From de2df99daed9b3ed18dd57c433540933db3a99e5 Mon Sep 17 00:00:00 2001
From: Stephen Roderick <kiwi.net@mac.com>
Date: Sun, 12 Jun 2011 12:36:11 -0400
Subject: [PATCH 3/3] tests: Add CPU affinity test for Linux only

---
 tests/tasks_test.cpp |   70 +++++++++++++++++++++++++++++++++++++++++++++++++-
 1 files changed, 69 insertions(+), 1 deletions(-)

diff --git a/tests/tasks_test.cpp b/tests/tasks_test.cpp
index cc65e21..817e45c 100644
--- a/tests/tasks_test.cpp
+++ b/tests/tasks_test.cpp
@@ -63,9 +63,12 @@ struct TestPeriodic
     bool stepped;
 
     TimeService::ticks ts;
+    // LINUX: cpu of last step(), 0 if not yet set
+    // non-LINUX: 0
+    int cpu;
 
     TestPeriodic()
-        : overfail(0), underfail(0), succ(0), stepped(false)
+            : overfail(0), underfail(0), succ(0), stepped(false), cpu(0)
     {
     }
 
@@ -93,6 +96,10 @@ struct TestPeriodic
             }
             ts = TimeService::Instance()->getTicks();
         }
+#if defined( OROCOS_TARGET_GNULINUX )
+        cpu = sched_getcpu();
+        BOOST_REQUIRE_NE(ENOSYS, cpu);
+#endif
     }
     void finalize() {
         if (overfail || underfail)
@@ -103,6 +110,7 @@ struct TestPeriodic
         overfail = 0;
         underfail = 0;
         succ = 0;
+        cpu = 0;
         stepped = false;
     }
 };
@@ -346,6 +354,66 @@ BOOST_AUTO_TEST_CASE( testThreads )
   t->run(0);
 }
 
+#if defined( OROCOS_TARGET_GNULINUX )
+// run on just the target CPU
+void testAffinity2(boost::scoped_ptr<TestPeriodic>& run,
+                   boost::scoped_ptr<RTT::OS::Thread>& t,
+                   int targetCPU)
+{
+    bool r = false;
+
+    t->run( run.get() );
+
+    BOOST_CHECK(t->setCpuAffinity(1 << targetCPU));
+    BOOST_CHECK_EQUAL((1 << targetCPU), t->getCpuAffinity());
+
+    if ( t->getScheduler() == RTT::OS::HighestPriority) {
+        r = t->start();
+        BOOST_CHECK_MESSAGE( r, "Failed to start Thread");
+        r = t->stop();
+        BOOST_CHECK_MESSAGE( r, "Failed to stop Thread");
+        BOOST_CHECK_MESSAGE( run->stepped == true, "Step not executed" );
+        BOOST_CHECK_EQUAL(targetCPU, run->cpu);
+        BOOST_CHECK_LT(0, run->succ);
+        run->reset();
+    }
+    BOOST_CHECK_EQUAL(0, run->cpu);
+    r = t->start();
+    BOOST_CHECK_MESSAGE( r, "Failed to start Thread");
+    sleep(1);
+    r = t->stop();
+    BOOST_CHECK_MESSAGE( r, "Failed to stop Thread" );
+    BOOST_CHECK_MESSAGE( run->stepped == true, "Step not executed" );
+    BOOST_CHECK_EQUAL(targetCPU, run->cpu);
+    BOOST_CHECK_LT(0, run->succ);
+
+    t->run(0);
+}
+
+BOOST_AUTO_TEST_CASE( testAffinity )
+{
+    // this test is kind of irrelevant with only 1 CPU
+    int numCPU = sysconf( _SC_NPROCESSORS_ONLN );
+    if (1 < numCPU)
+    {
+        boost::scoped_ptr<TestPeriodic> run( new TestPeriodic() );
+        boost::scoped_ptr<RTT::OS::Thread> t( new RTT::OS::Thread(ORO_SCHED_RT, RTT::OS::HighestPriority, 0.1,
+                                                                  ~0, "PThread") );
+        // returned affinity depends on the number of actual CPUs, and won't be "~0"
+        unsigned    mask=0;
+        for (int i=0; i<numCPU; ++i)
+        {
+            mask |= (1 << i);
+        }
+        BOOST_CHECK_EQUAL(mask, t->getCpuAffinity());
+
+        // test just a couple of cases
+        testAffinity2(run, t, 0);
+        testAffinity2(run, t, numCPU-1);
+    }
+    // else ignore test as insufficient number of CPUs
+}
+#endif
 
 BOOST_AUTO_TEST_CASE( testNonPeriodic )
 {
-- 
1.7.4.4