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uORB separate tests
This commit is contained in:
Daniel Agar
committed by
Lorenz Meier
Lorenz Meier
parent
dc8b9d1da8
commit
12165ba5a4
@@ -0,0 +1,53 @@
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############################################################################
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#
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# Copyright (c) 2015 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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||||
# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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||||
# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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# this includes the generated topics directory
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include_directories(${CMAKE_CURRENT_BINARY_DIR})
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set(SRCS uORB_tests_main.cpp)
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if(NOT ${OS} STREQUAL "qurt")
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list(APPEND SRCS uORBTest_UnitTest.cpp)
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endif()
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px4_add_module(
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MODULE modules__uORB__uORB_tests
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MAIN uorb_tests
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STACK_MAIN 2048
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COMPILE_FLAGS
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-Os
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SRCS ${SRCS}
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DEPENDS
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platforms__common
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)
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# vim: set noet ft=cmake fenc=utf-8 ff=unix :
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@@ -0,0 +1,590 @@
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/****************************************************************************
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*
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* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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||||
* 2. Redistributions in binary form must reproduce the above copyright
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||||
* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
|
||||
* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
|
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "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 OWNER 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
|
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "uORBTest_UnitTest.hpp"
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#include "../uORBCommon.hpp"
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#include <px4_config.h>
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#include <px4_time.h>
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#include <stdio.h>
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uORBTest::UnitTest &uORBTest::UnitTest::instance()
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{
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static uORBTest::UnitTest t;
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return t;
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}
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int uORBTest::UnitTest::pubsublatency_main(void)
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{
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/* poll on test topic and output latency */
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float latency_integral = 0.0f;
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/* wakeup source(s) */
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px4_pollfd_struct_t fds[3];
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int test_multi_sub = orb_subscribe_multi(ORB_ID(orb_test), 0);
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int test_multi_sub_medium = orb_subscribe_multi(ORB_ID(orb_test_medium), 0);
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int test_multi_sub_large = orb_subscribe_multi(ORB_ID(orb_test_large), 0);
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struct orb_test_large t;
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/* clear all ready flags */
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orb_copy(ORB_ID(orb_test), test_multi_sub, &t);
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orb_copy(ORB_ID(orb_test_medium), test_multi_sub_medium, &t);
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orb_copy(ORB_ID(orb_test_large), test_multi_sub_large, &t);
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fds[0].fd = test_multi_sub;
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fds[0].events = POLLIN;
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fds[1].fd = test_multi_sub_medium;
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fds[1].events = POLLIN;
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fds[2].fd = test_multi_sub_large;
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fds[2].events = POLLIN;
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const unsigned maxruns = 1000;
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unsigned timingsgroup = 0;
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unsigned *timings = new unsigned[maxruns];
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for (unsigned i = 0; i < maxruns; i++) {
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/* wait for up to 500ms for data */
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int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 500);
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if (fds[0].revents & POLLIN) {
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orb_copy(ORB_ID(orb_test), test_multi_sub, &t);
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timingsgroup = 0;
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} else if (fds[1].revents & POLLIN) {
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orb_copy(ORB_ID(orb_test_medium), test_multi_sub_medium, &t);
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timingsgroup = 1;
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} else if (fds[2].revents & POLLIN) {
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orb_copy(ORB_ID(orb_test_large), test_multi_sub_large, &t);
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timingsgroup = 2;
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}
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if (pret < 0) {
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warn("poll error %d, %d", pret, errno);
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continue;
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}
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hrt_abstime elt = hrt_elapsed_time(&t.time);
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latency_integral += elt;
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timings[i] = elt;
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}
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orb_unsubscribe(test_multi_sub);
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orb_unsubscribe(test_multi_sub_medium);
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orb_unsubscribe(test_multi_sub_large);
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if (pubsubtest_print) {
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char fname[32];
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sprintf(fname, PX4_ROOTFSDIR"/fs/microsd/timings%u.txt", timingsgroup);
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FILE *f = fopen(fname, "w");
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if (f == NULL) {
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warnx("Error opening file!\n");
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return uORB::ERROR;
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}
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for (unsigned i = 0; i < maxruns; i++) {
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fprintf(f, "%u\n", timings[i]);
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}
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fclose(f);
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}
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delete[] timings;
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warnx("mean: %8.4f us", static_cast<double>(latency_integral / maxruns));
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pubsubtest_passed = true;
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if (static_cast<float>(latency_integral / maxruns) > 30.0f) {
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pubsubtest_res = uORB::ERROR;
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} else {
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pubsubtest_res = PX4_OK;
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}
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return pubsubtest_res;
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}
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int uORBTest::UnitTest::test()
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{
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int ret = test_single();
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if (ret != OK) {
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return ret;
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}
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ret = test_multi();
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if (ret != OK) {
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return ret;
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}
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ret = test_multi_reversed();
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if (ret != OK) {
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return ret;
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}
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ret = test_unadvertise();
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if (ret != OK) {
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return ret;
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}
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return test_multi2();
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}
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int uORBTest::UnitTest::test_unadvertise()
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{
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test_note("Testing unadvertise");
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//we still have the advertisements from the previous test_multi calls.
