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POSIX: Fixed remaining broke gtests

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The addition of the hrt workqueue required adding some additional files to
unittests/CMakeLists.txt

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-06-11 20:22:49 -07:00
parent ea7d5070c5
commit fb402bc096
8 changed files with 42 additions and 38 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/uORB/uORBCommunicator.hpp
-1
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@@ -35,7 +35,6 @@
#define _uORBCommunicator_hpp_ #define _uORBCommunicator_hpp_
#include <stdint.h> #include <stdint.h>
#include <string>
namespace uORBCommunicator namespace uORBCommunicator
{ {
src/platforms/posix/px4_layer/hrt_work.h
+4 -4
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@@ -46,16 +46,16 @@ void hrt_work_queue_init(void);
int hrt_work_queue(struct work_s *work, worker_t worker, void *arg, uint32_t delay); int hrt_work_queue(struct work_s *work, worker_t worker, void *arg, uint32_t delay);
void hrt_work_cancel(struct work_s *work); void hrt_work_cancel(struct work_s *work);
inline void hrt_work_lock(void); //inline void hrt_work_lock(void);
inline void hrt_work_unlock(void); //inline void hrt_work_unlock(void);
inline void hrt_work_lock() static inline void hrt_work_lock()
{ {
//PX4_INFO("hrt_work_lock"); //PX4_INFO("hrt_work_lock");
sem_wait(&_hrt_work_lock); sem_wait(&_hrt_work_lock);
} }
inline void hrt_work_unlock() static inline void hrt_work_unlock()
{ {
//PX4_INFO("hrt_work_unlock"); //PX4_INFO("hrt_work_unlock");
sem_post(&_hrt_work_lock); sem_post(&_hrt_work_lock);
unittests/CMakeLists.txt
+3
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@@ -74,6 +74,7 @@ add_library( px4_platform
${PX_SRC}/platforms/posix/px4_layer/px4_posix_impl.cpp ${PX_SRC}/platforms/posix/px4_layer/px4_posix_impl.cpp
${PX_SRC}/platforms/posix/px4_layer/px4_posix_tasks.cpp ${PX_SRC}/platforms/posix/px4_layer/px4_posix_tasks.cpp
${PX_SRC}/platforms/posix/px4_layer/work_lock.c ${PX_SRC}/platforms/posix/px4_layer/work_lock.c
${PX_SRC}/platforms/posix/px4_layer/hrt_queue.c
${PX_SRC}/platforms/posix/px4_layer/work_queue.c ${PX_SRC}/platforms/posix/px4_layer/work_queue.c
${PX_SRC}/platforms/posix/px4_layer/dq_rem.c ${PX_SRC}/platforms/posix/px4_layer/dq_rem.c
${PX_SRC}/platforms/posix/px4_layer/sq_addlast.c ${PX_SRC}/platforms/posix/px4_layer/sq_addlast.c
@@ -81,7 +82,9 @@ add_library( px4_platform
${PX_SRC}/platforms/posix/px4_layer/sq_addafter.c ${PX_SRC}/platforms/posix/px4_layer/sq_addafter.c
${PX_SRC}/platforms/posix/px4_layer/queue.c ${PX_SRC}/platforms/posix/px4_layer/queue.c
${PX_SRC}/platforms/posix/px4_layer/work_cancel.c ${PX_SRC}/platforms/posix/px4_layer/work_cancel.c
${PX_SRC}/platforms/posix/px4_layer/hrt_work_cancel.c
${PX_SRC}/platforms/posix/px4_layer/dq_remfirst.c ${PX_SRC}/platforms/posix/px4_layer/dq_remfirst.c
${PX_SRC}/platforms/posix/px4_layer/hrt_thread.c
${PX_SRC}/platforms/posix/px4_layer/work_thread.c ${PX_SRC}/platforms/posix/px4_layer/work_thread.c
${PX_SRC}/platforms/posix/px4_layer/drv_hrt.c ${PX_SRC}/platforms/posix/px4_layer/drv_hrt.c
${PX_SRC}/platforms/posix/px4_layer/sq_remfirst.c ${PX_SRC}/platforms/posix/px4_layer/sq_remfirst.c
unittests/sbus2_test.cpp
+5 -5
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@@ -34,10 +34,10 @@ TEST(SBUS2Test, SBUS2)
uint8_t frame[30]; uint8_t frame[30];
unsigned partial_frame_count = 0; unsigned partial_frame_count = 0;
uint16_t rc_values[18]; uint16_t rc_values[18];
uint16_t num_values; //uint16_t num_values;
bool sbus_failsafe; //bool sbus_failsafe;
bool sbus_frame_drop; //bool sbus_frame_drop;
uint16_t max_channels = sizeof(rc_values) / sizeof(rc_values[0]); //uint16_t max_channels = sizeof(rc_values) / sizeof(rc_values[0]);
float last_time = 0; float last_time = 0;
@@ -59,7 +59,7 @@ TEST(SBUS2Test, SBUS2)
last_time = f; last_time = f;
// Pipe the data into the parser // Pipe the data into the parser
