roby 0.7

data/test/distributed/test_connection.rb

@@ -0,0 +1,282 @@
+$LOAD_PATH.unshift File.expand_path('../..', File.dirname(__FILE__))
+require 'roby/test/distributed'
+require 'roby/test/tasks/simple_task'
+require 'flexmock'
+
+class TC_DistributedConnection < Test::Unit::TestCase
+    include Rinda
+    include Roby
+    include Distributed
+    include Roby::Distributed::Test
+
+    def assert_has_neighbour(&check)
+	Distributed.state.start_neighbour_discovery
+	Distributed.state.wait_discovery
+
+	assert(!Distributed.state.discovering?)
+	assert(1, Distributed.neighbours.size)
+	assert(Distributed.neighbours.find(&check), Distributed.neighbours.map { |n| [n.name, n.remote_id] }.to_s)
+    end
+
+    # Test neighbour discovery using a remote central tuplespace as neighbour list
+    def test_centralized_drb_discovery
+	DRb.stop_service
+
+	central_tuplespace = TupleSpace.new
+	DRb.start_service 'druby://localhost:1245', central_tuplespace
+
+	remote_pid = remote_process do
+	    DRb.stop_service
+	    DRb.start_service
+	    central_tuplespace = DRbObject.new_with_uri('druby://localhost:1245')
+
+	    Distributed.state = ConnectionSpace.new :ring_discovery => false, 
+		:discovery_tuplespace => central_tuplespace
+	end
+	Distributed.state = ConnectionSpace.new :ring_discovery => false, 
+	    :discovery_tuplespace => central_tuplespace
+	assert_has_neighbour { |n| n.name == "#{Socket.gethostname}-#{remote_pid}" }
+    end
+
+    BROADCAST = (1..10).map { |i| "127.0.0.#{i}" }
+    # Test neighbour discovery using UDP for discovery
+    def test_ringserver_discovery
+	DRb.stop_service
+
+	remote_pid = remote_process do
+	    DRb.start_service
+	    Distributed.state = ConnectionSpace.new :period => 0.5, :ring_discovery => true, :ring_broadcast => BROADCAST
+	    Distributed.publish :bind => '127.0.0.2'
+	end
+
+	DRb.start_service
+	Distributed.state = ConnectionSpace.new :period => 0.5, :ring_discovery => true, :ring_broadcast => BROADCAST
+	Distributed.publish :bind => '127.0.0.1'
+
+	assert_has_neighbour { |n| n.name == "#{Socket.gethostname}-#{remote_pid}" }
+    end
+
+    # Test establishing peer-to-peer connection between two ConnectionSpace objects
+    # Note that #peer2peer is the exact same process
+    def test_connect(standalone = true)
+	if standalone
+	    start_peers(true)
+
+	    notified = []
+	    Distributed.on_neighbour do |n|
+		notified << n
+	    end
+	end
+
+	assert(local.discovery_thread)
+
+	# Initiate the connection from +local+
+	remote_neighbour = Distributed.neighbours.find { true }
+	Roby.execute do
+	    did_yield = nil
+	    Peer.initiate_connection(local, remote_neighbour) do |did_yield|
+	    end
+
+	    # Wait for the remote peer to take into account the fact that we
+	    # try connecting
+	    Distributed.state.synchronize do
+		remote_id = remote_neighbour.remote_id
+		assert(Distributed.state.pending_connections[remote_id] ||
+		       Distributed.state.peers[remote_id])
+	    end
+
+	    sleep(1)
+	    Distributed.state.synchronize do
+		remote_id = remote_neighbour.remote_id
+		assert(@remote_peer = Distributed.state.peers[remote_id], Distributed.state.peers)
+		assert_equal(remote_peer, did_yield)
+	    end
+	    assert(remote_peer.connected?)
+	    assert(remote.send_local_peer(:connected?))
+	    assert(remote_peer.link_alive?)
+	    assert(remote.send_local_peer(:link_alive?))
+
+	    did_yield = nil
+	    Peer.initiate_connection(local, remote_neighbour) do |did_yield|
+	    end
+	    assert_equal(remote_peer, did_yield)
+	    assert_equal(remote_peer, Peer.connect(remote_neighbour))
+	end
+
+	Roby.control.wait_one_cycle
+	assert(remote_peer.task.running?)
+	#assert_raises(ArgumentError) { Peer.initiate_connection(local, remote_neighbour) }
+	assert(remote_peer.link_alive?)