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for (int i = 0; i < 4; ++i) {
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int ret = orb_unadvertise(_pfd[i]);
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if (ret != PX4_OK) {
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return test_fail("orb_unadvertise failed (%i)", ret);
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}
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}
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//try to advertise and see whether we get the right instance
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int instance_test[4];
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struct orb_test t;
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for (int i = 0; i < 4; ++i) {
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_pfd[i] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance_test[i], ORB_PRIO_MAX);
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if (instance_test[i] != i) {
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return test_fail("got wrong instance (should be %i, is %i)", i, instance_test[i]);
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}
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}
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for (int i = 0; i < 4; ++i) {
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orb_unadvertise(_pfd[i]);
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}
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return test_note("PASS unadvertise");
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}
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int uORBTest::UnitTest::info()
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{
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return OK;
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}
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int uORBTest::UnitTest::test_single()
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{
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test_note("try single-topic support");
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struct orb_test t, u;
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int sfd;
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orb_advert_t ptopic;
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bool updated;
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t.val = 0;
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ptopic = orb_advertise(ORB_ID(orb_test), &t);
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if (ptopic == nullptr) {
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return test_fail("advertise failed: %d", errno);
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}
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test_note("publish handle 0x%08x", ptopic);
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sfd = orb_subscribe(ORB_ID(orb_test));
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if (sfd < 0) {
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return test_fail("subscribe failed: %d", errno);
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}
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test_note("subscribe fd %d", sfd);
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u.val = 1;
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if (PX4_OK != orb_copy(ORB_ID(orb_test), sfd, &u)) {
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return test_fail("copy(1) failed: %d", errno);
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}
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if (u.val != t.val) {
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return test_fail("copy(1) mismatch: %d expected %d", u.val, t.val);
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}
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if (PX4_OK != orb_check(sfd, &updated)) {
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return test_fail("check(1) failed");
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}
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if (updated) {
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return test_fail("spurious updated flag");
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}
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t.val = 2;
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test_note("try publish");
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if (PX4_OK != orb_publish(ORB_ID(orb_test), ptopic, &t)) {
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return test_fail("publish failed");
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}
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if (PX4_OK != orb_check(sfd, &updated)) {
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return test_fail("check(2) failed");
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}
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if (!updated) {
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return test_fail("missing updated flag");
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}
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if (PX4_OK != orb_copy(ORB_ID(orb_test), sfd, &u)) {
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return test_fail("copy(2) failed: %d", errno);
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}
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if (u.val != t.val) {
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return test_fail("copy(2) mismatch: %d expected %d", u.val, t.val);
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}
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orb_unsubscribe(sfd);
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int ret = orb_unadvertise(ptopic);
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if (ret != PX4_OK) {
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return test_fail("orb_unadvertise failed: %i", ret);
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}
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return test_note("PASS single-topic test");
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}
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int uORBTest::UnitTest::test_multi()