hrt_abstime now = hrt_absolute_time(); //hrt_abstime now = hrt_absolute_time();
//if (partial_frame_count % 25 == 0) //if (partial_frame_count % 25 == 0)
//sbus_parse(now, frame, &partial_frame_count, rc_values, &num_values, &sbus_failsafe, &sbus_frame_drop, max_channels); //sbus_parse(now, frame, &partial_frame_count, rc_values, &num_values, &sbus_failsafe, &sbus_frame_drop, max_channels);
unittests/uorb_unittests/uORBCommunicatorMock.cpp
+10 -10
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@@ -50,13 +50,13 @@ uORB_test::uORBCommunicatorMock::uORBCommunicatorMock()
int16_t uORB_test::uORBCommunicatorMock::add_subscription int16_t uORB_test::uORBCommunicatorMock::add_subscription
( (
const std::string& messageName, const char * messageName,
int32_t msgRateInHz int32_t msgRateInHz
) )
{ {
int16_t rc = 0; int16_t rc = 0;
PX4_INFO( "got add_subscription for msg[%s] rate[%d]", messageName.c_str(), msgRateInHz ); PX4_INFO( "got add_subscription for msg[%s] rate[%d]", messageName, msgRateInHz );
_msgCounters[messageName]._add_subscriptionCount++; _msgCounters[messageName]._add_subscriptionCount++;
/* /*
@@ -78,11 +78,11 @@ int16_t uORB_test::uORBCommunicatorMock::add_subscription
int16_t uORB_test::uORBCommunicatorMock::remove_subscription int16_t uORB_test::uORBCommunicatorMock::remove_subscription
( (
const std::string& messageName const char * messageName
) )
{ {
int16_t rc = 0; int16_t rc = 0;
PX4_INFO( "got remove_subscription for msg[%s]", messageName.c_str() ); PX4_INFO( "got remove_subscription for msg[%s]", messageName );
_msgCounters[messageName]._remove_subscriptionCount++; _msgCounters[messageName]._remove_subscriptionCount++;
/* /*
int16_t rc = -1; int16_t rc = -1;
@@ -113,27 +113,27 @@ int16_t uORB_test::uORBCommunicatorMock::register_handler
int16_t uORB_test::uORBCommunicatorMock::send_message int16_t uORB_test::uORBCommunicatorMock::send_message
( (
const std::string& messageName, const char * messageName,
int32_t length, int32_t length,
uint8_t* data uint8_t* data
) )
{ {
int16_t rc = 0; int16_t rc = 0;
PX4_INFO( "send_message for msg[%s] datalen[%d]", messageName.c_str(), length ); PX4_INFO( "send_message for msg[%s] datalen[%d]", messageName, length );
if( uORB::Manager::get_instance()->is_remote_subscriber_present( messageName ) ) if( uORB::Manager::get_instance()->is_remote_subscriber_present( messageName ) )
{ {
_msgCounters[messageName]._send_messageCount++; _msgCounters[messageName]._send_messageCount++;
if( messageName == "topicA" ) if( strcmp(messageName, "topicA") == 0 )
{ {
memcpy( &_topicAData, (void*)data, length ); memcpy( &_topicAData, (void*)data, length );
} }
else if( messageName == "topicB" ) else if( strcmp(messageName, "topicB") == 0 )
{ {
memcpy( &_topicBData, (void*)data, length ); memcpy( &_topicBData, (void*)data, length );
} }
else else
{ {
//EPRINTF( "error messageName[%s] is not supported", messageName.c_str() ); //EPRINTF( "error messageName[%s] is not supported", messageName );
} }
} }
/* /*
@@ -200,7 +200,7 @@ void uORB_test::uORBCommunicatorMock::reset_counters()
} }
} }
uORB_test::uORBCommunicatorMock::InterfaceCounters uORB_test::uORBCommunicatorMock::get_interface_counters(const std::string& messageName ) uORB_test::uORBCommunicatorMock::InterfaceCounters uORB_test::uORBCommunicatorMock::get_interface_counters(const char * messageName )
{ {
return _msgCounters[ messageName ]; return _msgCounters[ messageName ];
} }
unittests/uorb_unittests/uORBCommunicatorMock.hpp
+5 -4
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@@ -36,6 +36,7 @@
#include "uORB/uORBCommunicator.hpp" #include "uORB/uORBCommunicator.hpp"
#include "uORBGtestTopics.hpp" #include "uORBGtestTopics.hpp"
#include <map> #include <map>
#include <string>
#include <set> #include <set>
namespace uORB_test namespace uORB_test
@@ -72,7 +73,7 @@ class uORB_test::uORBCommunicatorMock : public uORBCommunicator::IChannel
* Note: This does not mean that the receiver as received it. * Note: This does not mean that the receiver as received it.
