Sematic-Cartographer/cartographer-master/cartographer/common/thread_pool_test.cc

/*
 * Copyright 2018 The Cartographer Authors
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#include "cartographer/common/thread_pool.h"

#include <vector>

#include "absl/memory/memory.h"
#include "gtest/gtest.h"

namespace cartographer {
namespace common {
namespace {

class Receiver {
 public:
  void Receive(int number) {
    absl::MutexLock locker(&mutex_);
    received_numbers_.push_back(number);
  }

  void WaitForNumberSequence(const std::vector<int>& expected_numbers) {
    const auto predicate =
        [this, &expected_numbers]() EXCLUSIVE_LOCKS_REQUIRED(mutex_) {
          return (received_numbers_.size() >= expected_numbers.size());
        };
    absl::MutexLock locker(&mutex_);
    mutex_.Await(absl::Condition(&predicate));
    EXPECT_EQ(expected_numbers, received_numbers_);
  }

  absl::Mutex mutex_;
  std::vector<int> received_numbers_ GUARDED_BY(mutex_);
};

TEST(ThreadPoolTest, RunTask) {
  ThreadPool pool(1);
  Receiver receiver;
  auto task = absl::make_unique<Task>();
  task->SetWorkItem([&receiver]() { receiver.Receive(1); });
  pool.Schedule(std::move(task));
  receiver.WaitForNumberSequence({1});
}

TEST(ThreadPoolTest, ManyTasks) {
  for (int a = 0; a < 5; ++a) {
    ThreadPool pool(3);
    Receiver receiver;
    int kNumTasks = 10;
    for (int i = 0; i < kNumTasks; ++i) {
      auto task = absl::make_unique<Task>();
      task->SetWorkItem([&receiver]() { receiver.Receive(1); });
      pool.Schedule(std::move(task));
    }
    receiver.WaitForNumberSequence(std::vector<int>(kNumTasks, 1));
  }
}

TEST(ThreadPoolTest, RunWithDependency) {
  ThreadPool pool(2);
  Receiver receiver;
  auto task_2 = absl::make_unique<Task>();
  task_2->SetWorkItem([&receiver]() { receiver.Receive(2); });
  auto task_1 = absl::make_unique<Task>();
  task_1->SetWorkItem([&receiver]() { receiver.Receive(1); });
  auto weak_task_1 = pool.Schedule(std::move(task_1));
  task_2->AddDependency(weak_task_1);
  pool.Schedule(std::move(task_2));
  receiver.WaitForNumberSequence({1, 2});
}

TEST(ThreadPoolTest, RunWithOutOfScopeDependency) {
  ThreadPool pool(2);
  Receiver receiver;
  auto task_2 = absl::make_unique<Task>();
  task_2->SetWorkItem([&receiver]() { receiver.Receive(2); });
  {
    auto task_1 = absl::make_unique<Task>();
    task_1->SetWorkItem([&receiver]() { receiver.Receive(1); });
    auto weak_task_1 = pool.Schedule(std::move(task_1));
    task_2->AddDependency(weak_task_1);
  }
  pool.Schedule(std::move(task_2));
  receiver.WaitForNumberSequence({1, 2});
}

TEST(ThreadPoolTest, ManyDependencies) {
  for (int a = 0; a < 5; ++a) {
    ThreadPool pool(5);
    Receiver receiver;
    int kNumDependencies = 10;
    auto task = absl::make_unique<Task>();
    task->SetWorkItem([&receiver]() { receiver.Receive(1); });
    for (int i = 0; i < kNumDependencies; ++i) {
      auto dependency_task = absl::make_unique<Task>();
      dependency_task->SetWorkItem([]() {});
      task->AddDependency(pool.Schedule(std::move(dependency_task)));
    }
    pool.Schedule(std::move(task));
    receiver.WaitForNumberSequence({1});
  }
}

TEST(ThreadPoolTest, ManyDependants) {
  for (int a = 0; a < 5; ++a) {
    ThreadPool pool(5);
    Receiver receiver;
    int kNumDependants = 10;
    auto dependency_task = absl::make_unique<Task>();
    dependency_task->SetWorkItem([]() {});
    auto dependency_handle = pool.Schedule(std::move(dependency_task));
    for (int i = 0; i < kNumDependants; ++i) {
      auto task = absl::make_unique<Task>();
      task->AddDependency(dependency_handle);
      task->SetWorkItem([&receiver]() { receiver.Receive(1); });
      pool.Schedule(std::move(task));
    }
    receiver.WaitForNumberSequence(std::vector<int>(kNumDependants, 1));
  }
}

TEST(ThreadPoolTest, RunWithMultipleDependencies) {
  ThreadPool pool(2);
  Receiver receiver;
  auto task_1 = absl::make_unique<Task>();
  task_1->SetWorkItem([&receiver]() { receiver.Receive(1); });
  auto task_2a = absl::make_unique<Task>();
  task_2a->SetWorkItem([&receiver]() { receiver.Receive(2); });
  auto task_2b = absl::make_unique<Task>();
  task_2b->SetWorkItem([&receiver]() { receiver.Receive(2); });
  auto task_3 = absl::make_unique<Task>();
  task_3->SetWorkItem([&receiver]() { receiver.Receive(3); });
  /*          -> task_2a \
   *  task_1 /-> task_2b --> task_3
   */
  auto weak_task_1 = pool.Schedule(std::move(task_1));
  task_2a->AddDependency(weak_task_1);
  auto weak_task_2a = pool.Schedule(std::move(task_2a));
  task_3->AddDependency(weak_task_1);
  task_3->AddDependency(weak_task_2a);
  task_2b->AddDependency(weak_task_1);
  auto weak_task_2b = pool.Schedule(std::move(task_2b));
  task_3->AddDependency(weak_task_2b);
  pool.Schedule(std::move(task_3));
  receiver.WaitForNumberSequence({1, 2, 2, 3});
}

TEST(ThreadPoolTest, RunWithFinishedDependency) {
  ThreadPool pool(2);
  Receiver receiver;
  auto task_1 = absl::make_unique<Task>();
  task_1->SetWorkItem([&receiver]() { receiver.Receive(1); });
  auto task_2 = absl::make_unique<Task>();
  task_2->SetWorkItem([&receiver]() { receiver.Receive(2); });
  auto weak_task_1 = pool.Schedule(std::move(task_1));
  task_2->AddDependency(weak_task_1);
  receiver.WaitForNumberSequence({1});
  pool.Schedule(std::move(task_2));
  receiver.WaitForNumberSequence({1, 2});
}

}  // namespace
}  // namespace common
}  // namespace cartographer