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uORB: Major refactoring
uORB was refactored in order to support the MuORB changes required for QURT. Those changes wil be added in a subsequent commit. The files are split out by posix and nuttx so the changes are visible. When this has been tested, the files can be re-merged and re-tested. Signed-off-by: Mark Charlebois <charlebm@gmail.com>
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Mark Charlebois
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/****************************************************************************
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*
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* Copyright (c) 2012-2015 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 PX4 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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#include "uORBTest_UnitTest.hpp"
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#include "uORBCommon.hpp"
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#include <px4_config.h>
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#include <px4_time.h>
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int uORBTest::UnitTest::pubsublatency_main(void)
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{
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/* poll on test topic and output latency */
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float latency_integral = 0.0f;
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/* wakeup source(s) */
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px4_pollfd_struct_t fds[3];
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int test_multi_sub = orb_subscribe_multi(ORB_ID(orb_test), 0);
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int test_multi_sub_medium = orb_subscribe_multi(ORB_ID(orb_test_medium), 0);
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int test_multi_sub_large = orb_subscribe_multi(ORB_ID(orb_test_large), 0);
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struct orb_test_large t;
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/* clear all ready flags */
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orb_copy(ORB_ID(orb_test), test_multi_sub, &t);
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orb_copy(ORB_ID(orb_test_medium), test_multi_sub_medium, &t);
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orb_copy(ORB_ID(orb_test_large), test_multi_sub_large, &t);
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fds[0].fd = test_multi_sub;
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fds[0].events = POLLIN;
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fds[1].fd = test_multi_sub_medium;
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fds[1].events = POLLIN;
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fds[2].fd = test_multi_sub_large;
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fds[2].events = POLLIN;
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const unsigned maxruns = 1000;
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unsigned timingsgroup = 0;
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unsigned *timings = new unsigned[maxruns];
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for (unsigned i = 0; i < maxruns; i++) {
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/* wait for up to 500ms for data */
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int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 500);
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if (fds[0].revents & POLLIN) {
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orb_copy(ORB_ID(orb_test), test_multi_sub, &t);
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timingsgroup = 0;
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} else if (fds[1].revents & POLLIN) {
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orb_copy(ORB_ID(orb_test_medium), test_multi_sub_medium, &t);
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timingsgroup = 1;
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} else if (fds[2].revents & POLLIN) {
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orb_copy(ORB_ID(orb_test_large), test_multi_sub_large, &t);
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timingsgroup = 2;
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}
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if (pret < 0) {
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warn("poll error %d, %d", pret, errno);
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continue;
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}
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hrt_abstime elt = hrt_elapsed_time(&t.time);
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latency_integral += elt;
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timings[i] = elt;
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}
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orb_unsubscribe(test_multi_sub);
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orb_unsubscribe(test_multi_sub_medium);
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orb_unsubscribe(test_multi_sub_large);
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if (pubsubtest_print) {
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char fname[32];
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//sprintf(fname, "/fs/microsd/timings%u.txt", timingsgroup);
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sprintf(fname, "/tmp/timings%u.txt", timingsgroup);
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FILE *f = fopen(fname, "w");
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if (f == NULL) {
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warnx("Error opening file!\n");
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return uORB::ERROR;
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}
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for (unsigned i = 0; i < maxruns; i++) {
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fprintf(f, "%u\n", timings[i]);
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}
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fclose(f);
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}
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delete[] timings;
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warnx("mean: %8.4f", static_cast<double>(latency_integral / maxruns));
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pubsubtest_passed = true;
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if (static_cast<float>(latency_integral / maxruns) > 30.0f) {
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pubsubtest_res = uORB::ERROR;
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} else {
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pubsubtest_res = PX4_OK;
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}
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return pubsubtest_res;
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}
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int uORBTest::UnitTest::test()
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{
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struct orb_test t, u;
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int pfd, sfd;
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bool updated;
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t.val = 0;
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pfd = orb_advertise(ORB_ID(orb_test), &t);
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if (pfd < 0)
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return test_fail("advertise failed: %d", errno);
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test_note("publish handle 0x%08x", pfd);
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sfd = orb_subscribe(ORB_ID(orb_test));
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if (sfd < 0)
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return test_fail("subscribe failed: %d", errno);
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test_note("subscribe fd %d", sfd);
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u.val = 1;
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if (PX4_OK != orb_copy(ORB_ID(orb_test), sfd, &u))
