make vcdevtest a generic cdev test

src/lib/cdev/CMakeLists.txt

@@ -47,3 +47,7 @@ px4_add_library(cdev
 	CDev.cpp
 	${SRCS_PLATFORM}
 	)
+
+if(PX4_TESTING)
+	add_subdirectory(test)
+endif()

src/lib/cdev/test/CMakeLists.txt

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 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.
+#
+############################################################################
+
+px4_add_module(
+	MODULE lib__cdev__test__cdev_test
+	MAIN cdev_test
+	SRCS
+		cdevtest_example.cpp
+		cdevtest_main.cpp
+		cdevtest_start.cpp
+	DEPENDS
+		cdev
+	)

src/lib/cdev/test/cdevtest_example.cpp

@@ -0,0 +1,331 @@
+
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file cdevtest_example.cpp
+ * Example for Linux
+ *
+ * @author Mark Charlebois <charlebm@gmail.com>
+ */
+
+#include "cdevtest_example.h"
+
+#include <px4_tasks.h>
+#include <px4_time.h>
+#include <drivers/drv_device.h>
+#include <lib/cdev/CDev.hpp>
+#include <unistd.h>
+#include <stdio.h>
+
+px4::AppState CDevExample::appState;
+
+#define TESTDEV "/dev/cdevtest"
+
+static bool g_exit = false;
+
+static int writer_main(int argc, char *argv[])
+{
+	char buf[1];
+
+	int fd = px4_open(TESTDEV, PX4_F_WRONLY);
+
+	if (fd < 0) {
+		PX4_INFO("Writer: Open failed %d", fd);
+		return PX4_ERROR;
+	}
+
+	int ret = 0;
+	int i = 0;
+
+	while (!g_exit) {
+		// Wait for 2 seconds
+		PX4_INFO("Writer: Sleeping for 2 sec");
+		ret = sleep(2);
+
+		if (ret < 0) {
+			PX4_INFO("Writer: sleep failed %d %d", ret, errno);
+			return ret;
+		}
+
+		buf[0] = 'A' + (char)(i % 26);
+		PX4_INFO("Writer: writing char '%c'", buf[0]);
+		ret = px4_write(fd, buf, 1);
+		++i;
+	}
+
+	px4_close(fd);
+	PX4_INFO("Writer: stopped");
+	return ret;
+}
+
+class PrivData
+{
+public:
+	PrivData() : _read_offset(0) {}
+	~PrivData() = default;
+
+	size_t _read_offset;
+};
+
+class CDevNode : public cdev::CDev
+{
+public:
+	CDevNode() :
+		CDev(TESTDEV),
+		_is_open_for_write(false),
+		_write_offset(0) {}
+
+	~CDevNode() = default;
+
+	virtual int open(cdev::file_t *handlep);
+	virtual int close(cdev::file_t *handlep);
+	virtual ssize_t write(cdev::file_t *handlep, const char *buffer, size_t buflen);
+	virtual ssize_t read(cdev::file_t *handlep, char *buffer, size_t buflen);
+private:
+	bool _is_open_for_write;
+	size_t _write_offset;
+	char     _buf[1000];
+};
+
+int CDevNode::open(cdev::file_t *handlep)
+{
+	// Only allow one writer
+	if (_is_open_for_write && (handlep->f_oflags & PX4_F_WRONLY)) {
+		errno = EBUSY;
+		return -1;
+	}
+
+	int ret = CDev::open(handlep);
+
+	if (ret != 0) {
+		return ret;
+	}
+
+	handlep->f_priv = new PrivData;
+
+	if (_is_open_for_write && (handlep->f_oflags & PX4_F_WRONLY)) {
+		_is_open_for_write = true;
+	}
+
+	return 0;
+}
+
+int CDevNode::close(cdev::file_t *handlep)
+{
+	delete (PrivData *)handlep->f_priv;
+	handlep->f_priv = nullptr;
+	CDev::close(handlep);
+
+	// Enable a new writer of the device is re-opened for write
+	if ((handlep->f_oflags & PX4_F_WRONLY) && _is_open_for_write) {
+		_is_open_for_write = false;
+	}
+
+	return 0;
+}
+
+ssize_t CDevNode::write(cdev::file_t *handlep, const char *buffer, size_t buflen)
+{
+	for (size_t i = 0; i < buflen && _write_offset < 1000; i++) {
+		_buf[_write_offset] = buffer[i];
+		_write_offset++;