+
+	remote_peer.synchro_point
+	assert(remote_peer.connected?)
+	assert(remote_peer.task.ready?)
+
+	assert_equal('remote', remote_peer.remote_name)
+	assert_equal('remote', remote_peer.local_server.remote_name)
+	assert_equal('local', remote_peer.local_server.local_name)
+
+	if standalone
+	    assert_equal(1, notified.size)
+	    assert_equal([remote_neighbour], notified)
+	end
+    end
+
+    def test_synchronous_connect
+	start_peers(true) do |remote|
+	    def remote.connected?
+		local_peer.connected?
+	    end
+	end
+
+	sleep(0.5)
+	assert(remote_neighbour = Distributed.neighbours.find { true })
+	assert(remote_peer = Peer.connect(remote_neighbour))
+
+	assert_kind_of(Distributed::Peer, remote_peer)
+	assert(remote.connected?)
+	assert(remote_peer.connected?)
+    end
+
+    def test_concurrent_connection
+	GC.disable
+	start_peers(true) do |remote|
+	    class << remote
+		def find_neighbour
+		    @neighbour = Roby::Distributed.neighbours.find { true }
+		end
+		def connect
+		    Roby::Distributed::Peer.initiate_connection(Roby::Distributed.state, @neighbour) do 
+			@callback_called ||= 0
+			@callback_called += 1
+		    end
+		    nil
+		end
+
+		attr_reader :callback_called
+		def peer_objects
+		    peer_objects = ObjectSpace.enum_for(:each_object, Roby::Distributed::Peer).to_a
+		    [Roby::Distributed.peers.keys.size, peer_objects.size]
+		end
+	    end
+	end
+
+	sleep(0.5)
+	assert(remote.find_neighbour)
+	assert(remote_neighbour = Distributed.neighbours.find { true })
+
+	# We want to check that a concurrent connection creates only one Peer
+	# object. Still, we have to take into account that the remote peer is a
+	# fork of ourselves, and as such inherits the Peer objects this process
+	# has in its ObjectSpace (like the leftovers of other tests)
+	registered_peer_count, initial_remote_peer_count = remote.peer_objects
+	assert_equal(0, registered_peer_count)
+	registered_peer_count, initial_local_peer_count = Distributed.peers.keys.size,
+	    ObjectSpace.enum_for(:each_object, Distributed::Peer).to_a.size
+	assert_equal(0, registered_peer_count)
+
+	remote.connect
+	remote.connect
+
+	callback_called = 0
+	2.times do
+	    Peer.initiate_connection(local, remote_neighbour) do
+		callback_called += 1
+	    end
+	end
+	sleep(1)
+
+	assert_equal(2, callback_called)
+	assert_equal(2, remote.callback_called)
+	assert_equal([1, initial_remote_peer_count + 1], remote.peer_objects)
+	assert_equal(1, Distributed.peers.keys.size)
+	assert_equal(initial_local_peer_count + 1, ObjectSpace.enum_for(:each_object, Distributed::Peer).to_a.size)
+    ensure
+	GC.enable
+    end
+
+    # Test the normal disconnection process
+    def test_disconnect
+	peer2peer(true) do |remote|
+	    def remote.peers_empty?; Distributed.peers.empty? end
+	end
+
+	Roby.control.wait_one_cycle
+	assert(remote_peer.task.ready?)
+
+	remote_peer.disconnect
+	assert(remote_peer.disconnecting?)
+	process_events
+	remote.process_events
+
+	assert(remote_peer.disconnected?)
+	remote.send_local_peer(:disconnected?)
+
+	assert(Distributed.peers.empty?)
+	assert(remote.peers_empty?)
+	remote.reset_local_peer
+
+	# Make sure that we can reconnect
+	test_connect(false)
+    end
+
+    # Tests that the remote peer disconnects if #demux raises DisconnectedError
+    def test_disconnect_on_error
+	Roby.logger.level = Logger::FATAL
+	peer2peer(true) do |remote|
+	    class << remote
+		include Test::Unit::Assertions
+		def assert_demux_raises
+		    peer = peers.find { true }[1]
+		    peer.transmit(:whatever)
+		    peer.synchro_point rescue nil
+		end
+	    end
+	end
+
+	remote_peer.disconnect
+	remote.assert_demux_raises
+	assert(remote.send_local_peer(:disconnected?))