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{
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/* this routine tests the multi-topic support */
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test_note("try multi-topic support");
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struct orb_test t, u;
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t.val = 0;
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int instance0;
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_pfd[0] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance0, ORB_PRIO_MAX);
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test_note("advertised");
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int instance1;
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_pfd[1] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance1, ORB_PRIO_MIN);
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if (instance0 != 0) {
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return test_fail("mult. id0: %d", instance0);
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}
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if (instance1 != 1) {
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return test_fail("mult. id1: %d", instance1);
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}
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t.val = 103;
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if (PX4_OK != orb_publish(ORB_ID(orb_multitest), _pfd[0], &t)) {
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return test_fail("mult. pub0 fail");
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}
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test_note("published");
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t.val = 203;
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if (PX4_OK != orb_publish(ORB_ID(orb_multitest), _pfd[1], &t)) {
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return test_fail("mult. pub1 fail");
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}
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/* subscribe to both topics and ensure valid data is received */
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int sfd0 = orb_subscribe_multi(ORB_ID(orb_multitest), 0);
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if (PX4_OK != orb_copy(ORB_ID(orb_multitest), sfd0, &u)) {
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return test_fail("sub #0 copy failed: %d", errno);
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}
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if (u.val != 103) {
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return test_fail("sub #0 val. mismatch: %d", u.val);
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}
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int sfd1 = orb_subscribe_multi(ORB_ID(orb_multitest), 1);
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if (PX4_OK != orb_copy(ORB_ID(orb_multitest), sfd1, &u)) {
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return test_fail("sub #1 copy failed: %d", errno);
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}
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if (u.val != 203) {
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return test_fail("sub #1 val. mismatch: %d", u.val);
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}
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/* test priorities */
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int prio;
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if (PX4_OK != orb_priority(sfd0, &prio)) {
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return test_fail("prio #0");
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}
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if (prio != ORB_PRIO_MAX) {
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return test_fail("prio: %d", prio);
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}
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if (PX4_OK != orb_priority(sfd1, &prio)) {
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return test_fail("prio #1");
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}
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if (prio != ORB_PRIO_MIN) {
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return test_fail("prio: %d", prio);
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}
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if (PX4_OK != latency_test<struct orb_test>(ORB_ID(orb_test), false)) {
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return test_fail("latency test failed");
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}
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orb_unsubscribe(sfd0);
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orb_unsubscribe(sfd1);
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return test_note("PASS multi-topic test");
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}
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int uORBTest::UnitTest::pub_test_multi2_entry(char *const argv[])
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{
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uORBTest::UnitTest &t = uORBTest::UnitTest::instance();
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return t.pub_test_multi2_main();
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}
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int uORBTest::UnitTest::pub_test_multi2_main()
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{
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int data_next_idx = 0;
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const int num_instances = 3;
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orb_advert_t orb_pub[num_instances];
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struct orb_test_medium data_topic;
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for (int i = 0; i < num_instances; ++i) {
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orb_advert_t &pub = orb_pub[i];
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int idx = i;
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// PX4_WARN("advertise %i, t=%" PRIu64, i, hrt_absolute_time());
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pub = orb_advertise_multi(ORB_ID(orb_test_medium_multi), &data_topic, &idx, ORB_PRIO_DEFAULT);
