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/*
* Copyright (c) 2011-2022, The DART development contributors
* All rights reserved.
*
* The list of contributors can be found at:
* https://github.com/dartsim/dart/blob/master/LICENSE
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#include <chrono>
#include <future>
#include <gtest/gtest.h>
#include "dart/simulation/World.hpp"
#include "TestHelpers.hpp"
using namespace dart;
using namespace dynamics;
//==============================================================================
void createAndDestroyFrames(int threadNum)
{
for (std::size_t i = 0; i < 100; ++i)
{
EXPECT_EQ(Frame::World()->getNumChildEntities(), 0);
EXPECT_EQ(Frame::World()->getNumChildFrames(), 0);
SimpleFrame someFrame(
Frame::World(),
"Frame_" + std::to_string(threadNum) + std::to_string(i));
EXPECT_EQ(Frame::World()->getNumChildEntities(), 0);
EXPECT_EQ(Frame::World()->getNumChildFrames(), 0);
}
}
//==============================================================================
TEST(Concurrency, FrameDeletion)
{
// Regression test for issue #576
std::vector<std::future<void>> futures;
for (std::size_t i = 0; i < 10; ++i)
futures.push_back(
std::async(std::launch::async, &createAndDestroyFrames, i));
for (std::size_t i = 0; i < futures.size(); ++i)
{
EXPECT_EQ(Frame::World()->getNumChildEntities(), 0);
EXPECT_EQ(Frame::World()->getNumChildFrames(), 0);
futures[i].get();
}
EXPECT_EQ(Frame::World()->getNumChildEntities(), 0);
EXPECT_EQ(Frame::World()->getNumChildFrames(), 0);
}
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