1 /*
2 * Copyright (c) 2011-2021, The DART development contributors
3 * All rights reserved.
4 *
5 * The list of contributors can be found at:
6 * https://github.com/dartsim/dart/blob/master/LICENSE
7 *
8 * This file is provided under the following "BSD-style" License:
9 * Redistribution and use in source and binary forms, with or
10 * without modification, are permitted provided that the following
11 * conditions are met:
12 * * Redistributions of source code must retain the above copyright
13 * notice, this list of conditions and the following disclaimer.
14 * * Redistributions in binary form must reproduce the above
15 * copyright notice, this list of conditions and the following
16 * disclaimer in the documentation and/or other materials provided
17 * with the distribution.
18 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
19 * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
20 * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
21 * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
22 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
23 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
24 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
25 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
26 * USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
27 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
28 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
29 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
30 * POSSIBILITY OF SUCH DAMAGE.
31 */
32
33 #include <chrono>
34 #include <future>
35
36 #include <gtest/gtest.h>
37
38 #include "dart/simulation/World.hpp"
39
40 #include "TestHelpers.hpp"
41
42 using namespace dart;
43 using namespace dynamics;
44
45 //==============================================================================
createAndDestroyFrames(int threadNum)46 void createAndDestroyFrames(int threadNum)
47 {
48 for (std::size_t i = 0; i < 100; ++i)
49 {
50 EXPECT_EQ(Frame::World()->getNumChildEntities(), 0);
51 EXPECT_EQ(Frame::World()->getNumChildFrames(), 0);
52
53 SimpleFrame someFrame(
54 Frame::World(),
55 "Frame_" + std::to_string(threadNum) + std::to_string(i));
56
57 EXPECT_EQ(Frame::World()->getNumChildEntities(), 0);
58 EXPECT_EQ(Frame::World()->getNumChildFrames(), 0);
59 }
60 }
61
62 //==============================================================================
TEST(Concurrency,FrameDeletion)63 TEST(Concurrency, FrameDeletion)
64 {
65 // Regression test for issue #576
66 std::vector<std::future<void>> futures;
67 for (std::size_t i = 0; i < 10; ++i)
68 futures.push_back(
69 std::async(std::launch::async, &createAndDestroyFrames, i));
70
71 for (std::size_t i = 0; i < futures.size(); ++i)
72 {
73 EXPECT_EQ(Frame::World()->getNumChildEntities(), 0);
74 EXPECT_EQ(Frame::World()->getNumChildFrames(), 0);
75 futures[i].get();
76 }
77
78 EXPECT_EQ(Frame::World()->getNumChildEntities(), 0);
79 EXPECT_EQ(Frame::World()->getNumChildFrames(), 0);
80 }
81