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// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2018 Google Inc. All rights reserved.
// http://ceres-solver.org/
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
// * Neither the name of Google Inc. nor the names of its contributors may be
// used to endorse or promote products derived from this software without
// specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
// Author: vitus@google.com (Michael Vitus)
// This include must come before any #ifndef check on Ceres compile options.
#include "ceres/internal/config.h"
#ifdef CERES_USE_CXX_THREADS
#include <chrono>
#include <thread>
#include "ceres/concurrent_queue.h"
#include "gmock/gmock.h"
#include "gtest/gtest.h"
namespace ceres::internal {
// A basic test of push and pop.
TEST(ConcurrentQueue, PushPop) {
ConcurrentQueue<int> queue;
const int num_to_add = 10;
for (int i = 0; i < num_to_add; ++i) {
queue.Push(i);
}
for (int i = 0; i < num_to_add; ++i) {
int value;
ASSERT_TRUE(queue.Pop(&value));
EXPECT_EQ(i, value);
}
}
// Push and pop elements from the queue after StopWaiters has been called.
TEST(ConcurrentQueue, PushPopAfterStopWaiters) {
ConcurrentQueue<int> queue;
const int num_to_add = 10;
int value;
// Pop should return immediately with false with an empty queue.
ASSERT_FALSE(queue.Pop(&value));
for (int i = 0; i < num_to_add; ++i) {
queue.Push(i);
}
// Call stop waiters to ensure we can still Push and Pop from the queue.
queue.StopWaiters();
for (int i = 0; i < num_to_add; ++i) {
ASSERT_TRUE(queue.Pop(&value));
EXPECT_EQ(i, value);
}
// Pop should return immediately with false with an empty queue.
ASSERT_FALSE(queue.Pop(&value));
// Ensure we can still push onto the queue after StopWaiters has been called.
const int offset = 123;
for (int i = 0; i < num_to_add; ++i) {
queue.Push(i + offset);
}
for (int i = 0; i < num_to_add; ++i) {
int value;
ASSERT_TRUE(queue.Pop(&value));
EXPECT_EQ(i + offset, value);
}
// Pop should return immediately with false with an empty queue.
ASSERT_FALSE(queue.Pop(&value));
// Try calling StopWaiters again to ensure nothing changes.
queue.StopWaiters();
queue.Push(13456);
ASSERT_TRUE(queue.Pop(&value));
EXPECT_EQ(13456, value);
}
// Push and pop elements after StopWaiters and EnableWaiters has been called.
TEST(ConcurrentQueue, PushPopStopAndStart) {
ConcurrentQueue<int> queue;
int value;
queue.Push(13456);
queue.Push(256);
queue.StopWaiters();
ASSERT_TRUE(queue.Pop(&value));
EXPECT_EQ(13456, value);
queue.EnableWaiters();
// Try adding another entry after enable has been called.
queue.Push(989);
// Ensure we can pop both elements off.
ASSERT_TRUE(queue.Pop(&value));
EXPECT_EQ(256, value);
ASSERT_TRUE(queue.Pop(&value));
EXPECT_EQ(989, value);
// Re-enable waiting.
queue.EnableWaiters();
// Pop should return immediately with false with an empty queue.
ASSERT_FALSE(queue.Pop(&value));
}
// A basic test for Wait.
TEST(ConcurrentQueue, Wait) {
ConcurrentQueue<int> queue;
int value;
queue.Push(13456);
ASSERT_TRUE(queue.Wait(&value));
EXPECT_EQ(13456, value);
queue.StopWaiters();
// Ensure waiting returns immediately after StopWaiters.
EXPECT_FALSE(queue.Wait(&value));
EXPECT_FALSE(queue.Wait(&value));
EXPECT_FALSE(queue.Pop(&value));
// Calling StopWaiters multiple times does not change anything.
queue.StopWaiters();
EXPECT_FALSE(queue.Wait(&value));
EXPECT_FALSE(queue.Wait(&value));
queue.Push(989);
queue.Push(789);
ASSERT_TRUE(queue.Wait(&value));
EXPECT_EQ(989, value);
ASSERT_TRUE(queue.Wait(&value));
EXPECT_EQ(789, value);
}
// Ensure wait blocks until an element is pushed. Also ensure wait does not
// block after StopWaiters is called and there is no value in the queue.
// Finally, ensures EnableWaiters re-enables waiting.
TEST(ConcurrentQueue, EnsureWaitBlocks) {
ConcurrentQueue<int> queue;
int value = 0;
bool valid_value = false;
bool waiting = false;
std::mutex mutex;
std::thread thread([&]() {
{
std::lock_guard<std::mutex> lock(mutex);
waiting = true;
}
int element = 87987;
bool valid = queue.Wait(&element);
{
std::lock_guard<std::mutex> lock(mutex);
waiting = false;
value = element;
valid_value = valid;
}
});
// Give the thread time to start and wait.
std::this_thread::sleep_for(std::chrono::milliseconds(500));
// Ensure nothing is has been popped off the queue
{
std::lock_guard<std::mutex> lock(mutex);
EXPECT_TRUE(waiting);
ASSERT_FALSE(valid_value);
ASSERT_EQ(0, value);
}
queue.Push(13456);
// Wait for the thread to pop the value.
thread.join();
EXPECT_TRUE(valid_value);
EXPECT_EQ(13456, value);
}
TEST(ConcurrentQueue, StopAndEnableWaiters) {
ConcurrentQueue<int> queue;
int value = 0;
bool valid_value = false;
bool waiting = false;
std::mutex mutex;
auto task = [&]() {
{
std::lock_guard<std::mutex> lock(mutex);
waiting = true;
}
int element = 87987;
bool valid = queue.Wait(&element);
{
std::lock_guard<std::mutex> lock(mutex);
waiting = false;
value = element;
valid_value = valid;
}
};
std::thread thread_1(task);
// Give the thread time to start and wait.
std::this_thread::sleep_for(std::chrono::milliseconds(500));
// Ensure the thread is waiting.
{
std::lock_guard<std::mutex> lock(mutex);
EXPECT_TRUE(waiting);
}
// Unblock the thread.
queue.StopWaiters();
thread_1.join();
// Ensure nothing has been popped off the queue.
EXPECT_FALSE(valid_value);
EXPECT_EQ(87987, value);
// Ensure another call to Wait returns immediately.
EXPECT_FALSE(queue.Wait(&value));
queue.EnableWaiters();
value = 0;
valid_value = false;
waiting = false;
// Start another task waiting for an element to be pushed.
std::thread thread_2(task);
// Give the thread time to start and wait.
std::this_thread::sleep_for(std::chrono::milliseconds(500));
// Ensure nothing is popped off the queue.
{
std::lock_guard<std::mutex> lock(mutex);
EXPECT_TRUE(waiting);
ASSERT_FALSE(valid_value);
ASSERT_EQ(0, value);
}
queue.Push(13456);
// Wait for the thread to pop the value.
thread_2.join();
EXPECT_TRUE(valid_value);
EXPECT_EQ(13456, value);
}
} // namespace ceres::internal
#endif // CERES_USE_CXX_THREADS