+	}
+
+	// ignore what was written, but let pollers know something was written
+	poll_notify(POLLIN);
+
+	return buflen;
+}
+
+ssize_t CDevNode::read(cdev::file_t *handlep, char *buffer, size_t buflen)
+{
+	PrivData *p = (PrivData *)handlep->f_priv;
+	ssize_t chars_read = 0;
+	PX4_INFO("read %zu write %zu", p->_read_offset, _write_offset);
+
+	for (size_t i = 0; i < buflen && (p->_read_offset < _write_offset); i++) {
+		buffer[i] = _buf[p->_read_offset];
+		p->_read_offset++;
+		chars_read++;
+	}
+
+	return chars_read;
+}
+
+CDevExample::~CDevExample()
+{
+	if (_node) {
+		delete _node;
+		_node = nullptr;
+	}
+}
+
+int CDevExample::do_poll(int fd, int timeout, int iterations, int delayms_after_poll)
+{
+	int pollret, readret;
+	int loop_count = 0;
+	char readbuf[10];
+	px4_pollfd_struct_t fds[1];
+
+	fds[0].fd = fd;
+	fds[0].events = POLLIN;
+	fds[0].revents = 0;
+
+	bool mustblock = (timeout < 0);
+
+	// Test indefinte blocking poll
+	while ((!appState.exitRequested()) && (loop_count < iterations)) {
+		pollret = px4_poll(fds, 1, timeout);
+
+		if (pollret < 0) {
+			PX4_ERR("Reader: px4_poll failed %d FAIL", pollret);
+			goto fail;
+		}
+
+		PX4_INFO("Reader: px4_poll returned %d", pollret);
+
+		if (pollret) {
+			readret = px4_read(fd, readbuf, 10);
+
+			if (readret != 1) {
+				if (mustblock) {
+					PX4_ERR("Reader:     read failed %d FAIL", readret);
+					goto fail;
+
+				} else {
+					PX4_INFO("Reader:     read failed %d FAIL", readret);
+				}
+
+			} else {
+				readbuf[readret] = '\0';
+				PX4_INFO("Reader: px4_poll     returned %d, read '%s' PASS", pollret, readbuf);
+			}
+		}
+
+		if (delayms_after_poll) {
+			usleep(delayms_after_poll * 1000);
+		}
+
+		loop_count++;
+	}
+
+	return 0;
+fail:
+	return 1;
+}
+int CDevExample::main()
+{
+	appState.setRunning(true);
+
+	_node = new CDevNode();
+
+	if (_node == nullptr) {
+		PX4_INFO("Failed to allocate CDevNode");
+		return -ENOMEM;
+	}
+
+	if (_node->init() != PX4_OK) {
+		PX4_INFO("Failed to init CDevNode");
+		return 1;
+	}
+
+	int fd = px4_open(TESTDEV, PX4_F_RDONLY);
+
+	if (fd < 0) {
+		PX4_INFO("Open failed %d", fd);
+		return PX4_ERROR;
+	}
+
+	// Start a task that will write something in 4 seconds
+	(void)px4_task_spawn_cmd("writer",
+				 SCHED_DEFAULT,
+				 SCHED_PRIORITY_MAX - 6,
+				 2000,
+				 writer_main,
+				 (char *const *)nullptr);
+
+	int ret = 0;
+
+	PX4_INFO("TEST: BLOCKING POLL ---------------");
+
+	if (do_poll(fd, -1, 3, 0)) {
+		ret = 1;
+		goto fail2;
+	}
+
+	PX4_INFO("TEST: ZERO TIMEOUT POLL -----------");
+
+	if (do_poll(fd, 0, 3, 0)) {
+		ret = 1;
+		goto fail2;
+		goto fail2;
+	}
+
+	PX4_INFO("TEST: ZERO TIMEOUT POLL -----------");
+
+	if (do_poll(fd, 0, 3, 0)) {
+		ret = 1;
+		goto fail2;
+		goto fail2;
+	}
+
+	PX4_INFO("TEST: ZERO TIMEOUT POLL -----------");
+
+	if (do_poll(fd, 0, 3, 0)) {
+		ret = 1;
+		goto fail2;
+	}
+
+	PX4_INFO("TEST: 100ms TIMEOUT POLL -----------");
+
+	if (do_poll(fd, 0, 30, 100)) {
+		ret = 1;
+		goto fail2;
+	}
+
+	PX4_INFO("TEST: 1 SEC TIMOUT POLL ------------");
+
+	if (do_poll(fd, 1000, 3, 0)) {
+		ret = 1;
+		goto fail2;
+	}
+
+	PX4_INFO("TEST: waiting for writer to stop");
+fail2:
+	g_exit = true;
+	px4_close(fd);
+	PX4_INFO("TEST: waiting for writer to stop");
+	sleep(3);
+	return ret;
+}

