsigned int nrOfSteps() { return steps;}
    unsigned int nrOfFinals() { return fins;}
    unsigned int nrOfStops() { return stops;}
    unsigned int nrOfOKStops() { return okstops;}
};

typedef DummyTask<PeriodicActivity> DummyPTask;
typedef DummyTask<PeriodicActivity> DummyNPTask;

/**
 * Test for starting and stopping tasks
 */
class ActivitiesMultipleTest

{
public:
	ActivitiesMultipleTest(){setUp();};
	~ActivitiesMultipleTest(){tearDown();};

	void setUp();

    void testMultiple();

    void tearDown();

    std::vector<DummyNPTask*> np_tasks;

    typedef std::vector<DummyNPTask*>::iterator NPI;
    typedef std::vector<DummyPTask*>::iterator PI;

    std::vector<DummyPTask*> p_tasks;

    unsigned int nr_of_p;
    unsigned int nr_of_np;

    unsigned int runningP;
    unsigned int runningNp;

    std::string errInitNP;
    std::string errStepNP;
    std::string errFinNP;
    std::string errInitP;
    std::string errStepP;
    std::string errFinP;
};

#endif