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return test_fail("copy(1) failed: %d", errno);
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if (u.val != t.val)
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return test_fail("copy(1) mismatch: %d expected %d", u.val, t.val);
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if (PX4_OK != orb_check(sfd, &updated))
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return test_fail("check(1) failed");
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if (updated)
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return test_fail("spurious updated flag");
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t.val = 2;
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test_note("try publish");
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if (PX4_OK != orb_publish(ORB_ID(orb_test), pfd, &t))
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return test_fail("publish failed");
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if (PX4_OK != orb_check(sfd, &updated))
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return test_fail("check(2) failed");
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if (!updated)
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return test_fail("missing updated flag");
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if (PX4_OK != orb_copy(ORB_ID(orb_test), sfd, &u))
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return test_fail("copy(2) failed: %d", errno);
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if (u.val != t.val)
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return test_fail("copy(2) mismatch: %d expected %d", u.val, t.val);
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orb_unsubscribe(sfd);
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close(pfd);
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/* this routine tests the multi-topic support */
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test_note("try multi-topic support");
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int instance0;
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int pfd0 = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance0, ORB_PRIO_MAX);
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test_note("advertised");
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int instance1;
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int pfd1 = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance1, ORB_PRIO_MIN);
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if (instance0 != 0)
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return test_fail("mult. id0: %d", instance0);
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if (instance1 != 1)
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return test_fail("mult. id1: %d", instance1);
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t.val = 103;
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if (PX4_OK != orb_publish(ORB_ID(orb_multitest), pfd0, &t))
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return test_fail("mult. pub0 fail");
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test_note("published");
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t.val = 203;
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if (PX4_OK != orb_publish(ORB_ID(orb_multitest), pfd1, &t))
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return test_fail("mult. pub1 fail");
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/* subscribe to both topics and ensure valid data is received */
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int sfd0 = orb_subscribe_multi(ORB_ID(orb_multitest), 0);
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if (PX4_OK != orb_copy(ORB_ID(orb_multitest), sfd0, &u))
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return test_fail("sub #0 copy failed: %d", errno);
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if (u.val != 103)
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return test_fail("sub #0 val. mismatch: %d", u.val);
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int sfd1 = orb_subscribe_multi(ORB_ID(orb_multitest), 1);
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if (PX4_OK != orb_copy(ORB_ID(orb_multitest), sfd1, &u))
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return test_fail("sub #1 copy failed: %d", errno);
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if (u.val != 203)
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return test_fail("sub #1 val. mismatch: %d", u.val);
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/* test priorities */
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int prio;
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if (PX4_OK != orb_priority(sfd0, &prio))
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return test_fail("prio #0");
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if (prio != ORB_PRIO_MAX)
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return test_fail("prio: %d", prio);
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if (PX4_OK != orb_priority(sfd1, &prio))
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return test_fail("prio #1");
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if (prio != ORB_PRIO_MIN)
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return test_fail("prio: %d", prio);
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if (PX4_OK != latency_test<struct orb_test>(ORB_ID(orb_test), false))
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return test_fail("latency test failed");
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return test_note("PASS");
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}
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int uORBTest::UnitTest::info()
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{
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return OK;
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}
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int uORBTest::UnitTest::test_fail(const char *fmt, ...)
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{
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va_list ap;
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fprintf(stderr, "FAIL: ");
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va_start(ap, fmt);
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vfprintf(stderr, fmt, ap);
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va_end(ap);
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fprintf(stderr, "\n");
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fflush(stderr);
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return uORB::ERROR;
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}
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int uORBTest::UnitTest::test_note(const char *fmt, ...)
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{
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va_list ap;
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fprintf(stderr, "note: ");
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va_start(ap, fmt);
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vfprintf(stderr, fmt, ap);
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va_end(ap);
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fprintf(stderr, "\n");
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fflush(stderr);
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return OK;
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}
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int uORBTest::UnitTest::pubsubtest_threadEntry( char* const* data )
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{
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uORBTest::UnitTest* t = (uORBTest::UnitTest*) data;
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if( data != nullptr )
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{
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return t->pubsublatency_main();
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}
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return uORB::ERROR;
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}
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