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orb unit tests: use orb_unadvertise & create a separate test for it

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Now 'uorb test' can be called multiple times.
This commit is contained in:
Beat Küng
2016-04-27 11:20:33 +02:00
committed by Lorenz Meier
parent 9da537c092
commit 1827f78ab7
2 changed files with 62 additions and 8 deletions
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src/modules/uORB/uORBTest_UnitTest.cpp
+57 -8
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@@ -158,9 +158,47 @@ int uORBTest::UnitTest::test()
return ret;
}
ret = test_unadvertise();
if (ret != OK) {
return ret;
}
return test_multi2();
}
int uORBTest::UnitTest::test_unadvertise()
{
test_note("Testing unadvertise");
//we still have the advertisements from the previous test_multi calls.
for (int i = 0; i < 4; ++i) {
int ret = orb_unadvertise(_pfd[i]);
if (ret != PX4_OK) {
return test_fail("orb_unadvertise failed (%i)", ret);
}
}
//try to advertise and see whether we get the right instance
int instance[4];
struct orb_test t;
for (int i = 0; i < 4; ++i) {
_pfd[i] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance[i], ORB_PRIO_MAX);
if (instance[i] != i) {
return test_fail("got wrong instance (should be %i, is %i)", i, instance[i]);
}
}
for (int i = 0; i < 4; ++i) {
orb_unadvertise(_pfd[i]);
}
return test_note("PASS unadvertise");
}
int uORBTest::UnitTest::info()
{
@@ -234,6 +272,12 @@ int uORBTest::UnitTest::test_single()
orb_unsubscribe(sfd);
int ret = orb_unadvertise(ptopic);
if (ret != PX4_OK) {
return test_fail("orb_unadvertise failed: %i", ret);
}
return test_note("PASS single-topic test");
}
@@ -245,12 +289,12 @@ int uORBTest::UnitTest::test_multi()
struct orb_test t, u;
t.val = 0;
int instance0;
orb_advert_t pfd0 = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance0, ORB_PRIO_MAX);
_pfd[0] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance0, ORB_PRIO_MAX);
test_note("advertised");
int instance1;
orb_advert_t pfd1 = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance1, ORB_PRIO_MIN);
_pfd[1] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance1, ORB_PRIO_MIN);
if (instance0 != 0) {
return test_fail("mult. id0: %d", instance0);
@@ -262,7 +306,7 @@ int uORBTest::UnitTest::test_multi()
t.val = 103;
if (PX4_OK != orb_publish(ORB_ID(orb_multitest), pfd0, &t)) {
if (PX4_OK != orb_publish(ORB_ID(orb_multitest), _pfd[0], &t)) {
return test_fail("mult. pub0 fail");
}
@@ -270,7 +314,7 @@ int uORBTest::UnitTest::test_multi()
t.val = 203;
if (PX4_OK != orb_publish(ORB_ID(orb_multitest), pfd1, &t)) {
if (PX4_OK != orb_publish(ORB_ID(orb_multitest), _pfd[1], &t)) {
return test_fail("mult. pub1 fail");
}
@@ -376,12 +420,17 @@ int uORBTest::UnitTest::pub_test_multi2_main()
usleep(100 * 1000);
_thread_should_exit = true;
for (int i = 0; i < num_instances; ++i) {
orb_unadvertise(orb_pub[i]);
}
return 0;
}
int uORBTest::UnitTest::test_multi2()
{
test_note("Testing multi-topic 2 test (queue simulation)");
//test: first subscribe, then advertise
_thread_should_exit = false;
@@ -456,11 +505,11 @@ int uORBTest::UnitTest::test_multi_reversed()
int instance2;
orb_advert_t pfd2 = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance2, ORB_PRIO_MAX);
_pfd[2] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance2, ORB_PRIO_MAX);
int instance3;
orb_advert_t pfd3 = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance3, ORB_PRIO_MIN);
_pfd[3] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance3, ORB_PRIO_MIN);
test_note("advertised");
@@ -474,14 +523,14 @@ int uORBTest::UnitTest::test_multi_reversed()
t.val = 204;
if (PX4_OK != orb_publish(ORB_ID(orb_multitest), pfd2, &t)) {
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), pfd3, &t)) {
if (PX4_OK != orb_publish(ORB_ID(orb_multitest), _pfd[3], &t)) {
return test_fail("mult. pub1 fail");
}