+
+	assert(remote_peer.disconnected?)
+	remote.reset_local_peer
+
+	# Make sure that we can reconnect
+	test_connect(false)
+    end
+
+    def test_socket_reconnect
+	peer2peer(true)
+	Distributed.state.synchronize do
+	    remote_peer.socket.close
+	    assert(!remote_peer.link_alive?)
+	end
+
+	sleep(1)
+	assert(!remote_peer.socket.closed?)
+	assert(remote_peer.connected?)
+	assert(remote_peer.link_alive?)
+	assert(remote.send_local_peer(:connected?))
+	assert(remote.send_local_peer(:link_alive?))
+    end
+
+    def test_remote_dies
+	peer2peer(true)
+	Process.kill('KILL', remote_processes[1][0])
+
+	sleep(1)
+	assert(remote_peer.disconnected?)
+    end
+
+
+    def test_abort_connection
+	peer2peer(true)
+	remote_peer.disconnected!
+
+	sleep(1)
+	assert(remote_peer.socket.closed?)
+	assert(!remote_peer.connected?)
+	assert(!remote.send_local_peer(:connected?))
+    end
+end
+

data/test/distributed/test_execution.rb

@@ -0,0 +1,373 @@
+$LOAD_PATH.unshift File.expand_path('../..', File.dirname(__FILE__))
+require 'roby/test/distributed'
+require 'roby/test/tasks/simple_task'
+require 'flexmock'
+
+class TC_DistributedExecution < Test::Unit::TestCase
+    include Roby::Distributed::Test
+    SimpleTask = Roby::Test::SimpleTask
+
+    def test_event_status
+	peer2peer(true) do |remote|
+	    class << remote
+		attr_reader :controlable
+		attr_reader :contingent
+		def create
+		    # Put the task to avoir having GC clearing the events
+		    plan.insert(t = SimpleTask.new(:id => 'task'))
+		    plan.discover(@controlable = Roby::EventGenerator.new(true))
+		    plan.discover(@contingent = Roby::EventGenerator.new(false))
+		    t.on(:start, controlable)
+		    t.forward(:start, contingent)
+		    nil
+		end
+		def fire
+		    Roby.execute do
+			controlable.call(nil) 
+			contingent.emit(nil)
+		    end
+		    nil
+		end
+	    end
+	end
+
+	remote.create
+	task = subscribe_task(:id => 'task')
+	controlable = *task.event(:start).child_objects(EventStructure::Signal).to_a
+	contingent  = *task.event(:start).child_objects(EventStructure::Forwarding).to_a
+
+	FlexMock.use do |mock|
+	    controlable.on do
+		mock.fired_controlable(Roby::Propagation.gathering?)
+	    end
+	    contingent.on do
+		mock.fired_contingent(Roby::Propagation.gathering?)
+	    end
+
+	    mock.should_receive(:fired_controlable).with(true).once
+	    mock.should_receive(:fired_contingent).with(true).once
+	    remote.fire
+	    remote_peer.synchro_point
+	end
+
+	assert(controlable.happened?)
+	assert(contingent.happened?)
+    end
+
+    def test_signal_establishment
+	peer2peer(true) do |remote|
+	    Roby::Distributed.on_transaction do |trsc|
+		trsc.edit do
+		    local_task = trsc.find_tasks.which_fullfills(Roby::Test::SimpleTask).to_a.first
+		    t = trsc[SimpleTask.new(:id => 'remote_task')]
+		    local_task.realized_by t
+		    local_task.on :start, t, :start
+		    nil
+		end
+	    end
+	end
+
+	trsc = Roby::Distributed::Transaction.new(plan)
+	trsc.add_owner remote_peer
+	trsc.propose(remote_peer)
+
+	plan.insert(local_task = Roby::Test::SimpleTask.new)
+	trsc[local_task]
+	trsc.release
+	trsc.edit
+	trsc.commit_transaction
+
+	Roby.execute { local_task.start! }
+	Roby.wait_one_cycle
+	remote_peer.synchro_point
+	remote_task = subscribe_task(:id => 'remote_task')
+	assert(remote_task.running?)
+
+	Roby.execute do
+	    plan.discard(local_task)
+	    local_task.stop!