* otherwise = failure. * otherwise = failure.
*/ */
virtual int16_t add_subscription( const std::string& messageName, int32_t msgRateInHz ); virtual int16_t add_subscription( const char *messageName, int32_t msgRateInHz );
/** /**
@@ -86,7 +87,7 @@ class uORB_test::uORBCommunicatorMock : public uORBCommunicator::IChannel
* Note: This does not necessarily mean that the receiver as received it. * Note: This does not necessarily mean that the receiver as received it.
* otherwise = failure. * otherwise = failure.
*/ */
virtual int16_t remove_subscription( const std::string& messageName ); virtual int16_t remove_subscription( const char * messageName );
/** /**
* Register Message Handler. This is internal for the IChannel implementer* * Register Message Handler. This is internal for the IChannel implementer*
@@ -108,7 +109,7 @@ class uORB_test::uORBCommunicatorMock : public uORBCommunicator::IChannel
* Note: This does not mean that the receiver as received it. * Note: This does not mean that the receiver as received it.
* otherwise = failure. * otherwise = failure.
*/ */
virtual int16_t send_message( const std::string& messageName, int32_t length, uint8_t* data); virtual int16_t send_message( const char * messageName, int32_t length, uint8_t* data);
uORBCommunicator::IChannelRxHandler* get_rx_handler() uORBCommunicator::IChannelRxHandler* get_rx_handler()
{ {
@@ -120,7 +121,7 @@ class uORB_test::uORBCommunicatorMock : public uORBCommunicator::IChannel
void reset_counters(); void reset_counters();
InterfaceCounters get_interface_counters( const std::string& messageName ); InterfaceCounters get_interface_counters( const char * messageName );
private: private:
unittests/uorb_unittests/uORBCommunicatorMockLoopback.cpp
+11 -11
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@@ -50,13 +50,13 @@ uORB_test::uORBCommunicatorMockLoopback::uORBCommunicatorMockLoopback()
int16_t uORB_test::uORBCommunicatorMockLoopback::add_subscription int16_t uORB_test::uORBCommunicatorMockLoopback::add_subscription
( (
const std::string& messageName, const char * messageName,
int32_t msgRateInHz int32_t msgRateInHz
) )
{ {
int16_t rc = -1; int16_t rc = -1;
PX4_INFO( "got add_subscription for msg[%s] rate[%d]", messageName.c_str(), msgRateInHz ); PX4_INFO( "got add_subscription for msg[%s] rate[%d]", messageName, msgRateInHz );
if( _rx_handler ) if( _rx_handler )
{ {
@@ -64,7 +64,7 @@ int16_t uORB_test::uORBCommunicatorMockLoopback::add_subscription
{ {
rc = _rx_handler->process_add_subscription rc = _rx_handler->process_add_subscription
( (
_topic_translation_map[messageName], _topic_translation_map[messageName].c_str(),
msgRateInHz msgRateInHz
); );
} }
@@ -74,18 +74,18 @@ int16_t uORB_test::uORBCommunicatorMockLoopback::add_subscription
int16_t uORB_test::uORBCommunicatorMockLoopback::remove_subscription int16_t uORB_test::uORBCommunicatorMockLoopback::remove_subscription
( (
const std::string& messageName const char * messageName
) )
{ {
int16_t rc = -1; int16_t rc = -1;
PX4_INFO( "got remove_subscription for msg[%s]", messageName.c_str() ); PX4_INFO( "got remove_subscription for msg[%s]", messageName );
if( _rx_handler ) if( _rx_handler )
{ {
if( _topic_translation_map.find( messageName ) != _topic_translation_map.end() ) if( _topic_translation_map.find( messageName ) != _topic_translation_map.end() )
{ {
rc = _rx_handler->process_remove_subscription rc = _rx_handler->process_remove_subscription
( (
_topic_translation_map[messageName] _topic_translation_map[messageName].c_str()
