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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2019-2023, LAAS-CNRS, University of Edinburgh |
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// Copyright note valid unless otherwise stated in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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/** |
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* To be included last in the test_XXX.cpp, |
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* otherwise it interferes with pinocchio boost::variant. |
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*/ |
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#ifndef CROCODDYL_UNITTEST_COMMON_HPP_ |
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#define CROCODDYL_UNITTEST_COMMON_HPP_ |
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#include <fcntl.h> |
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#include <stdio.h> |
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#include <unistd.h> |
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#include <boost/function.hpp> |
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#include <boost/test/execution_monitor.hpp> // for execution_exception |
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#include <boost/test/included/unit_test.hpp> |
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#include <iterator> |
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#include "crocoddyl/core/utils/exception.hpp" |
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#include "random_generator.hpp" |
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namespace crocoddyl { |
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namespace unittest { |
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class CaptureIOStream { |
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public: |
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CaptureIOStream() |
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: m_oldStdOut(0), m_oldStdErr(0), m_capturing(false), m_init(false) { |
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m_pipe[READ] = 0; |
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m_pipe[WRITE] = 0; |
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if (pipe(m_pipe) == -1) { |
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throw_pretty("Cannot create pipe."); |
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} |
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m_oldStdOut = dup(fileno(stdout)); |
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m_oldStdErr = dup(fileno(stderr)); |
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if (m_oldStdOut == -1 || m_oldStdErr == -1) { |
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throw_pretty("Cannot redirect stdout or stderr."); |
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} |
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m_init = true; |
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} |
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~CaptureIOStream() { |
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if (m_capturing) { |
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endCapture(); |
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} |
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if (m_oldStdOut > 0) close(m_oldStdOut); |
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if (m_oldStdErr > 0) close(m_oldStdErr); |
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if (m_pipe[READ] > 0) close(m_pipe[READ]); |
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if (m_pipe[WRITE] > 0) close(m_pipe[WRITE]); |
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} |
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void beginCapture() { |
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if (!m_init) return; |
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if (m_capturing) endCapture(); |
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fflush(stdout); |
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fflush(stderr); |
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dup2(m_pipe[WRITE], fileno(stdout)); |
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dup2(m_pipe[WRITE], fileno(stderr)); |
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m_capturing = true; |
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} |
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bool endCapture() { |
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usleep(2000); |
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if (!m_init || !m_capturing) { |
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return false; |
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} |
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fflush(stdout); |
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fflush(stderr); |
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dup2(m_oldStdOut, fileno(stdout)); |
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dup2(m_oldStdErr, fileno(stderr)); |
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m_captured.clear(); |
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// read the pipe |
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ssize_t nb_read = 0; |
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// Set timeout to 0.2 seconds |
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struct timeval timeout; |
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timeout.tv_sec = 0; |
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timeout.tv_usec = 200000; |
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// Initialize file descriptor sets |
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fd_set read_fds, write_fds, except_fds; |
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FD_ZERO(&read_fds); |
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FD_ZERO(&write_fds); |
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FD_ZERO(&except_fds); |
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FD_SET(m_pipe[READ], &read_fds); |
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// |
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bool timed_out = false; |
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while (!timed_out) { |
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if (select(m_pipe[READ] + 1, &read_fds, &write_fds, &except_fds, |
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&timeout) == 1) { |
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// do the reading |
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char buff[1]; |
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nb_read = read(m_pipe[READ], buff, sizeof(buff)); |
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if (nb_read > 0) { |
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m_captured << *buff; |
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} |
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timed_out = false; |
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} else { |
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// timeout or error |
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timed_out = true; |
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} |
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} |
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return true; |
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} |
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std::string str() const { return m_captured.str(); } |
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private: |
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enum PIPES { READ, WRITE }; |
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int m_pipe[2]; |
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int m_oldStdOut; |
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int m_oldStdErr; |
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bool m_capturing; |
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bool m_init; |
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std::ostringstream m_captured; |
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}; |
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std::string GetErrorMessages(boost::function<int(void)> function_with_errors) { |
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CaptureIOStream capture_ios; |
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capture_ios.beginCapture(); |
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boost::execution_monitor monitor; |
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try { |
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monitor.execute(function_with_errors); |
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} catch (...) { |
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} |
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capture_ios.endCapture(); |
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return capture_ios.str(); |
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} |
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} // namespace unittest |
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} // namespace crocoddyl |
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#endif // CROCODDYL_UNITTEST_COMMON_HPP_ |
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