src/lib/cdev/test/cdevtest_example.h

@@ -0,0 +1,61 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vcdevtest_example.h
+ * Example app for Linux
+ *
+ * @author Mark Charlebois <charlebm@gmail.com>
+ */
+#pragma once
+
+#include <px4_app.h>
+
+class CDevNode;
+
+class CDevExample
+{
+public:
+	CDevExample() : _node(0) {}
+
+	~CDevExample();
+
+	int main();
+
+	static px4::AppState appState; /* track requests to terminate app */
+
+private:
+	int do_poll(int fd, int timeout, int iterations, int delayms_after_poll);
+
+	CDevNode *_node;
+};

src/lib/cdev/test/cdevtest_main.cpp

@@ -0,0 +1,56 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file cdevtest_main.cpp
+ * Example for Linux
+ *
+ * @author Mark Charlebois <charlebm@gmail.com>
+ */
+#include "cdevtest_example.h"
+
+#include <px4_middleware.h>
+#include <px4_app.h>
+#include <stdio.h>
+
+int PX4_MAIN(int argc, char **argv)
+{
+	px4::init(argc, argv, "cdevtest");
+
+	printf("cdevtest\n");
+	CDevExample cdevtest;
+	cdevtest.main();
+
+	printf("goodbye\n");
+	return 0;
+}

src/lib/cdev/test/cdevtest_start.cpp

@@ -0,0 +1,96 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file cdevtest_start.cpp
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ * @author Mark Charlebois <mcharleb@gmail.com>
+ */
+#include "cdevtest_example.h"
+
+#include <px4_app.h>
+#include <px4_tasks.h>
+#include <stdio.h>
+#include <string.h>
+
+static int daemon_task;             /* Handle of deamon task / thread */
+
+//using namespace px4;
+
+extern "C" __EXPORT int cdev_test_main(int argc, char *argv[]);
+int cdev_test_main(int argc, char *argv[])
+{
+
+	if (argc < 2) {
+		printf("usage: cdevtest {start|stop|status}\n");
+		return 1;
+	}
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (CDevExample::appState.isRunning()) {
+			printf("already running\n");
+			/* this is not an error */
+			return 0;
+		}
+
+		daemon_task = px4_task_spawn_cmd("cdevtest",
+						 SCHED_DEFAULT,
+						 SCHED_PRIORITY_MAX - 5,
+						 2000,
+						 PX4_MAIN,
+						 (argv) ? (char *const *)&argv[2] : (char *const *)nullptr);
+
+		return 0;
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		CDevExample::appState.requestExit();
+		return 0;
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (CDevExample::appState.isRunning()) {
+			printf("is running\n");
+
+		} else {
+			printf("not started\n");
+		}
+
+		return 0;
+	}
+
+	printf("usage: cdevtest_main {start|stop|status}\n");
+	return 1;
+}