mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-02 03:00:35 +08:00
Merge remote-tracking branch 'jean-m-cyr/master' into navigator_wip
This commit is contained in:
Julian Oes
@@ -24,6 +24,9 @@ SRCS = test_adc.c \
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test_uart_loopback.c \
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test_uart_send.c \
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test_mixer.cpp \
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test_dataman.c \
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tests_file.c \
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tests_main.c \
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tests_param.c
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INCLUDE_DIRS += $(MAVLINK_SRC)/include/mavlink
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@@ -0,0 +1,179 @@
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/****************************************************************************
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* px4/sensors/test_dataman.c
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*
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* Copyright (C) 2012 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 NuttX 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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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <sys/types.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <errno.h>
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#include <debug.h>
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#include <arch/board/board.h>
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#include <drivers/drv_led.h>
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#include <systemlib/systemlib.h>
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#include <drivers/drv_hrt.h>
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#include <semaphore.h>
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#include "tests.h"
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#include "dataman/dataman.h"
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static sem_t *sems;
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static int
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task_main(int argc, char *argv[])
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{
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char buffer[DM_MAX_DATA_SIZE];
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hrt_abstime wstart, wend, rstart, rend;
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warnx("Starting dataman test task %s", argv[1]);
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/* try to read an invalid item */
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int my_id = atoi(argv[1]);
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/* try to read an invalid item */
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if (dm_read(DM_KEY_NUM_KEYS, 0, buffer, sizeof(buffer)) >= 0) {
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warnx("%d read an invalid item failed", my_id);
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goto fail;
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}
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/* try to read an invalid index */
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if (dm_read(DM_KEY_SAFE_POINTS, DM_KEY_SAFE_POINTS_MAX, buffer, sizeof(buffer)) >= 0) {
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warnx("%d read an invalid index failed", my_id);
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goto fail;
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}
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srand(hrt_absolute_time() ^ my_id);
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unsigned hit = 0, miss = 0;
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wstart = hrt_absolute_time();
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for (unsigned i = 0; i < 256; i++) {
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memset(buffer, my_id, sizeof(buffer));
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buffer[1] = i;
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unsigned hash = i ^ my_id;
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unsigned len = (hash & 63) + 2;
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if (dm_write(DM_KEY_WAY_POINTS, hash, DM_PERSIST_IN_FLIGHT_RESET, buffer, len) != len) {
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warnx("%d write failed, index %d, length %d", my_id, hash, len);
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goto fail;
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}
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usleep(rand() & ((64 * 1024) - 1));
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}
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rstart = hrt_absolute_time();
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wend = rstart;
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for (unsigned i = 0; i < 256; i++) {
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unsigned hash = i ^ my_id;
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unsigned len2, len = (hash & 63) + 2;
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if ((len2 = dm_read(DM_KEY_WAY_POINTS, hash, buffer, sizeof(buffer))) < 2) {
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warnx("%d read failed length test, index %d", my_id, hash);
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goto fail;
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}
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if (buffer[0] == my_id) {
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hit++;
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if (len2 != len) {
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warnx("%d read failed length test, index %d, wanted %d, got %d", my_id, hash, len, len2);
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goto fail;
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}
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if (buffer[1] != i) {
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warnx("%d data verification failed, index %d, wanted %d, got %d", my_id, hash, my_id, buffer[1]);
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goto fail;
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}
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}
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else
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miss++;
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}
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rend = hrt_absolute_time();
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warnx("Test %d pass, hit %d, miss %d, io time read %llums. write %llums.",
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my_id, hit, miss, (rend - rstart) / 256000, (wend - wstart) / 256000);
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sem_post(sems + my_id);
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return 0;
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fail:
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warnx("Test %d fail, buffer %02x %02x %02x %02x %02x %02x",
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my_id, buffer[0], buffer[1], buffer[2], buffer[3], buffer[4], buffer[5]);
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sem_post(sems + my_id);
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return -1;
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}
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int test_dataman(int argc, char *argv[])
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{
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int i, num_tasks = 4;
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char buffer[DM_MAX_DATA_SIZE];
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if (argc > 1)
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num_tasks = atoi(argv[1]);
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sems = (sem_t *)malloc(num_tasks * sizeof(sem_t));
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warnx("Running %d tasks", num_tasks);
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for (i = 0; i < num_tasks; i++) {
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int task;
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char a[16];
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sprintf(a, "%d", i);
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const char *av[2];
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av[0] = a;
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av[1] = 0;
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sem_init(sems + i, 1, 0);
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/* start the task */
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if ((task = task_spawn_cmd("dataman", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 2048, task_main, av)) <= 0) {
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warn("task start failed");
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}
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}
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for (i = 0; i < num_tasks; i++) {
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sem_wait(sems + i);
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sem_destroy(sems + i);
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}
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free(sems);
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dm_restart(DM_INIT_REASON_IN_FLIGHT);
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for (i = 0; i < 256; i++) {
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if (dm_read(DM_KEY_WAY_POINTS, i, buffer, sizeof(buffer)) != 0)
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break;
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}
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if (i >= 256) {
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warnx("Restart in-flight failed");
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return -1;
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}
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dm_restart(DM_INIT_REASON_POWER_ON);
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for (i = 0; i < 256; i++) {
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if (dm_read(DM_KEY_WAY_POINTS, i, buffer, sizeof(buffer)) != 0) {
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warnx("Restart power-on failed");
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return -1;
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}
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}
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return 0;
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}
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@@ -101,6 +101,7 @@ extern int test_param(int argc, char *argv[]);
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extern int test_bson(int argc, char *argv[]);
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extern int test_file(int argc, char *argv[]);
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extern int test_mixer(int argc, char *argv[]);
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extern int test_dataman(int argc, char *argv[]);
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__END_DECLS
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@@ -112,6 +112,7 @@ const struct {
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{"file", test_file, 0},
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{"mixer", test_mixer, OPT_NOJIGTEST | OPT_NOALLTEST},
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{"help", test_help, OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST},
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{"dataman", test_dataman, OPT_NOALLTEST},
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{NULL, NULL, 0}
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};
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