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if (idx != i) {
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_thread_should_exit = true;
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PX4_ERR("Got wrong instance! should be: %i, but is %i", i, idx);
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return -1;
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}
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}
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usleep(100 * 1000);
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int message_counter = 0, num_messages = 50 * num_instances;
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while (message_counter++ < num_messages) {
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usleep(2); //make sure the timestamps are different
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orb_advert_t &pub = orb_pub[data_next_idx];
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data_topic.time = hrt_absolute_time();
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data_topic.val = data_next_idx;
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orb_publish(ORB_ID(orb_test_medium_multi), pub, &data_topic);
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// PX4_WARN("publishing msg (idx=%i, t=%" PRIu64 ")", data_next_idx, data_topic.time);
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data_next_idx = (data_next_idx + 1) % num_instances;
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if (data_next_idx == 0) {
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usleep(50 * 1000);
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}
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}
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usleep(100 * 1000);
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_thread_should_exit = true;
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for (int i = 0; i < num_instances; ++i) {
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orb_unadvertise(orb_pub[i]);
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}
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return 0;
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}
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int uORBTest::UnitTest::test_multi2()
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{
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||||
test_note("Testing multi-topic 2 test (queue simulation)");
|
||||
//test: first subscribe, then advertise
|
||||
|
||||
_thread_should_exit = false;
|
||||
const int num_instances = 3;
|
||||
int orb_data_fd[num_instances];
|
||||
int orb_data_next = 0;
|
||||
|
||||
for (int i = 0; i < num_instances; ++i) {
|
||||
// PX4_WARN("subscribe %i, t=%" PRIu64, i, hrt_absolute_time());
|
||||
orb_data_fd[i] = orb_subscribe_multi(ORB_ID(orb_test_medium_multi), i);
|
||||
}
|
||||
|
||||
char *const args[1] = { NULL };
|
||||
int pubsub_task = px4_task_spawn_cmd("uorb_test_multi",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_MAX - 5,
|
||||
1500,
|
||||
(px4_main_t)&uORBTest::UnitTest::pub_test_multi2_entry,
|
||||
args);
|
||||
|
||||
if (pubsub_task < 0) {
|
||||
return test_fail("failed launching task");
|
||||
}
|
||||
|
||||
hrt_abstime last_time = 0;
|
||||
|
||||
while (!_thread_should_exit) {
|
||||
|
||||
bool updated = false;
|
||||
int orb_data_cur_fd = orb_data_fd[orb_data_next];
|
||||
orb_check(orb_data_cur_fd, &updated);
|
||||
|
||||
if (updated) {
|
||||
struct orb_test_medium msg;
|
||||
orb_copy(ORB_ID(orb_test_medium_multi), orb_data_cur_fd, &msg);
|
||||
usleep(1000);
|
||||
|
||||
if (last_time >= msg.time && last_time != 0) {
|
||||
return test_fail("Timestamp not increasing! (%" PRIu64 " >= %" PRIu64 ")", last_time, msg.time);
|
||||
}
|
||||
|
||||
last_time = msg.time;
|
||||
|
||||
// PX4_WARN(" got message (val=%i, idx=%i, t=%" PRIu64 ")", msg.val, orb_data_next, msg.time);
|
||||
orb_data_next = (orb_data_next + 1) % num_instances;
|
||||
}
|
||||
}
|
||||
|
||||
for (int i = 0; i < num_instances; ++i) {
|
||||
orb_unsubscribe(orb_data_fd[i]);
|
||||
}
|
||||
|
||||
return test_note("PASS multi-topic 2 test (queue simulation)");
|
||||
}
|
||||
|
||||
int uORBTest::UnitTest::test_multi_reversed()
|
||||
{
|
||||
test_note("try multi-topic support subscribing before publishing");
|
||||
|
||||
/* For these tests 0 and 1 instances are taken from before, therefore continue with 2 and 3. */
|
||||
|
||||
/* Subscribe first and advertise afterwards. */
|
||||
int sfd2 = orb_subscribe_multi(ORB_ID(orb_multitest), 2);
|
||||
|
||||
if (sfd2 < 0) {
|
||||
return test_fail("sub. id2: ret: %d", sfd2);
|
||||
}
|
||||
|
||||
struct orb_test t, u;
|
||||
|
||||
t.val = 0;
|
||||
|
||||
int instance2;
|
||||
|
||||
_pfd[2] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance2, ORB_PRIO_MAX);
|
||||
|
||||
int instance3;
|
||||
|
||||
_pfd[3] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance3, ORB_PRIO_MIN);
|
||||
|
||||
test_note("advertised");
|
||||
|
||||
if (instance2 != 2) {
|
||||
return test_fail("mult. id2: %d", instance2);
|
||||
}
|
||||
|
||||
if (instance3 != 3) {
|
||||
return test_fail("mult. id3: %d", instance3);
|
||||
}
|
||||
|
||||
t.val = 204;
|
||||
|
||||
if (PX4_OK != orb_publish(ORB_ID(orb_multitest), _pfd[2], &t)) {
|
||||
return test_fail("mult. pub0 fail");
|
||||
}
|
||||
|
||||
|
||||
t.val = 304;
|
||||
|
||||
if (PX4_OK != orb_publish(ORB_ID(orb_multitest), _pfd[3], &t)) {
|
||||
return test_fail("mult. pub1 fail");
|
||||
}
|
||||
|
||||
test_note("published");
|
||||
|
||||
if (PX4_OK != orb_copy(ORB_ID(orb_multitest), sfd2, &u)) {
|
||||
return test_fail("sub #2 copy failed: %d", errno);
|
||||
}
|
||||
|
||||
if (u.val != 204) {
|
||||
return test_fail("sub #3 val. mismatch: %d", u.val);
|
||||
}
|
||||
|
||||
int sfd3 = orb_subscribe_multi(ORB_ID(orb_multitest), 3);
|
||||
|
||||
if (PX4_OK != orb_copy(ORB_ID(orb_multitest), sfd3, &u)) {
|
||||
return test_fail("sub #3 copy failed: %d", errno);
|
||||
}
|
||||
|
||||
if (u.val != 304) {
|
||||
return test_fail("sub #3 val. mismatch: %d", u.val);
|
||||
}
|
||||
|
||||
return test_note("PASS multi-topic reversed");
|
||||
}
|
||||
|
||||
int uORBTest::UnitTest::test_fail(const char *fmt, ...)
