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13ab5ed0d0
px4_main_t is defined as: typedef int (*px4_main_t)(int argc, char *argv[]); which matches with the definition in NuttX, given to task_create
850 lines
20 KiB
C++
850 lines
20 KiB
C++
/****************************************************************************
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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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#include <stdio.h>
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#include <errno.h>
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#include <poll.h>
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ORB_DEFINE(orb_test, struct orb_test, sizeof(orb_test), "ORB_TEST:int val;hrt_abstime time;");
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ORB_DEFINE(orb_multitest, struct orb_test, sizeof(orb_test), "ORB_MULTITEST:int val;hrt_abstime time;");
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ORB_DEFINE(orb_test_medium, struct orb_test_medium, sizeof(orb_test_medium),
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"ORB_TEST_MEDIUM:int val;hrt_abstime time;char[64] junk;");
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ORB_DEFINE(orb_test_medium_multi, struct orb_test_medium, sizeof(orb_test_medium),
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"ORB_TEST_MEDIUM_MULTI:int val;hrt_abstime time;char[64] junk;");
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ORB_DEFINE(orb_test_medium_queue, struct orb_test_medium, sizeof(orb_test_medium),
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"ORB_TEST_MEDIUM_MULTI:int val;hrt_abstime time;char[64] junk;");
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ORB_DEFINE(orb_test_medium_queue_poll, struct orb_test_medium, sizeof(orb_test_medium),
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"ORB_TEST_MEDIUM_MULTI:int val;hrt_abstime time;char[64] junk;");
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ORB_DEFINE(orb_test_large, struct orb_test_large, sizeof(orb_test_large),
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"ORB_TEST_LARGE:int val;hrt_abstime time;char[512] junk;");
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uORBTest::UnitTest &uORBTest::UnitTest::instance()
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{
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static uORBTest::UnitTest t;
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return t;
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}
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int uORBTest::UnitTest::pubsublatency_main()
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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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// timings has to be on the heap to keep frame size below 2048 bytes
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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, PX4_ROOTFSDIR"/fs/microsd/timings%u.txt", timingsgroup);
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FILE *f = fopen(fname, "w");
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if (f == nullptr) {
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warnx("Error opening file!\n");
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delete[] timings;
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return PX4_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 us", static_cast<double>(latency_integral / maxruns));
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pubsubtest_passed = true;
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if (static_cast<float>(latency_integral / maxruns) > 100.0f) {
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pubsubtest_res = PX4_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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int ret = test_single();
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if (ret != OK) {
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return ret;
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}
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ret = test_multi();
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if (ret != OK) {
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return ret;
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}
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ret = test_multi_reversed();
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if (ret != OK) {
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return ret;
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}
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ret = test_unadvertise();
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if (ret != OK) {
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return ret;
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}
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ret = test_multi2();
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if (ret != OK) {
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return ret;
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}
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ret = test_queue();
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if (ret != OK) {
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return ret;
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}
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return test_queue_poll_notify();
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}
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int uORBTest::UnitTest::test_unadvertise()
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{
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test_note("Testing unadvertise");
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//we still have the advertisements from the previous test_multi calls.
