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Start of poll testcase

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Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-09-16 08:14:44 -07:00
parent 683df0eb46
commit c602d55df9
2 changed files with 65 additions and 15 deletions
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makefiles/posix/config_posix_sitl.mk
+1 -1
View File
@@ -97,7 +97,7 @@ MODULES += platforms/posix/drivers/gpssim
# Unit tests # Unit tests
# #
#MODULES += platforms/posix/tests/hello #MODULES += platforms/posix/tests/hello
#MODULES += platforms/posix/tests/vcdev_test MODULES += platforms/posix/tests/vcdev_test
#MODULES += platforms/posix/tests/hrt_test #MODULES += platforms/posix/tests/hrt_test
#MODULES += platforms/posix/tests/wqueue #MODULES += platforms/posix/tests/wqueue
src/platforms/posix/tests/vcdev_test/vcdevtest_example.cpp
+64 -14
View File
@@ -55,7 +55,7 @@ using namespace device;
static int writer_main(int argc, char *argv[]) static int writer_main(int argc, char *argv[])
{ {
char buf[1] = { '1' }; char buf[1];
int fd = px4_open(TESTDEV, PX4_F_RDONLY); int fd = px4_open(TESTDEV, PX4_F_RDONLY);
if (fd < 0) { if (fd < 0) {
@@ -66,15 +66,16 @@ static int writer_main(int argc, char *argv[])
int ret; int ret;
int i=0; int i=0;
while (i<3) { while (i<3) {
// Wait for 3 seconds // Wait for 4 seconds
PX4_INFO("--- Sleeping for 4 sec\n"); PX4_INFO("Writer: Sleeping for 4 sec\n");
ret = sleep(4); ret = sleep(4);
if (ret < 0) { if (ret < 0) {
PX4_INFO("--- sleep failed %d %d\n", ret, errno); PX4_INFO("Writer: sleep failed %d %d\n", ret, errno);
return ret; return ret;
} }
PX4_INFO("--- writing to fd\n"); PX4_INFO("Writer: writing to fd\n");
buf[0] = 'A'+(char)(i % 26);
ret = px4_write(fd, buf, 1); ret = px4_write(fd, buf, 1);
++i; ++i;
} }
@@ -89,6 +90,11 @@ public:
~VCDevNode() {} ~VCDevNode() {}
virtual ssize_t write(device::file_t *handlep, const char *buffer, size_t buflen); virtual ssize_t write(device::file_t *handlep, const char *buffer, size_t buflen);
virtual ssize_t read(device::file_t *handlep, const char *buffer, size_t buflen);
private:
uint32_t _read_offset;
uint32_t _write_offset;
char _buf[1000];
}; };
ssize_t VCDevNode::write(device::file_t *handlep, const char *buffer, size_t buflen) ssize_t VCDevNode::write(device::file_t *handlep, const char *buffer, size_t buflen)
@@ -96,6 +102,21 @@ ssize_t VCDevNode::write(device::file_t *handlep, const char *buffer, size_t buf
// ignore what was written, but let pollers know something was written // ignore what was written, but let pollers know something was written
poll_notify(POLLIN); poll_notify(POLLIN);
for (int i=0; i<buflen && _write_offset<1000; i++) {
_buf[_write_offset] = buffer[i];
_write_offset++;
}
return buflen;
}
ssize_t VCDevNode::read(device::file_t *handlep, const char *buffer, size_t buflen)
{
for (int i=0; i<buflen && _read_offset<_write_offset; i++) {
buffer[i] = _buf[_read_offset];
_read_offset++;
}
return buflen; return buflen;
} }
@@ -165,7 +186,7 @@ int VCDevExample::main()
int i=0; int i=0;
px4_pollfd_struct_t fds[1]; px4_pollfd_struct_t fds[1];
// Start a task that will write something in 3 seconds // Start a task that will write something in 4 seconds
(void)px4_task_spawn_cmd("writer", (void)px4_task_spawn_cmd("writer",
SCHED_DEFAULT, SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 6, SCHED_PRIORITY_MAX - 6,
@@ -175,39 +196,68 @@ int VCDevExample::main()
while (!appState.exitRequested() && i<13) { while (!appState.exitRequested() && i<13) {
PX4_INFO("=====================\n"); PX4_INFO("=====================\n");
PX4_INFO("==== sleeping 2 sec ====\n"); PX4_INFO("Reader: sleeping 2 sec\n");
sleep(2); sleep(2);
fds[0].fd = fd; fds[0].fd = fd;
fds[0].events = POLLIN; fds[0].events = POLLIN;
fds[0].revents = 0; fds[0].revents = 0;
PX4_INFO("==== Calling Poll\n"); PX4_INFO("Reader: Calling px4_poll with 1 sec wait\n");
ret = px4_poll(fds, 1, 1000); ret = px4_poll(fds, 1, 1000);
PX4_INFO("==== Done poll\n"); PX4_INFO("Reader: Done px4_poll\n");
if (ret < 0) { if (ret < 0) {
PX4_INFO("==== poll failed %d %d\n", ret, px4_errno); PX4_INFO("Reader: px4_poll failed %d %d\n", ret, px4_errno);
px4_close(fd); px4_close(fd);
} }
else if (i > 0) { else if (i > 0) {
if (ret == 0) { if (ret == 0) {
PX4_INFO("==== Nothing to read - PASS\n"); PX4_INFO("Reader: Nothing to read - PASS\n");
} }
else { else {
PX4_INFO("==== poll returned %d\n", ret); PX4_INFO("Reader: poll returned %d\n", ret);
} }
} }
else if (i == 0) { else if (i == 0) {
if (ret == 1) { if (ret == 1) {
PX4_INFO("==== %d to read - %s\n", ret, fds[0].revents & POLLIN ? "PASS" : "FAIL"); PX4_INFO("Reader: %d to read - %s\n", ret, fds[0].revents & POLLIN ? "PASS" : "FAIL");
} }
else { else {
PX4_INFO("==== %d to read - FAIL\n", ret); PX4_INFO("Reader: %d to read - FAIL\n", ret);
} }
} }
++i; ++i;
} }
i=0;
while (!appState.exitRequested() && i<13) {
PX4_INFO("=====================\n");
PX4_INFO("Reader: sleeping 2 sec ====\n");
sleep(2);
fds[0].fd = fd;
fds[0].events = POLLIN;
fds[0].revents = 0;
PX4_INFO("Reader: Calling px4_poll with 0 timeout\n");
ret = px4_poll(fds, 1, 0);
PX4_INFO("Reader: Done px4_poll\n");
if (ret < 0) {
PX4_INFO("Reader: px4_poll failed %d %d\n", ret, px4_errno);
px4_close(fd);
}
if (ret == 0) {
PX4_INFO("Reader: Nothing to read - PASS\n");
}
if (ret == 1) {
PX4_INFO("Reader: %d to read - %s\n", ret, fds[0].revents & POLLIN ? "PASS" : "FAIL");
}
else {
PX4_INFO("Reader: %d to read - FAIL\n", ret);
}
++i;
}
px4_close(fd); px4_close(fd);
return 0; return 0;