test_dataman add to SITL with minor updates

posix-configs/SITL/init/test/test_template.in

@@ -28,4 +28,7 @@ mavlink boot_complete
 
 tests @test_name@
 
+dataman status
+dataman stop
+
 shutdown

src/firmware/posix/sitl_tests.cmake

@@ -9,6 +9,7 @@ set(tests
 	commander
 	controllib
 	conv
+	dataman
 	file2
 	float
 	gpio
@@ -51,6 +52,7 @@ foreach(test_name ${tests})
 			${PX4_BINARY_DIR}
 			WORKING_DIRECTORY ${SITL_WORKING_DIR})
 
+	set_tests_properties(${test_name} PROPERTIES FAIL_REGULAR_EXPRESSION "${test_name} FAILED")
 	set_tests_properties(${test_name} PROPERTIES PASS_REGULAR_EXPRESSION "${test_name} PASSED")
 endforeach()
 

src/systemcmds/tests/CMakeLists.txt

@@ -34,7 +34,7 @@
 set(srcs
 	test_adc.c
 	test_autodeclination.cpp
-#	test_dataman.c # Enable for by hand testing
+	test_dataman.c
 	test_hysteresis.cpp
 	test_bson.c
 	test_conv.cpp

src/systemcmds/tests/test_dataman.c

@@ -61,61 +61,64 @@
 static px4_sem_t *sems;
 int test_dataman(int argc, char *argv[]);
 
+#define NUM_MISSIONS_TEST 50
 
 static int
 task_main(int argc, char *argv[])
 {
 	char buffer[DM_MAX_DATA_SIZE];
-	hrt_abstime wstart, wend, rstart, rend;
 
-	warnx("Starting dataman test task %s", argv[1]);
+	PX4_INFO("Starting dataman test task %s", argv[1]);
 	/* try to read an invalid item */
 	int my_id = atoi(argv[1]);
 
 	/* try to read an invalid item */
 	if (dm_read(DM_KEY_NUM_KEYS, 0, buffer, sizeof(buffer)) >= 0) {
-		warnx("%d read an invalid item failed", my_id);
+		PX4_ERR("%d read an invalid item failed", my_id);
 		goto fail;
 	}
 
 	/* try to read an invalid index */
 	if (dm_read(DM_KEY_SAFE_POINTS, DM_KEY_SAFE_POINTS_MAX, buffer, sizeof(buffer)) >= 0) {
-		warnx("%d read an invalid index failed", my_id);
+		PX4_ERR("%d read an invalid index failed", my_id);
 		goto fail;
 	}
 
 	srand(hrt_absolute_time() ^ my_id);
 	unsigned hit = 0, miss = 0;
-	wstart = hrt_absolute_time();
+	hrt_abstime wstart = hrt_absolute_time();
 
-	for (unsigned i = 0; i < NUM_MISSIONS_SUPPORTED; i++) {
+	for (unsigned i = 0; i < NUM_MISSIONS_TEST; i++) {
 		memset(buffer, my_id, sizeof(buffer));
 		buffer[1] = i;
 		unsigned hash = i ^ my_id;
 		unsigned len = (hash % (DM_MAX_DATA_SIZE / 2)) + 2;
 
 		int ret = dm_write(DM_KEY_WAYPOINTS_OFFBOARD_1, hash, DM_PERSIST_IN_FLIGHT_RESET, buffer, len);
-		warnx("ret: %d", ret);
+		//PX4_INFO("ret: %d", ret);
 
 		if (ret != len) {
-			warnx("%d write failed, index %d, length %d", my_id, hash, len);
+			PX4_WARN("task %d: write failed, index %d, length %d", my_id, hash, len);
 			goto fail;
 		}
 
+		if (i % (NUM_MISSIONS_TEST / 10) == 0) {
+			PX4_INFO("task %d: %.0f%%", my_id, (double)i * 100.0f / NUM_MISSIONS_TEST);
+		}
+
 		usleep(rand() & ((64 * 1024) - 1));
 	}
 
-	rstart = hrt_absolute_time();
+	hrt_abstime rstart = hrt_absolute_time();
-	wend = rstart;
+	hrt_abstime wend = rstart;
 
-	for (unsigned i = 0; i < NUM_MISSIONS_SUPPORTED; i++) {
+	for (unsigned i = 0; i < NUM_MISSIONS_TEST; i++) {
 		unsigned hash = i ^ my_id;
 		unsigned len2;
 		unsigned len = (hash % (DM_MAX_DATA_SIZE / 2)) + 2;
-		;
 
 		if ((len2 = dm_read(DM_KEY_WAYPOINTS_OFFBOARD_1, hash, buffer, sizeof(buffer))) < 2) {
-			warnx("%d read failed length test, index %d", my_id, hash);
+			PX4_WARN("task %d: read failed length test, index %d", my_id, hash);
 			goto fail;
 		}
 
