mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-28 16:40:34 +08:00
Ban Siesta
146 lines
4.0 KiB
C++
146 lines
4.0 KiB
C++
/****************************************************************************
|
|
*
|
|
* 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"
|
|
#include <px4_time.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:
|
|
|
|
// Singleton pattern
|
|
static uORBTest::UnitTest &instance();
|
|
~UnitTest() {}
|
|
int test();
|
|
template<typename S> int latency_test(orb_id_t T, bool print);
|
|
int info();
|
|
|
|
private:
|
|
UnitTest() : pubsubtest_passed(false), pubsubtest_print(false) {}
|
|
|
|
// Disallow copy
|
|
UnitTest(const uORBTest::UnitTest &) {};
|
|
static int pubsubtest_threadEntry(char *const argv[]);
|
|
int pubsublatency_main(void);
|
|
//
|
|
bool pubsubtest_passed;
|
|
bool pubsubtest_print;
|
|
int pubsubtest_res = OK;
|
|
|
|
int test_single();
|
|
int test_multi();
|
|
int test_multi_reversed();
|
|
|
|
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();
|
|
|
|
orb_advert_t pfd0 = orb_advertise(T, &t);
|
|
|
|
char *const args[1] = { NULL };
|
|
|
|
pubsubtest_print = print;
|
|
pubsubtest_passed = false;
|
|
|
|
/* test pub / sub latency */
|
|
|
|
// Can't pass a pointer in args, must be a null terminated
|
|
// array of strings because the strings are copied to
|
|
// prevent access if the caller data goes out of scope
|
|
int pubsub_task = px4_task_spawn_cmd("uorb_latency",
|
|
SCHED_DEFAULT,
|
|
SCHED_PRIORITY_MAX - 5,
|
|
1500,
|
|
(px4_main_t)&uORBTest::UnitTest::pubsubtest_threadEntry,
|
|
args);
|
|
|
|
/* 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);
|
|
}
|
|
|
|
if (pubsub_task < 0) {
|
|
return test_fail("failed launching task");
|
|
}
|
|
|
|
return pubsubtest_res;
|
|
}
|
|
|
|
#endif // _uORBTest_UnitTest_hpp_
|