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for (int i = 0; i < 4; ++i) {
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int ret = orb_unadvertise(_pfd[i]);
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if (ret != PX4_OK) {
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return test_fail("orb_unadvertise failed (%i)", ret);
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}
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}
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//try to advertise and see whether we get the right instance
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int instance_test[4];
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struct orb_test t;
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for (int i = 0; i < 4; ++i) {
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_pfd[i] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance_test[i], ORB_PRIO_MAX);
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if (instance_test[i] != i) {
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return test_fail("got wrong instance (should be %i, is %i)", i, instance_test[i]);
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}
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}
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for (int i = 0; i < 4; ++i) {
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orb_unadvertise(_pfd[i]);
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}
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return test_note("PASS unadvertise");
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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_single()
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{
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test_note("try single-topic support");
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struct orb_test t, u;
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int sfd;
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orb_advert_t ptopic;
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bool updated;
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t.val = 0;
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ptopic = orb_advertise(ORB_ID(orb_test), &t);
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if (ptopic == nullptr) {
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return test_fail("advertise failed: %d", errno);
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}
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test_note("publish handle 0x%08x", ptopic);
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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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}
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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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}
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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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}
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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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}
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if (updated) {
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return test_fail("spurious updated flag");
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}
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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), ptopic, &t)) {
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return test_fail("publish failed");
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}
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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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}
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if (!updated) {
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return test_fail("missing updated flag");
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}
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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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}
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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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}
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orb_unsubscribe(sfd);
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int ret = orb_unadvertise(ptopic);
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if (ret != PX4_OK) {
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return test_fail("orb_unadvertise failed: %i", ret);
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}
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return test_note("PASS single-topic test");
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}
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int uORBTest::UnitTest::test_multi()
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{
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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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struct orb_test t {}, u {};
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t.val = 0;
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int instance0;
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_pfd[0] = 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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_pfd[1] = 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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}
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if (instance1 != 1) {
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return test_fail("mult. id1: %d", instance1);
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}