@@ -123,12 +126,12 @@ task_main(int argc, char *argv[])
 			hit++;
 
 			if (len2 != len) {
-				warnx("%d read failed length test, index %d, wanted %d, got %d", my_id, hash, len, len2);
+				PX4_WARN("task %d: read failed length test, index %d, wanted %d, got %d", my_id, hash, len, len2);
 				goto fail;
 			}
 
 			if (buffer[1] != i) {
-				warnx("%d data verification failed, index %d, wanted %d, got %d", my_id, hash, my_id, buffer[1]);
+				PX4_WARN("task %d: data verification failed, index %d, wanted %d, got %d", my_id, hash, my_id, buffer[1]);
 				goto fail;
 			}
 
@@ -137,21 +140,23 @@ task_main(int argc, char *argv[])
 		}
 	}
 
-	rend = hrt_absolute_time();
+	hrt_abstime rend = hrt_absolute_time();
-	warnx("Test %d pass, hit %d, miss %d, io time read %llums. write %llums.",
+	PX4_INFO("task %d pass, hit %d, miss %d, io time read %llums. write %llums.",
-	      my_id, hit, miss, (rend - rstart) / NUM_MISSIONS_SUPPORTED / 1000, (wend - wstart) / NUM_MISSIONS_SUPPORTED / 1000);
+		 my_id, hit, miss, (rend - rstart) / NUM_MISSIONS_TEST / 1000, (wend - wstart) / NUM_MISSIONS_TEST / 1000);
 	px4_sem_post(sems + my_id);
 	return 0;
+
 fail:
-	warnx("Test %d fail, buffer %02x %02x %02x %02x %02x %02x",
+	PX4_ERR("test_dataman FAILED: task %d, buffer %02x %02x %02x %02x %02x %02x",
-	      my_id, buffer[0], buffer[1], buffer[2], buffer[3], buffer[4], buffer[5]);
+		my_id, buffer[0], buffer[1], buffer[2], buffer[3], buffer[4], buffer[5]);
 	px4_sem_post(sems + my_id);
 	return -1;
 }
 
 int test_dataman(int argc, char *argv[])
 {
-	int i, num_tasks = 4;
+	int i = 0;
+	unsigned num_tasks = 4;
 	char buffer[DM_MAX_DATA_SIZE];
 
 	if (argc > 1) {
@@ -159,22 +164,23 @@ int test_dataman(int argc, char *argv[])
 	}
 
 	sems = (px4_sem_t *)malloc(num_tasks * sizeof(px4_sem_t));
-	warnx("Running %d tasks", num_tasks);
+	PX4_INFO("Running %d tasks", num_tasks);
 
 	for (i = 0; i < num_tasks; i++) {
 		int task;
+
 		char a[16];
-		sprintf(a, "%d", i);
+		snprintf(a, 16, "%d", i);
-		const char *av[2];
+
-		av[0] = a;
+		char *av[] = {"tests_dataman", a, NULL};
-		av[1] = 0;
+
 		px4_sem_init(sems + i, 1, 0);
 		/* sems use case is a signal */
-		px4_sem_setprotocol(&sems, SEM_PRIO_NONE);
+		px4_sem_setprotocol(sems, SEM_PRIO_NONE);
 
 		/* start the task */
-		if ((task = px4_task_spawn_cmd("dataman", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 2048, task_main, (void *)av)) <= 0) {
+		if ((task = px4_task_spawn_cmd("dataman", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 2048, task_main, av)) <= 0) {
-			warn("task start failed");
+			PX4_ERR("task start failed");
 		}
 	}
 
@@ -186,23 +192,23 @@ int test_dataman(int argc, char *argv[])
 	free(sems);
 	dm_restart(DM_INIT_REASON_IN_FLIGHT);
 
-	for (i = 0; i < NUM_MISSIONS_SUPPORTED; i++) {
+	for (i = 0; i < NUM_MISSIONS_TEST; i++) {
 		if (dm_read(DM_KEY_WAYPOINTS_OFFBOARD_1, i, buffer, sizeof(buffer)) != 0) {
 			break;
 		}
 	}
 
-	if (i >= NUM_MISSIONS_SUPPORTED) {
+	if (i >= NUM_MISSIONS_TEST) {
-		warnx("Restart in-flight failed");
+		PX4_ERR("Restart in-flight failed");
 		return -1;
 
 	}
 
 	dm_restart(DM_INIT_REASON_POWER_ON);
 
-	for (i = 0; i < NUM_MISSIONS_SUPPORTED; i++) {
+	for (i = 0; i < NUM_MISSIONS_TEST; i++) {
 		if (dm_read(DM_KEY_WAYPOINTS_OFFBOARD_1, i, buffer, sizeof(buffer)) != 0) {
-			warnx("Restart power-on failed");
+			PX4_ERR("Restart power-on failed");
 			return -1;
 		}
 	}

src/systemcmds/tests/tests_main.c

@@ -104,7 +104,7 @@ const struct {
 	{"autodeclination",	test_autodeclination,	0},
 	{"bson",		test_bson,	0},
 	{"conv",		test_conv, 0},
-	//{"dataman",		test_dataman, OPT_NOJIGTEST | OPT_NOALLTEST}, // Enable for by hand testing
+	{"dataman",		test_dataman, OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"file2",		test_file2,	OPT_NOJIGTEST},
 	{"float",		test_float,	0},
 	{"gpio",		test_gpio,	OPT_NOJIGTEST | OPT_NOALLTEST},