OneSlotReadWriteTest.h

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#ifndef _MIRA_TESTS_ONESLOTREADWRITETEST_H_
#define _MIRA_TESTS_ONESLOTREADWRITETEST_H_

#include <fw/Framework.h>

using namespace mira;

template <typename T>
void writeChannel(Channel<T>& channel)
{
    BOOST_CHECK_EQUAL(channel.getMaxSlots(), 1);

    ChannelWrite<T> w = channel.write();
    w->value() = T{};
}

template <typename ChannelType>
void testReadWriteLocking(bool expect = true)
{
    auto tname = typeName<ChannelType>();
    Authority authority("/"+tname, "Authority");

    auto channel = authority.publishAndSubscribe<ChannelType>("Channel");

    // set the slot limit to 1, this is what this test is all about
    MIRA_FW.getChannelManager().setMaxSlots("/"+tname+"/Channel", 1);

    // ensure there is data on the channel so we can obtain a read
    channel.post(ChannelType{});

    {
        // obtain a channel read
        ChannelRead<ChannelType> r = channel.read();

        // while holding the read, try to obtain a channel write
        boost::thread writeThread(boost::bind(&writeChannel<ChannelType>, channel));

        // if write succeed, the thread will be able to join, otherwise it will be blocked
        BOOST_CHECK_EQUAL(writeThread.timed_join(Duration::seconds(1)), expect);

        // after finishing (releasing) the read, write should always succeed
        r.finish();
        if (writeThread.joinable()) {
            BOOST_CHECK(writeThread.timed_join(Duration::seconds(1)));
        }
    }

    // a void read lock will always lock the slot (block writing)
    auto channelv = authority.subscribe<void>("Channel");
    ChannelRead<void> r = channelv.read();

    boost::thread writeThread(boost::bind(&writeChannel<ChannelType>, channel));
    BOOST_CHECK(!writeThread.timed_join(Duration::seconds(1)));

    r.finish();
    BOOST_CHECK(writeThread.timed_join(Duration::seconds(1)));
}

#endif