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t.val = 103;
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if (PX4_OK != orb_publish(ORB_ID(orb_multitest), _pfd[0], &t)) {
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return test_fail("mult. pub0 fail");
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}
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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), _pfd[1], &t)) {
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return test_fail("mult. pub1 fail");
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}
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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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}
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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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}
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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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}
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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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}
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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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}
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if (prio != ORB_PRIO_MAX) {
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return test_fail("prio: %d", prio);
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}
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if (PX4_OK != orb_priority(sfd1, &prio)) {
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return test_fail("prio #1");
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}
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if (prio != ORB_PRIO_MIN) {
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return test_fail("prio: %d", prio);
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}
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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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}
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orb_unsubscribe(sfd0);
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orb_unsubscribe(sfd1);
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return test_note("PASS multi-topic test");
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}
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int uORBTest::UnitTest::pub_test_multi2_entry(int argc, char *argv[])
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{
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uORBTest::UnitTest &t = uORBTest::UnitTest::instance();
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return t.pub_test_multi2_main();
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}
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int uORBTest::UnitTest::pub_test_multi2_main()
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{
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int data_next_idx = 0;
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const int num_instances = 3;
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orb_advert_t orb_pub[num_instances];
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struct orb_test_medium data_topic;
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for (int i = 0; i < num_instances; ++i) {
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orb_advert_t &pub = orb_pub[i];
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int idx = i;
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// PX4_WARN("advertise %i, t=%" PRIu64, i, hrt_absolute_time());
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pub = orb_advertise_multi(ORB_ID(orb_test_medium_multi), &data_topic, &idx, ORB_PRIO_DEFAULT);
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if (idx != i) {
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_thread_should_exit = true;
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PX4_ERR("Got wrong instance! should be: %i, but is %i", i, idx);
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return -1;
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}
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}
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usleep(100 * 1000);
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int message_counter = 0, num_messages = 50 * num_instances;
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while (message_counter++ < num_messages) {
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usleep(2); //make sure the timestamps are different
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orb_advert_t &pub = orb_pub[data_next_idx];
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data_topic.time = hrt_absolute_time();
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data_topic.val = data_next_idx;
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orb_publish(ORB_ID(orb_test_medium_multi), pub, &data_topic);
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// PX4_WARN("publishing msg (idx=%i, t=%" PRIu64 ")", data_next_idx, data_topic.time);
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data_next_idx = (data_next_idx + 1) % num_instances;
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if (data_next_idx == 0) {
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usleep(50 * 1000);
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}
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}
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usleep(100 * 1000);
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_thread_should_exit = true;
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for (int i = 0; i < num_instances; ++i) {
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orb_unadvertise(orb_pub[i]);