+	end
+    end
+
+    # This test that the event/plan modification order is kept on a remote host
+    def test_keeps_causality
+	peer2peer(true) do |remote|
+	    class << remote
+		attr_reader :event
+		attr_reader :task
+		def create
+		    # Put the task to avoir having GC clearing the events
+		    plan.insert(@task = SimpleTask.new(:id => 'task'))
+		    plan.discover(@event = Roby::EventGenerator.new(true))
+		    event.on task.event(:start)
+		    nil
+		end
+		def fire
+		    Roby.execute do
+			event.on do
+			    plan.discard(task)
+			    task.event(:start).on task.event(:success)
+			end
+		
+			event.call(nil) 
+		    end
+		    nil
+		end
+	    end
+	end
+
+	remote.create
+	task = subscribe_task(:id => 'task')
+	event = *task.event(:start).parent_objects(EventStructure::Signal).to_a
+
+	FlexMock.use do |mock|
+	    event.on do
+		mock.fired
+		assert(plan.free_events.include?(event))
+	    end
+
+	    mock.should_receive(:fired).once
+	    remote.fire
+	    remote_peer.synchro_point
+	end
+
+	assert(event.happened?)
+    end
+
+    def test_task_status
+	Roby.control.abort_on_exception = false
+	peer2peer(true) do |remote|
+	    class << remote
+		include Test::Unit::Assertions
+		attr_reader :task
+		def create_task
+		    plan.clear
+		    plan.insert(@task = SimpleTask.new(:id => 1))
+		end
+		def start_task; Roby::Control.once { task.start! }; nil end
+		def stop_task
+		    assert(task.executable?)
+		    Roby::Control.once do
+			plan.discard(task)
+			task.stop!
+		    end
+		    nil
+		end
+	    end
+	end
+
+	remote.create_task
+	p_task = remote_task(:id => 1)
+	assert(!p_task.event(:start).happened?)
+	process_events
+	assert(!p_task.plan)
+
+	# Start the task *before* subscribing to test that #subscribe maps the
+	# task status
+	remote.start_task
+	process_events
+	p_task = subscribe_task(:id => 1)
+	assert(p_task.running?)
+	assert(p_task.event(:start).happened?)
+
+	# Stop the task to see if the fired event is propagated
+	remote.stop_task
+	process_events
+	assert(p_task.finished?)
+	assert(p_task.failed?)
+	assert(p_task.event(:stop).happened?)
+	assert(p_task.finished?)
+    end
+
+    def test_signalling
+	peer2peer(true) do |remote|
+	    remote.plan.insert(task = SimpleTask.new(:id => 1))
+	    remote.class.class_eval do
+		include Test::Unit::Assertions
+		define_method(:start_task) do
+		    events = plan.free_events.to_a
+		    assert_equal(2, events.size)
+		    assert(sev = events.find { |ev| ev.controlable? })
+		    assert(fev = events.find { |ev| !ev.controlable? })
+		    assert(task.event(:start).child_object?(sev, Roby::EventStructure::Signal))
+		    assert(task.event(:start).child_object?(fev, Roby::EventStructure::Forwarding))
+		    Control.once { task.start! }
+		    nil
+		end
+	    end
+	end
+	p_task = subscribe_task(:id => 1)
+
+	FlexMock.use do |mock|
+	    signalled_ev = EventGenerator.new do |context|
+		mock.signal_command
+		signalled_ev.emit(nil)
+	    end
+	    signalled_ev.on { |ev| mock.signal_emitted }
+	    assert(signalled_ev.controlable?)
+
+	    forwarded_ev = EventGenerator.new	
+	    forwarded_ev.on { |ev| mock.forward_emitted }
+	    assert(!forwarded_ev.controlable?)
+
+	    p_task.event(:start).on signalled_ev
+	    p_task.event(:start).forward forwarded_ev
+
+	    mock.should_receive(:signal_command).once.ordered('signal')
+	    mock.should_receive(:signal_emitted).once.ordered('signal')
+	    mock.should_receive(:forward_emitted).once
+	    process_events
+
+	    remote.start_task
+	    process_events
+	    assert(signalled_ev.happened?)
+	    assert(forwarded_ev.happened?)
+	end
+    end
+
+    def test_event_handlers
+	peer2peer(true) do |remote|
+	    remote.plan.insert(task = SimpleTask.new(:id => 1))
+	    def remote.start(task)
+		task = local_peer.local_object(task)
+		Roby::Control.once { task.start! }
+		nil
+	    end
+	end
+	FlexMock.use do |mock|
+	    mock.should_receive(:started).once
+
+	    task = subscribe_task(:id => 1)
+	    task.on(:start) { mock.started }
+	    remote.start(Distributed.format(task))
+	    process_events
+
+	    assert(task.running?)