|
||||
{
|
||||
va_list ap;
|
||||
|
||||
fprintf(stderr, "uORB FAIL: ");
|
||||
va_start(ap, fmt);
|
||||
vfprintf(stderr, fmt, ap);
|
||||
va_end(ap);
|
||||
fprintf(stderr, "\n");
|
||||
fflush(stderr);
|
||||
return uORB::ERROR;
|
||||
}
|
||||
|
||||
int uORBTest::UnitTest::test_note(const char *fmt, ...)
|
||||
{
|
||||
va_list ap;
|
||||
|
||||
fprintf(stderr, "uORB note: ");
|
||||
va_start(ap, fmt);
|
||||
vfprintf(stderr, fmt, ap);
|
||||
va_end(ap);
|
||||
fprintf(stderr, "\n");
|
||||
fflush(stderr);
|
||||
return OK;
|
||||
}
|
||||
|
||||
int uORBTest::UnitTest::pubsubtest_threadEntry(char *const argv[])
|
||||
{
|
||||
uORBTest::UnitTest &t = uORBTest::UnitTest::instance();
|
||||
return t.pubsublatency_main();
|
||||
}
|
||||
@@ -0,0 +1,157 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. 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.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* 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 OWNER 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#ifndef _uORBTest_UnitTest_hpp_
|
||||
#define _uORBTest_UnitTest_hpp_
|
||||
#include "../uORBCommon.hpp"
|
||||
#include "../uORB.h"
|
||||
#include <px4_time.h>
|
||||
|
||||
struct orb_test {
|
||||
int val;
|
||||
hrt_abstime time;
|
||||
};
|
||||
ORB_DEFINE(orb_test, struct orb_test);
|
||||
ORB_DEFINE(orb_multitest, struct orb_test);
|
||||
|
||||
struct orb_test_medium {
|
||||
int val;
|
||||
hrt_abstime time;
|
||||
char junk[64];
|
||||
};
|
||||
ORB_DEFINE(orb_test_medium, struct orb_test_medium);
|
||||
ORB_DEFINE(orb_test_medium_multi, struct orb_test_medium);
|
||||
|
||||
struct orb_test_large {
|
||||
int val;
|
||||
hrt_abstime time;
|
||||
char junk[512];
|
||||
};
|
||||
ORB_DEFINE(orb_test_large, struct orb_test_large);
|
||||
|
||||
|
||||
namespace uORBTest
|
||||
{
|
||||
class UnitTest;
|
||||
}
|
||||
|
||||
class uORBTest::UnitTest
|
||||
{
|
||||
public:
|
||||
|
||||
// Singleton pattern
|
||||
static uORBTest::UnitTest &instance();
|
||||
~UnitTest() {}
|
||||
int test();
|
||||
template<typename S> int latency_test(orb_id_t T, bool print);
|
||||
int info();
|
||||
|
||||
private:
|
||||
UnitTest() : pubsubtest_passed(false), pubsubtest_print(false) {}
|
||||
|
||||
// Disallow copy
|
||||
UnitTest(const uORBTest::UnitTest &) {};
|
||||
static int pubsubtest_threadEntry(char *const argv[]);
|
||||
int pubsublatency_main(void);
|
||||
|
||||
static int pub_test_multi2_entry(char *const argv[]);
|
||||
int pub_test_multi2_main();
|
||||
|
||||
volatile bool _thread_should_exit;
|
||||
|
||||
bool pubsubtest_passed;
|
||||
bool pubsubtest_print;
|
||||
int pubsubtest_res = OK;
|
||||
|
||||
int test_unadvertise();
|
||||
orb_advert_t _pfd[4]; ///< used for test_multi and test_multi_reversed
|
||||
|
||||
int test_single();
|
||||
int test_multi();
|
||||
int test_multi2();
|
||||
int test_multi_reversed();
|
||||
|
||||
int test_fail(const char *fmt, ...);
|
||||
int test_note(const char *fmt, ...);
|
||||
};
|
||||
|
||||
template<typename S>
|
||||
int uORBTest::UnitTest::latency_test(orb_id_t T, bool print)