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}
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return 0;
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}
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int uORBTest::UnitTest::test_multi2()
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{
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test_note("Testing multi-topic 2 test (queue simulation)");
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//test: first subscribe, then advertise
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_thread_should_exit = false;
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const int num_instances = 3;
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int orb_data_fd[num_instances];
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int orb_data_next = 0;
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for (int i = 0; i < num_instances; ++i) {
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// PX4_WARN("subscribe %i, t=%" PRIu64, i, hrt_absolute_time());
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orb_data_fd[i] = orb_subscribe_multi(ORB_ID(orb_test_medium_multi), i);
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}
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char *const args[1] = { nullptr };
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int pubsub_task = px4_task_spawn_cmd("uorb_test_multi",
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SCHED_DEFAULT,
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SCHED_PRIORITY_MAX - 5,
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1500,
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(px4_main_t)&uORBTest::UnitTest::pub_test_multi2_entry,
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args);
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if (pubsub_task < 0) {
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return test_fail("failed launching task");
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}
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hrt_abstime last_time = 0;
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while (!_thread_should_exit) {
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bool updated = false;
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int orb_data_cur_fd = orb_data_fd[orb_data_next];
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orb_check(orb_data_cur_fd, &updated);
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if (updated) {
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struct orb_test_medium msg;
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orb_copy(ORB_ID(orb_test_medium_multi), orb_data_cur_fd, &msg);
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// Relax timing requirement for Darwin CI system
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#ifdef __PX4_DARWIN
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usleep(10000);
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#else
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usleep(1000);
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#endif
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if (last_time >= msg.time && last_time != 0) {
|
|
return test_fail("Timestamp not increasing! (%" PRIu64 " >= %" PRIu64 ")", last_time, msg.time);
|
|
}
|
|
|
|
last_time = msg.time;
|
|
|
|
// PX4_WARN(" got message (val=%i, idx=%i, t=%" PRIu64 ")", msg.val, orb_data_next, msg.time);
|
|
orb_data_next = (orb_data_next + 1) % num_instances;
|
|
}
|
|
}
|
|
|
|
for (int i = 0; i < num_instances; ++i) {
|
|
orb_unsubscribe(orb_data_fd[i]);
|
|
}
|
|
|
|
return test_note("PASS multi-topic 2 test (queue simulation)");
|
|
}
|
|
|
|
int uORBTest::UnitTest::test_multi_reversed()
|
|
{
|
|
test_note("try multi-topic support subscribing before publishing");
|
|
|
|
/* For these tests 0 and 1 instances are taken from before, therefore continue with 2 and 3. */
|
|
|
|
/* Subscribe first and advertise afterwards. */
|
|
int sfd2 = orb_subscribe_multi(ORB_ID(orb_multitest), 2);
|
|
|
|
if (sfd2 < 0) {
|
|
return test_fail("sub. id2: ret: %d", sfd2);
|
|
}
|
|
|
|
struct orb_test t {}, u {};
|
|
|
|
t.val = 0;
|
|
|
|
int instance2;
|
|
|
|
_pfd[2] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance2, ORB_PRIO_MAX);
|
|
|
|
int instance3;
|
|
|
|
_pfd[3] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance3, ORB_PRIO_MIN);
|
|
|
|
test_note("advertised");
|
|
|
|
if (instance2 != 2) {
|
|
return test_fail("mult. id2: %d", instance2);
|
|
}
|
|
|
|
if (instance3 != 3) {
|
|
return test_fail("mult. id3: %d", instance3);
|
|
}
|
|
|
|
t.val = 204;
|
|
|
|
if (PX4_OK != orb_publish(ORB_ID(orb_multitest), _pfd[2], &t)) {
|
|
return test_fail("mult. pub0 fail");
|
|
}
|
|
|
|
|
|
t.val = 304;
|
|
|
|
if (PX4_OK != orb_publish(ORB_ID(orb_multitest), _pfd[3], &t)) {
|
|
return test_fail("mult. pub1 fail");
|
|
}
|
|
|
|
test_note("published");
|
|
|
|
if (PX4_OK != orb_copy(ORB_ID(orb_multitest), sfd2, &u)) {
|
|
return test_fail("sub #2 copy failed: %d", errno);
|
|
}
|
|
|
|
if (u.val != 204) {
|
|
return test_fail("sub #3 val. mismatch: %d", u.val);
|
|
}
|
|
|
|
int sfd3 = orb_subscribe_multi(ORB_ID(orb_multitest), 3);
|
|
|
|
if (PX4_OK != orb_copy(ORB_ID(orb_multitest), sfd3, &u)) {
|
|
return test_fail("sub #3 copy failed: %d", errno);
|
|
}
|
|
|
|
if (u.val != 304) {
|
|
return test_fail("sub #3 val. mismatch: %d", u.val);
|
|
}
|
|
|
|
return test_note("PASS multi-topic reversed");
|
|
}
|
|
|
|
int uORBTest::UnitTest::test_queue()
|
|
{
|
|
test_note("Testing orb queuing");
|
|
|
|
struct orb_test_medium t, u;
|
|
int sfd;
|
|
orb_advert_t ptopic;
|
|
bool updated;
|
|
|
|
sfd = orb_subscribe(ORB_ID(orb_test_medium_queue));
|
|
|
|
if (sfd < 0) {
|
|
return test_fail("subscribe failed: %d", errno);
|
|
}
|
|
|
|
|
|
const unsigned int queue_size = 11;
|
|
t.val = 0;
|
|
