From 086d6a5569ca550fc9d6dfffa29901dc7d7e3aa1 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Tue, 6 Oct 2020 13:01:26 +0200
Subject: [PATCH] multithreading tests in different gtest
---
test/CMakeLists.txt | 14 +++-
test/gtest_solver_ceres.cpp | 43 ------------
test/gtest_solver_ceres_multithread.cpp | 81 +++++++++++++++++++++++
test/gtest_solver_manager.cpp | 43 ------------
test/gtest_solver_manager_multithread.cpp | 75 +++++++++++++++++++++
5 files changed, 167 insertions(+), 89 deletions(-)
create mode 100644 test/gtest_solver_ceres_multithread.cpp
create mode 100644 test/gtest_solver_manager_multithread.cpp
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 88bcfc88a..b05f5636d 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -139,6 +139,10 @@ target_link_libraries(gtest_shared_from_this ${PLUGIN_NAME})
wolf_add_gtest(gtest_solver_manager gtest_solver_manager.cpp)
target_link_libraries(gtest_solver_manager ${PLUGIN_NAME})
+# SolverManagerMultithread test
+wolf_add_gtest(gtest_solver_manager_multithread gtest_solver_manager_multithread.cpp)
+target_link_libraries(gtest_solver_manager_multithread ${PLUGIN_NAME})
+
# StateBlock class test
wolf_add_gtest(gtest_state_block gtest_state_block.cpp)
target_link_libraries(gtest_state_block ${PLUGIN_NAME})
@@ -250,9 +254,13 @@ wolf_add_gtest(gtest_sensor_diff_drive gtest_sensor_diff_drive.cpp)
target_link_libraries(gtest_sensor_diff_drive ${PLUGIN_NAME})
IF (Ceres_FOUND)
-# SolverCeres test
-wolf_add_gtest(gtest_solver_ceres gtest_solver_ceres.cpp)
-target_link_libraries(gtest_solver_ceres ${PLUGIN_NAME})
+ # SolverCeres test
+ wolf_add_gtest(gtest_solver_ceres gtest_solver_ceres.cpp)
+ target_link_libraries(gtest_solver_ceres ${PLUGIN_NAME})
+
+ # SolverCeresMultithread test
+ wolf_add_gtest(gtest_solver_ceres_multithread gtest_solver_ceres_multithread.cpp)
+ target_link_libraries(gtest_solver_ceres_multithread ${PLUGIN_NAME})
ENDIF(Ceres_FOUND)
# TreeManagerSlidingWindow class test
diff --git a/test/gtest_solver_ceres.cpp b/test/gtest_solver_ceres.cpp
index 9fe0e4306..e5efa2dff 100644
--- a/test/gtest_solver_ceres.cpp
+++ b/test/gtest_solver_ceres.cpp
@@ -1514,49 +1514,6 @@ TEST(SolverCeres, OnlyFactor_AddRemove)
EXPECT_TRUE(solver_ptr->check());
}
-////////////////////////////////////////////////////////
-// MULTITHREADING
-
-TEST(SolverCeres, MultiThreadingTruncatedNotifications)
-{
- double Dt = 5.0;
- ProblemPtr P = Problem::create("PO", 2);
- auto solver_ptr = std::make_shared<SolverCeres>(P);
-
- // loop updating (without sleep)
- std::thread t([&](){
- auto start_t = std::chrono::high_resolution_clock::now();
- while (true)
- {
- solver_ptr->update();
- ASSERT_TRUE(solver_ptr->check());
- if (std::chrono::duration_cast<std::chrono::duration<double>>(std::chrono::high_resolution_clock::now() - start_t).count() > Dt)
- break;
- }});
-
- // loop emplacing and removing frames (window of 10 KF)
- auto start = std::chrono::high_resolution_clock::now();
- TimeStamp ts(0);
- while (true)
- {
- // Emplace Frame, Capture, feature and factor pose 2d
- FrameBasePtr F = P->emplaceKeyFrame(ts, P->stateZero());
- auto C = CaptureBase::emplace<CaptureVoid>(F, ts, nullptr);
- auto f = FeatureBase::emplace<FeatureBase>(C, "FeaturePose2d", Vector3d::Zero(), Matrix3d::Identity());
- auto c = FactorBase::emplace<FactorPose2d>(f, f, nullptr, false);
-
- ts += 1.0;
-
- if (P->getTrajectory()->getFrameMap().size() > 10)
- (*P->getTrajectory()->begin())->remove();
-