|
||||
{
|
||||
test_note("---------------- LATENCY TEST ------------------");
|
||||
S t;
|
||||
t.val = 308;
|
||||
t.time = hrt_absolute_time();
|
||||
|
||||
orb_advert_t pfd0 = orb_advertise(T, &t);
|
||||
|
||||
char *const args[1] = { NULL };
|
||||
|
||||
pubsubtest_print = print;
|
||||
pubsubtest_passed = false;
|
||||
|
||||
/* test pub / sub latency */
|
||||
|
||||
// Can't pass a pointer in args, must be a null terminated
|
||||
// array of strings because the strings are copied to
|
||||
// prevent access if the caller data goes out of scope
|
||||
int pubsub_task = px4_task_spawn_cmd("uorb_latency",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_MAX - 5,
|
||||
1500,
|
||||
(px4_main_t)&uORBTest::UnitTest::pubsubtest_threadEntry,
|
||||
args);
|
||||
|
||||
/* give the test task some data */
|
||||
while (!pubsubtest_passed) {
|
||||
t.val = 308;
|
||||
t.time = hrt_absolute_time();
|
||||
|
||||
if (PX4_OK != orb_publish(T, pfd0, &t)) {
|
||||
return test_fail("mult. pub0 timing fail");
|
||||
}
|
||||
|
||||
/* simulate >800 Hz system operation */
|
||||
usleep(1000);
|
||||
}
|
||||
|
||||
if (pubsub_task < 0) {
|
||||
return test_fail("failed launching task");
|
||||
}
|
||||
|
||||
orb_unadvertise(pfd0);
|
||||
|
||||
return pubsubtest_res;
|
||||
}
|
||||
|
||||
#endif // _uORBTest_UnitTest_hpp_
|
||||
@@ -0,0 +1,90 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. 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.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* 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 OWNER 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 <string.h>
|
||||
#include "../uORBDevices.hpp"
|
||||
#include "../uORB.h"
|
||||
#include "../uORBCommon.hpp"
|
||||
|
||||
#ifndef __PX4_QURT
|
||||
#include "uORBTest_UnitTest.hpp"
|
||||
#endif
|
||||
|
||||
extern "C" { __EXPORT int uorb_tests_main(int argc, char *argv[]); }
|
||||
|
||||
static void usage()
|
||||
{
|
||||
PX4_INFO("Usage: uorb_test 'test', 'latency_test'");
|
||||
}
|
||||
|
||||
int
|
||||
uorb_tests_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 2) {
|
||||
usage();
|
||||
return -EINVAL;
|
||||
}
|
||||
|
||||
#ifndef __PX4_QURT
|
||||
|
||||
/*
|
||||
* Test the driver/device.
|
||||
*/
|
||||
if (!strcmp(argv[1], "test")) {
|
||||
uORBTest::UnitTest &t = uORBTest::UnitTest::instance();
|
||||
return t.test();
|
||||
}
|
||||
|
||||
/*
|
||||
* Test the latency.
|
||||
*/
|
||||
if (!strcmp(argv[1], "latency_test")) {
|
||||
|
||||
uORBTest::UnitTest &t = uORBTest::UnitTest::instance();
|
||||
|
||||
if (argc > 2 && !strcmp(argv[2], "medium")) {
|
||||
return t.latency_test<struct orb_test_medium>(ORB_ID(orb_test_medium), true);
|
||||
|
||||
} else if (argc > 2 && !strcmp(argv[2], "large")) {
|
||||
return t.latency_test<struct orb_test_large>(ORB_ID(orb_test_large), true);
|
||||
|
||||
} else {
|
||||
return t.latency_test<struct orb_test>(ORB_ID(orb_test), true);
|
||||
}
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
usage();
|
||||
return -EINVAL;
|
||||
}
|
||||
Reference in New Issue
Block a user