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>
2026-07-15 10:20:34 +08:00 · 2015-05-05 10:52:15 -07:00
parent e24405d374
commit e33a164ddb
17 changed files with 3284 additions and 2601 deletions
@@ -0,0 +1,128 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2015 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.
+ *
+ ****************************************************************************/
+
+#ifndef _uORBTest_UnitTest_hpp_
+#define _uORBTest_UnitTest_hpp_
+#include "uORBCommon.hpp"
+#include "uORB.h"
+
+struct orb_test {
+  int val;
+  hrt_abstime time;
+};
+ORB_DEFINE(orb_test, struct orb_test);
+ORB_DEFINE(orb_multitest, struct orb_test);
+
+struct orb_test_medium {
+  int val;
+  hrt_abstime time;
+  char junk[64];
+};
+ORB_DEFINE(orb_test_medium, struct orb_test_medium);
+
+struct orb_test_large {
+  int val;
+  hrt_abstime time;
+  char junk[512];
+};
+ORB_DEFINE(orb_test_large, struct orb_test_large);
+
+
+namespace uORBTest
+{
+   class UnitTest;
+}
+
+class uORBTest::UnitTest
+{
+public:
+
+  int test();
+  template<typename S> int latency_test(orb_id_t T, bool print);
+  int info();
+
+private:
+  static int pubsubtest_threadEntry( char* const* argv );
+  int pubsublatency_main(void);
+  bool pubsubtest_passed = false;
+  bool pubsubtest_print = false;
+  int pubsubtest_res = OK;
+
+  int test_fail(const char *fmt, ...);
+  int test_note(const char *fmt, ...);
+};
+
+template<typename S>
+int uORBTest::UnitTest::latency_test(orb_id_t T, bool print)
+{
+  test_note("---------------- LATENCY TEST ------------------");
+  S t;
+  t.val = 308;
+  t.time = hrt_absolute_time();
+
+  int pfd0 = orb_advertise(T, &t);
+
+  pubsubtest_print = print;
+
+  pubsubtest_passed = false;
+
+  /* test pub / sub latency */
+
+  int pubsub_task = px4_task_spawn_cmd("uorb_latency",
+               SCHED_DEFAULT,
+               SCHED_PRIORITY_MAX - 5,
+               1500,
+               (px4_main_t)&uORBTest::UnitTest::pubsubtest_threadEntry,
+               (char* const*) this);
+
+  /* give the test task some data */
+  while (!pubsubtest_passed) {
+    t.val = 308;
+    t.time = hrt_absolute_time();
+    if (PX4_OK != orb_publish(T, pfd0, &t))
+      return test_fail("mult. pub0 timing fail");
+
+    /* simulate >800 Hz system operation */
+    usleep(1000);
+  }
+
+  close(pfd0);
+
+  if (pubsub_task < 0) {
+    return test_fail("failed launching task");
+  }
+
+  return pubsubtest_res;
+}
+
+#endif // _uORBTest_UnitTest_hpp_