- if (std::chrono::duration_cast<std::chrono::duration<double>>(std::chrono::high_resolution_clock::now() - start).count() > Dt)
- break;
- }
-
- t.join();
-}
-
int main(int argc, char **argv)
{
testing::InitGoogleTest(&argc, argv);
diff --git a/test/gtest_solver_ceres_multithread.cpp b/test/gtest_solver_ceres_multithread.cpp
new file mode 100644
index 000000000..91fa716cb
--- /dev/null
+++ b/test/gtest_solver_ceres_multithread.cpp
@@ -0,0 +1,81 @@
+/*
+ * gtest_solver_ptr.cpp
+ *
+ * Created on: Jun, 2018
+ * Author: jvallve
+ */
+
+#include "core/utils/utils_gtest.h"
+
+#include "core/problem/problem.h"
+#include "core/sensor/sensor_base.h"
+#include "core/state_block/state_block.h"
+#include "core/capture/capture_void.h"
+#include "core/factor/factor_pose_2d.h"
+#include "core/factor/factor_quaternion_absolute.h"
+#include "core/factor/factor_block_absolute.h"
+#include "core/state_block/local_parametrization_angle.h"
+#include "core/state_block/local_parametrization_quaternion.h"
+
+#include "core/solver/solver_manager.h"
+#include "core/ceres_wrapper/solver_ceres.h"
+#include "core/ceres_wrapper/local_parametrization_wrapper.h"
+
+#include "ceres/ceres.h"
+
+#include <iostream>
+
+using namespace wolf;
+using namespace Eigen;
+
+/*
+ * Following tests are the same as in gtest_solver_manager_multithread.cpp
+ * (modifications should be applied to both tests)
+ */
+
+TEST(SolverCeresMultithread, MultiThreadingTruncatedNotifications)
+{
+ double Dt = 5.0;
+ ProblemPtr P = Problem::create("PO", 2);
+ auto solver_ptr = std::make_shared<SolverCeres>(P);
+
+ // loop updating (without sleep)
+ std::thread t([&](){
+ auto start_t = std::chrono::high_resolution_clock::now();
+ while (true)
+ {
+ solver_ptr->update();
+ ASSERT_TRUE(solver_ptr->check());
+ if (std::chrono::duration_cast<std::chrono::duration<double>>(std::chrono::high_resolution_clock::now() - start_t).count() > Dt)
+ break;
+ }});
+
+ // loop emplacing and removing frames (window of 10 KF)
+ auto start = std::chrono::high_resolution_clock::now();
+ TimeStamp ts(0);
+ while (true)
+ {
+ // Emplace Frame, Capture, feature and factor pose 2d
+ FrameBasePtr F = P->emplaceKeyFrame(ts, P->stateZero());
+ auto C = CaptureBase::emplace<CaptureVoid>(F, ts, nullptr);
+ auto f = FeatureBase::emplace<FeatureBase>(C, "FeaturePose2d", Vector3d::Zero(), Matrix3d::Identity());
+ auto c = FactorBase::emplace<FactorPose2d>(f, f, nullptr, false);
+
+ ts += 1.0;
+
+ if (P->getTrajectory()->getFrameMap().size() > 10)
+ (*P->getTrajectory()->begin())->remove();
+
+ if (std::chrono::duration_cast<std::chrono::duration<double>>(std::chrono::high_resolution_clock::now() - start).count() > Dt)
+ break;
+ }
+
+ t.join();
+}
+
+int main(int argc, char **argv)
+{
+ testing::InitGoogleTest(&argc, argv);
+ return RUN_ALL_TESTS();
+}
+
diff --git a/test/gtest_solver_manager.cpp b/test/gtest_solver_manager.cpp
index 5226e125d..2eb3f46e9 100644
--- a/test/gtest_solver_manager.cpp
+++ b/test/gtest_solver_manager.cpp
@@ -1509,49 +1509,6 @@ TEST(SolverManager, OnlyFactor_AddRemove)
EXPECT_TRUE(solver_ptr->check());
}
-////////////////////////////////////////////////////////
-// MULTITHREADING
-
-TEST(SolverManager, MultiThreadingTruncatedNotifications)
-{
- double Dt = 5.0;
- ProblemPtr P = Problem::create("PO", 2);
- auto solver_ptr = std::make_shared<SolverManagerDummy>(P);
-
- // loop updating (without sleep)
- std::thread t([&](){
- auto start_t = std::chrono::high_resolution_clock::now();
- while (true)
- {
