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uORB: More timing tests.

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This commit is contained in:
Lorenz Meier 2015-02-26 17:59:47 +01:00
parent 3355d77e1f
commit 677bfddcb6
1 changed files with 50 additions and 4 deletions
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54
src/modules/uORB/uORB.cpp
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@ -684,6 +684,8 @@ namespace
ORBDevMaster *g_dev;
bool pubsubtest_passed = false;
bool pubsubtest_print = false;
int pubsubtest_res = OK;
struct orb_test {
int val;
@ -736,7 +738,9 @@ int pubsublatency_main(void)
struct orb_test t;
const unsigned maxruns = 10;
const unsigned maxruns = 1000;
unsigned *timings = new unsigned[maxruns];
for (unsigned i = 0; i < maxruns; i++) {
/* wait for up to 500ms for data */
@ -750,17 +754,34 @@ int pubsublatency_main(void)
hrt_abstime elt = hrt_elapsed_time(&t.time);
latency_integral += elt;
timings[i] = elt;
}
orb_unsubscribe(test_multi_sub);
if (pubsubtest_print) {
for (unsigned i = 0; i < maxruns; i++) {
printf("%u\n", timings[i]);
}
}
delete[] timings;
warnx("mean: %8.4f", static_cast<double>(latency_integral / maxruns));
pubsubtest_passed = true;
return OK;
if (static_cast<float>(latency_integral / maxruns) > 30.0f) {
pubsubtest_res = ERROR;
} else {
pubsubtest_res = OK;
}
return pubsubtest_res;
}
int latency_test(bool print);
int
test()
{
@ -874,6 +895,25 @@ test()
if (prio != ORB_PRIO_MIN)
return test_fail("prio: %d", prio);
if (OK != latency_test(false))
return test_fail("latency test failed");
return test_note("PASS");
}
int
latency_test(bool print)
{
struct orb_test t;
t.val = 308;
t.time = hrt_absolute_time();
int pfd0 = orb_advertise(ORB_ID(orb_multitest), &t);
pubsubtest_print = print;
pubsubtest_passed = false;
/* test pub / sub latency */
int pubsub_task = task_spawn_cmd("uorb_latency",
@ -885,7 +925,7 @@ test()
/* give the test task some data */
while (!pubsubtest_passed) {
t.val = 303;
t.val = 308;
t.time = hrt_absolute_time();
if (OK != orb_publish(ORB_ID(orb_multitest), pfd0, &t))
return test_fail("mult. pub0 timing fail");
@ -898,7 +938,7 @@ test()
return test_fail("failed launching task");
}
return test_note("PASS");
return pubsubtest_res;
}
int
@ -955,6 +995,12 @@ uorb_main(int argc, char *argv[])
if (!strcmp(argv[1], "test"))
return test();
/*
* Test the latency.
*/
if (!strcmp(argv[1], "latency_test"))
return latency_test(true);
/*
* Print driver information.
*/