); );
} }
} }
@@ -105,22 +105,22 @@ int16_t uORB_test::uORBCommunicatorMockLoopback::register_handler
int16_t uORB_test::uORBCommunicatorMockLoopback::send_message int16_t uORB_test::uORBCommunicatorMockLoopback::send_message
( (
const std::string& messageName, const char * messageName,
int32_t length, int32_t length,
uint8_t* data uint8_t* data
) )
{ {
int16_t rc = -1; int16_t rc = -1;
PX4_INFO( "send_message for msg[%s] datalen[%d]", messageName.c_str(), length ); PX4_INFO( "send_message for msg[%s] datalen[%d]", messageName, length );
if( _rx_handler ) if( _rx_handler )
{ {
if( _topic_translation_map.find( messageName ) != _topic_translation_map.end() ) if( _topic_translation_map.find( messageName ) != _topic_translation_map.end() )
{ {
if( uORB::Manager::get_instance()->is_remote_subscriber_present( _topic_translation_map[messageName] ) ) if( uORB::Manager::get_instance()->is_remote_subscriber_present( _topic_translation_map[messageName].c_str() ) )
{ {
rc = _rx_handler->process_received_message rc = _rx_handler->process_received_message
( _topic_translation_map[messageName], length, data ); ( _topic_translation_map[messageName].c_str(), length, data );
PX4_INFO( "[uORBCommunicatorMockLoopback::send_message] return from[topic(%s)] _rx_handler->process_received_message[%d]", messageName.c_str(), rc ); PX4_INFO( "[uORBCommunicatorMockLoopback::send_message] return from[topic(%s)] _rx_handler->process_received_message[%d]", messageName, rc );
} }
else else
{ {
unittests/uorb_unittests/uORBCommunicatorMockLoopback.hpp
+4 -3
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@@ -32,6 +32,7 @@
#include "uORB/uORBCommunicator.hpp" #include "uORB/uORBCommunicator.hpp"
#include "uORBGtestTopics.hpp" #include "uORBGtestTopics.hpp"
#include <map> #include <map>
#include <string>
#include <set> #include <set>
namespace uORB_test namespace uORB_test
@@ -59,7 +60,7 @@ class uORB_test::uORBCommunicatorMockLoopback : public uORBCommunicator::IChanne
* Note: This does not mean that the receiver as received it. * Note: This does not mean that the receiver as received it.
* otherwise = failure. * otherwise = failure.
*/ */
virtual int16_t add_subscription( const std::string& messageName, int32_t msgRateInHz ); virtual int16_t add_subscription( const char * messageName, int32_t msgRateInHz );
/** /**
@@ -73,7 +74,7 @@ class uORB_test::uORBCommunicatorMockLoopback : public uORBCommunicator::IChanne
* Note: This does not necessarily mean that the receiver as received it. * Note: This does not necessarily mean that the receiver as received it.
* otherwise = failure. * otherwise = failure.
*/ */
virtual int16_t remove_subscription( const std::string& messageName ); virtual int16_t remove_subscription( const char * messageName );
/** /**
* Register Message Handler. This is internal for the IChannel implementer* * Register Message Handler. This is internal for the IChannel implementer*
@@ -95,7 +96,7 @@ class uORB_test::uORBCommunicatorMockLoopback : public uORBCommunicator::IChanne
* Note: This does not mean that the receiver as received it. * Note: This does not mean that the receiver as received it.
* otherwise = failure. * otherwise = failure.
*/ */
virtual int16_t send_message( const std::string& messageName, int32_t length, uint8_t* data); virtual int16_t send_message( const char * messageName, int32_t length, uint8_t* data);
uORBCommunicator::IChannelRxHandler* get_rx_handler() uORBCommunicator::IChannelRxHandler* get_rx_handler()
{ {