- solver_ptr->update();
- ASSERT_TRUE(solver_ptr->check());
- if (std::chrono::duration_cast<std::chrono::duration<double>>(std::chrono::high_resolution_clock::now() - start_t).count() > Dt)
- break;
- }});
-
- // loop emplacing and removing frames (window of 10 KF)
- auto start = std::chrono::high_resolution_clock::now();
- TimeStamp ts(0);
- while (true)
- {
- // Emplace Frame, Capture, feature and factor pose 2d
- FrameBasePtr F = P->emplaceKeyFrame(ts, P->stateZero());
- auto C = CaptureBase::emplace<CaptureVoid>(F, ts, nullptr);
- auto f = FeatureBase::emplace<FeatureBase>(C, "FeaturePose2d", Vector3d::Zero(), Matrix3d::Identity());
- auto c = FactorBase::emplace<FactorPose2d>(f, f, nullptr, false);
-
- ts += 1.0;
-
- if (P->getTrajectory()->getFrameMap().size() > 10)
- (*P->getTrajectory()->begin())->remove();
-
- if (std::chrono::duration_cast<std::chrono::duration<double>>(std::chrono::high_resolution_clock::now() - start).count() > Dt)
- break;
- }
-
- t.join();
-}
-
int main(int argc, char **argv)
{
testing::InitGoogleTest(&argc, argv);
diff --git a/test/gtest_solver_manager_multithread.cpp b/test/gtest_solver_manager_multithread.cpp
new file mode 100644
index 000000000..0770b33ae
--- /dev/null
+++ b/test/gtest_solver_manager_multithread.cpp
@@ -0,0 +1,75 @@
+/*
+ * gtest_solver_manager.cpp
+ *
+ * Created on: Jun, 2018
+ * Author: jvallve
+ */
+
+#include "core/utils/utils_gtest.h"
+
+
+#include "core/problem/problem.h"
+#include "core/sensor/sensor_base.h"
+#include "core/state_block/state_block.h"
+#include "core/capture/capture_void.h"
+#include "core/factor/factor_pose_2d.h"
+#include "core/factor/factor_block_absolute.h"
+#include "core/state_block/local_parametrization_quaternion.h"
+#include "dummy/solver_manager_dummy.h"
+
+#include <iostream>
+#include <thread>
+
+using namespace wolf;
+using namespace Eigen;
+
+/*
+ * Following tests are the same as in gtest_solver_ceres_multithread.cpp
+ * (modifications should be applied to both tests)
+ */
+
+TEST(SolverManagerMultithread, MultiThreadingTruncatedNotifications)
+{
+ double Dt = 5.0;
+ ProblemPtr P = Problem::create("PO", 2);
+ auto solver_ptr = std::make_shared<SolverManagerDummy>(P);
+
+ // loop updating (without sleep)
+ std::thread t([&](){
+ auto start_t = std::chrono::high_resolution_clock::now();
+ while (true)
+ {
+ solver_ptr->update();
+ ASSERT_TRUE(solver_ptr->check());
+ if (std::chrono::duration_cast<std::chrono::duration<double>>(std::chrono::high_resolution_clock::now() - start_t).count() > Dt)
+ break;
+ }});
+
+ // loop emplacing and removing frames (window of 10 KF)
+ auto start = std::chrono::high_resolution_clock::now();
+ TimeStamp ts(0);
+ while (true)
+ {
+ // Emplace Frame, Capture, feature and factor pose 2d
+ FrameBasePtr F = P->emplaceKeyFrame(ts, P->stateZero());
+ auto C = CaptureBase::emplace<CaptureVoid>(F, ts, nullptr);
+ auto f = FeatureBase::emplace<FeatureBase>(C, "FeaturePose2d", Vector3d::Zero(), Matrix3d::Identity());
+ auto c = FactorBase::emplace<FactorPose2d>(f, f, nullptr, false);
+
+ ts += 1.0;
+
+ if (P->getTrajectory()->getFrameMap().size() > 10)
+ (*P->getTrajectory()->begin())->remove();
+
+ if (std::chrono::duration_cast<std::chrono::duration<double>>(std::chrono::high_resolution_clock::now() - start).count() > Dt)
+ break;
+ }
+
+ t.join();
+}
+
+int main(int argc, char **argv)
+{
+ testing::InitGoogleTest(&argc, argv);
+ return RUN_ALL_TESTS();
+}
--
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