+	end
+    end
+
+    # Test that we can 'forget' running tasks that was known to us because they
+    # were related to subscribed tasks
+    def test_forgetting
+	peer2peer(true) do |remote|
+	    parent, child =
+		SimpleTask.new(:id => 'parent'), 
+		SimpleTask.new(:id => 'child')
+	    parent.realized_by child
+
+	    remote.plan.insert(parent)
+	    child.start!
+	    remote.singleton_class.class_eval do
+		define_method(:remove_link) do
+		    parent.remove_child(child)
+		end
+	    end
+	end
+
+	parent   = subscribe_task(:id => 'parent')
+	child    = nil
+	assert(child = local.plan.known_tasks.find { |t| t.arguments[:id] == 'child' })
+	assert(!child.subscribed?)
+	assert(child.running?)
+	remote.remove_link
+	process_events
+	assert(!local.plan.known_tasks.find { |t| t.arguments[:id] == 'child' })
+    end
+
+    # Tests that running remote tasks are aborted and pending tasks GCed if the
+    # connection is killed
+    def test_disconnect_kills_tasks
+	peer2peer(true) do |remote|
+	    remote.plan.insert(task = SimpleTask.new(:id => 'remote-1'))
+	    def remote.start(task)
+		task = local_peer.local_object(task)
+		Roby.execute do
+		    task.start!
+		end
+		nil
+	    end
+	end
+
+	task = subscribe_task(:id => 'remote-1')
+	remote.start(Distributed.format(task))
+	process_events
+	assert(task.running?)
+	assert(task.child_object?(remote_peer.task, TaskStructure::ExecutionAgent))
+	assert(task.subscribed?)
+
+	Roby.execute do
+	    remote_peer.disconnected!
+	end
+	assert(!task.subscribed?)
+	assert(remote_peer.task.finished?)
+	assert(remote_peer.task.event(:aborted).happened?)
+	assert(remote_peer.task.event(:stop).happened?)
+	assert(task.finished?)
+    end
+
+    # Checks that the code blocks are called only in owning controllers
+    class CodeBlocksOwnersMockup < Roby::Test::SimpleTask
+	attr_reader :command_called
+	event :start do
+	    @command_called = true
+	    emit :start
+	end
+
+	attr_reader :handler_called
+	on(:start) { @handler_called = true }
+
+	attr_reader :poller_called
+	poll { @poller_called = true }
+    end
+
+    def test_code_blocks_owners
+	peer2peer(true) do |remote|
+	    remote.plan.insert(CodeBlocksOwnersMockup.new(:id => 'mockup'))
+
+	    def remote.call
+		task = plan.find_tasks(CodeBlocksOwnersMockup).to_a.first
+		Roby.execute { task.start! }
+	    end
+
+	    def remote.blocks_called
+		task = plan.find_tasks(CodeBlocksOwnersMockup).to_a.first
+		task.command_called && task.poller_called && task.handler_called
+	    end
+	end
+
+	mockup = subscribe_task(:id => 'mockup')
+	remote.call
+	remote_peer.synchro_point
+
+	assert(remote.blocks_called)
+	assert(!mockup.command_called)
+	assert(!mockup.poller_called)
+	assert(!mockup.handler_called)
+    end
+
+    # Checks that we get the update fine if +fired+ and +signalled+ are
+    # received in the same cycle
+    def test_joint_fired_signalled
+	peer2peer(true) do |remote|
+	    remote.plan.insert(task = SimpleTask.new(:id => 'remote-1'))
+	    Roby::Control.once { task.start! }
+	end
+	    
+	event_time = Time.now
+	remote = subscribe_task(:id => 'remote-1')
+	plan.insert(local = SimpleTask.new(:id => 'local'))
+	remote_peer.synchro_point
+
+	Roby.execute do
+	    remote_peer.local_server.event_fired(remote.event(:success), 0, Time.now, [42])
+	    remote_peer.local_server.event_add_propagation(true, remote.event(:success), local.event(:start), 0, event_time, [42])
+	end
+	process_events
+
+	assert(remote.finished?)
+	assert(remote.success?)
+	assert(local.started?)
+	assert_equal(1, remote.history.size, remote.history)
+    end
+end
+