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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2018-2021 www.open3d.org
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
// ----------------------------------------------------------------------------
#include "open3d/io/rpc/RemoteFunctions.h"
#include <random>
#include "open3d/geometry/PointCloud.h"
#include "open3d/geometry/TriangleMesh.h"
#include "open3d/io/rpc/BufferConnection.h"
#include "open3d/io/rpc/Connection.h"
#include "open3d/io/rpc/DummyReceiver.h"
#include "open3d/io/rpc/MessageUtils.h"
#include "open3d/io/rpc/ZMQContext.h"
#include "tests/Tests.h"
using namespace open3d::io::rpc;
namespace open3d {
namespace tests {
#ifdef _WIN32
const std::string connection_address = "tcp://127.0.0.1:51454";
#else
const std::string connection_address = "ipc:///tmp/open3d_ipc";
#endif
class RemoteFunctions : public testing::Test {
public:
virtual void TearDown() { DestroyZMQContext(); }
};
TEST_F(RemoteFunctions, SendReceiveUnpackMessages) {
{
// start receiver
DummyReceiver receiver(connection_address, 500);
receiver.Start();
geometry::PointCloud pcd;
pcd.points_.push_back(Eigen::Vector3d(1, 2, 3));
auto connection =
std::make_shared<Connection>(connection_address, 500, 500);
ASSERT_TRUE(SetPointCloud(pcd, "", 0, "", connection));
receiver.Stop();
}
{
// start receiver
DummyReceiver receiver(connection_address, 500);
receiver.Start();
geometry::TriangleMesh mesh;
mesh.vertices_.push_back(Eigen::Vector3d(1, 2, 3));
mesh.vertices_.push_back(Eigen::Vector3d(1, 2, 3));
mesh.vertices_.push_back(Eigen::Vector3d(1, 2, 3));
mesh.triangles_.push_back(Eigen::Vector3i(0, 1, 2));
auto connection =
std::make_shared<Connection>(connection_address, 500, 500);
ASSERT_TRUE(SetTriangleMesh(mesh, "", 0, "", connection));
receiver.Stop();
}
{
// start receiver
DummyReceiver receiver(connection_address, 500);
receiver.Start();
camera::PinholeCameraParameters cam;
auto connection =
std::make_shared<Connection>(connection_address, 500, 500);
ASSERT_TRUE(SetLegacyCamera(cam, "", 0, "", connection));
receiver.Stop();
}
{
// start receiver
DummyReceiver receiver(connection_address, 500);
receiver.Start();
auto connection =
std::make_shared<Connection>(connection_address, 500, 500);
ASSERT_TRUE(SetTime(0, connection));
receiver.Stop();
}
{
// start receiver
DummyReceiver receiver(connection_address, 500);
receiver.Start();
auto connection =
std::make_shared<Connection>(connection_address, 500, 500);
ASSERT_TRUE(SetActiveCamera("group/mycam", connection));
receiver.Stop();
}
// chain multiple messages to test if the receiver can handle this
{
// start receiver
DummyReceiver receiver(connection_address, 500);
receiver.Start();
geometry::PointCloud pcd;
pcd.points_.push_back(Eigen::Vector3d(1, 2, 3));
auto buf_connection = std::make_shared<BufferConnection>();
ASSERT_TRUE(SetPointCloud(pcd, "", 0, "", buf_connection));
camera::PinholeCameraParameters cam;
ASSERT_TRUE(SetLegacyCamera(cam, "", 0, "", buf_connection));
ASSERT_TRUE(SetTime(0, buf_connection));
auto connection =
std::make_shared<Connection>(connection_address, 500, 500);
std::string buf = buf_connection->buffer().str();
auto reply = connection->Send(buf.data(), buf.size());
// check reply and stop listening
const void* reply_data;
size_t reply_size;
std::tie(reply_data, reply_size) = GetZMQMessageDataAndSize(*reply);
size_t offset = 0;
int count = 0;
while (offset < reply_size) {
ASSERT_TRUE(ReplyIsOKStatus(*reply, offset));
++count;
}
ASSERT_EQ(offset, reply_size);
ASSERT_EQ(count, 3);
// Since we reached the end this must now return false.
ASSERT_FALSE(ReplyIsOKStatus(*reply, offset));
receiver.Stop();
}
}
TEST_F(RemoteFunctions, SendGarbage) {
std::mt19937 rng;
rng.seed(123);
// start receiver
DummyReceiver receiver(connection_address, 500);
receiver.Start();
// send invalid msg id
{
std::string data = CreateSerializedRequestMessage("bla123");
// send to receiver
Connection connection(connection_address, 500, 500);
auto reply = connection.Send(data.data(), data.size());
const void* reply_data;
size_t reply_size;
std::tie(reply_data, reply_size) = GetZMQMessageDataAndSize(*reply);
size_t offset = 0;
bool ok;
auto status = UnpackStatusFromReply(*reply, offset, ok);
int32_t code;
std::string str;
std::tie(code, str) = GetStatusCodeAndStr(*status);
ASSERT_EQ(code, 1);
ASSERT_EQ(offset, reply_size);
}
// send valid request message followed by garbage
{
std::string req = CreateSerializedRequestMessage("set_mesh_data");
std::vector<uint8_t> data;
for (int i = 0; i < 123; ++i) {
data.push_back(rng() % 256);
}
BufferConnection buf_connection;
buf_connection.Send(req.data(), req.size());
buf_connection.Send(data.data(), data.size());
// send to receiver
Connection connection(connection_address, 500, 500);
std::string buf = buf_connection.buffer().str();
auto reply = connection.Send(buf.data(), buf.size());
const void* reply_data;
size_t reply_size;
std::tie(reply_data, reply_size) = GetZMQMessageDataAndSize(*reply);
size_t offset = 0;
bool ok;
auto status = UnpackStatusFromReply(*reply, offset, ok);
int32_t code;
std::string str;
std::tie(code, str) = GetStatusCodeAndStr(*status);
ASSERT_NE(code, 0);
ASSERT_EQ(offset, reply_size);
}
// send only garbage
{
std::vector<uint8_t> data;
for (int i = 0; i < 1234; ++i) {
data.push_back(rng() % 256);
}
BufferConnection buf_connection;
buf_connection.Send(data.data(), data.size());
// send to receiver
Connection connection(connection_address, 500, 500);
std::string buf = buf_connection.buffer().str();
auto reply = connection.Send(buf.data(), buf.size());
const void* reply_data;
size_t reply_size;
std::tie(reply_data, reply_size) = GetZMQMessageDataAndSize(*reply);
size_t offset = 0;
bool ok;
auto status = UnpackStatusFromReply(*reply, offset, ok);
int32_t code;
std::string str;
std::tie(code, str) = GetStatusCodeAndStr(*status);
ASSERT_NE(code, 0);
ASSERT_EQ(offset, reply_size);
}
receiver.Stop();
}
} // namespace tests
} // namespace open3d
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