ptopic = orb_advertise_queue(ORB_ID(orb_test_medium_queue), &t, queue_size);
|
|
|
|
if (ptopic == nullptr) {
|
|
return test_fail("advertise failed: %d", errno);
|
|
}
|
|
|
|
orb_check(sfd, &updated);
|
|
|
|
if (!updated) {
|
|
return test_fail("update flag not set");
|
|
}
|
|
|
|
if (PX4_OK != orb_copy(ORB_ID(orb_test_medium_queue), sfd, &u)) {
|
|
return test_fail("copy(1) failed: %d", errno);
|
|
}
|
|
|
|
if (u.val != t.val) {
|
|
return test_fail("copy(1) mismatch: %d expected %d", u.val, t.val);
|
|
}
|
|
|
|
orb_check(sfd, &updated);
|
|
|
|
if (updated) {
|
|
return test_fail("spurious updated flag");
|
|
}
|
|
|
|
#define CHECK_UPDATED(element) \
|
|
orb_check(sfd, &updated); \
|
|
if (!updated) { \
|
|
return test_fail("update flag not set, element %i", element); \
|
|
}
|
|
#define CHECK_NOT_UPDATED(element) \
|
|
orb_check(sfd, &updated); \
|
|
if (updated) { \
|
|
return test_fail("update flag set, element %i", element); \
|
|
}
|
|
#define CHECK_COPY(i_got, i_correct) \
|
|
orb_copy(ORB_ID(orb_test_medium_queue), sfd, &u); \
|
|
if (i_got != i_correct) { \
|
|
return test_fail("got wrong element from the queue (got %i, should be %i)", i_got, i_correct); \
|
|
}
|
|
|
|
//no messages in the queue anymore
|
|
|
|
test_note(" Testing to write some elements...");
|
|
|
|
for (unsigned int i = 0; i < queue_size - 2; ++i) {
|
|
t.val = i;
|
|
orb_publish(ORB_ID(orb_test_medium_queue), ptopic, &t);
|
|
}
|
|
|
|
for (unsigned int i = 0; i < queue_size - 2; ++i) {
|
|
CHECK_UPDATED(i);
|
|
CHECK_COPY(u.val, i);
|
|
}
|
|
|
|
CHECK_NOT_UPDATED(queue_size);
|
|
|
|
test_note(" Testing overflow...");
|
|
int overflow_by = 3;
|
|
|
|
for (unsigned int i = 0; i < queue_size + overflow_by; ++i) {
|
|
t.val = i;
|
|
orb_publish(ORB_ID(orb_test_medium_queue), ptopic, &t);
|
|
}
|
|
|
|
for (unsigned int i = 0; i < queue_size; ++i) {
|
|
CHECK_UPDATED(i);
|
|
CHECK_COPY(u.val, i + overflow_by);
|
|
}
|
|
|
|
CHECK_NOT_UPDATED(queue_size);
|
|
|
|
test_note(" Testing underflow...");
|
|
|
|
for (unsigned int i = 0; i < queue_size; ++i) {
|
|
CHECK_NOT_UPDATED(i);
|
|
CHECK_COPY(u.val, queue_size + overflow_by - 1);
|
|
}
|
|
|
|
t.val = 943;
|
|
orb_publish(ORB_ID(orb_test_medium_queue), ptopic, &t);
|
|
CHECK_UPDATED(-1);
|
|
CHECK_COPY(u.val, t.val);
|
|
|
|
#undef CHECK_COPY
|
|
#undef CHECK_UPDATED
|
|
#undef CHECK_NOT_UPDATED
|
|
|
|
orb_unadvertise(ptopic);
|
|
|
|
return test_note("PASS orb queuing");
|
|
}
|
|
|
|
|
|
int uORBTest::UnitTest::pub_test_queue_entry(int argc, char *argv[])
|
|
{
|
|
uORBTest::UnitTest &t = uORBTest::UnitTest::instance();
|
|
return t.pub_test_queue_main();
|
|
}
|
|
|
|
int uORBTest::UnitTest::pub_test_queue_main()
|
|
{
|
|
struct orb_test_medium t;
|
|
orb_advert_t ptopic;
|
|
const unsigned int queue_size = 50;
|
|
t.val = 0;
|
|
|
|
if ((ptopic = orb_advertise_queue(ORB_ID(orb_test_medium_queue_poll), &t, queue_size)) == nullptr) {
|
|
_thread_should_exit = true;
|
|
return test_fail("advertise failed: %d", errno);
|
|
}
|
|
|
|
int message_counter = 0, num_messages = 20 * queue_size;
|
|
++t.val;
|
|
|
|
while (message_counter < num_messages) {
|
|
|
|
//simulate burst
|
|
int burst_counter = 0;
|
|
|
|
while (burst_counter++ < queue_size / 2 + 7) { //make interval non-boundary aligned
|
|
orb_publish(ORB_ID(orb_test_medium_queue_poll), ptopic, &t);
|
|
++t.val;
|
|
}
|
|
|
|
message_counter += burst_counter;
|
|
usleep(20 * 1000); //give subscriber a chance to catch up
|
|
}
|
|
|
|
_num_messages_sent = t.val;
|
|
usleep(100 * 1000);
|
|
_thread_should_exit = true;
|
|
orb_unadvertise(ptopic);
|
|
|
|
return 0;
|
|
}
|
|
|
|
int uORBTest::UnitTest::test_queue_poll_notify()
|
|
{
|
|
test_note("Testing orb queuing (poll & notify)");
|
|
|
|
struct orb_test_medium t;
|
|
int sfd;
|
|
|
|
if ((sfd = orb_subscribe(ORB_ID(orb_test_medium_queue_poll))) < 0) {
|
|
return test_fail("subscribe failed: %d", errno);
|
|
}
|
|
|
|
_thread_should_exit = false;
|
|
|
|
char *const args[1] = { nullptr };
|
|
int pubsub_task = px4_task_spawn_cmd("uorb_test_queue",
|
|
SCHED_DEFAULT,
|
|
SCHED_PRIORITY_MIN + 5,
|
|
1500,
|
|
(px4_main_t)&uORBTest::UnitTest::pub_test_queue_entry,
|
|
args);
|
|
|
|
if (pubsub_task < 0) {
|
|
return test_fail("failed launching task");
|
|
}
|
|
|
|
int next_expected_val = 0;
|
|
px4_pollfd_struct_t fds[1];
|
|
fds[0].fd = sfd;
|
|
fds[0].events = POLLIN;
|
|
|
|
while (!_thread_should_exit) {
|
|
|
|
int poll_ret = px4_poll(fds, 1, 500);
|
|
|
|
if (poll_ret == 0) {
|
|
if (_thread_should_exit) {
|
|
break;
|
|
}
|
|
|
|
return test_fail("poll timeout");
|
|
|
|
} else if (poll_ret < 0) {
|
|
return test_fail("poll error (%d, %d)", poll_ret, errno);
|
|
}
|
|
|
|
if (fds[0].revents & POLLIN) {
|
|
orb_copy(ORB_ID(orb_test_medium_queue_poll), sfd, &t);
|
|
|
|
if (next_expected_val != t.val) {
|
|
return test_fail("copy mismatch: %d expected %d", t.val, next_expected_val);
|
|
}
|
|
|
|
++next_expected_val;
|
|
}
|
|
}
|
|
|
|
if (_num_messages_sent != next_expected_val) {
|
|
return test_fail("number of sent and received messages mismatch (sent: %i, received: %i)",
|
|
_num_messages_sent, next_expected_val);
|
|
}
|
|
|
|
return test_note("PASS orb queuing (poll & notify), got %i messages", next_expected_val);
|
|
}
|
|
|
|
|
|
int uORBTest::UnitTest::test_fail(const char *fmt, ...)
|
|
{
|
|
va_list ap;
|
|
|
|
fprintf(stderr, "uORB FAIL: ");
|
|
va_start(ap, fmt);
|
|
vfprintf(stderr, fmt, ap);
|
|
va_end(ap);
|
|
fprintf(stderr, "\n");
|
|
fflush(stderr);
|
|
|
|
return PX4_ERROR;
|
|
}
|
|
|
|
int uORBTest::UnitTest::test_note(const char *fmt, ...)
|
|
{
|
|
va_list ap;
|
|
|
|
fprintf(stderr, "uORB note: ");
|
|
va_start(ap, fmt);
|
|
vfprintf(stderr, fmt, ap);
|
|
va_end(ap);
|
|
fprintf(stderr, "\n");
|
|
fflush(stderr);
|
|
return OK;
|
|
}
|
|
|
|
int uORBTest::UnitTest::pubsubtest_threadEntry(int argc, char *argv[])
|
|
{
|
|
uORBTest::UnitTest &t = uORBTest::UnitTest::instance();
|
|
return t.pubsublatency_main();
|
|
}
|