mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
265 lines
6.5 KiB
C++
265 lines
6.5 KiB
C++
|
|
/****************************************************************************
|
|
*
|
|
* Copyright (C) 2015 Mark Charlebois. 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.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* @file vcdevtest_example.cpp
|
|
* Example for Linux
|
|
*
|
|
* @author Mark Charlebois <charlebm@gmail.com>
|
|
*/
|
|
|
|
#include <px4_tasks.h>
|
|
#include <px4_time.h>
|
|
#include "vcdevtest_example.h"
|
|
#include <drivers/drv_device.h>
|
|
#include <drivers/device/device.h>
|
|
#include <unistd.h>
|
|
#include <stdio.h>
|
|
|
|
px4::AppState VCDevExample::appState;
|
|
|
|
using namespace device;
|
|
|
|
#define TESTDEV "/dev/vdevex"
|
|
|
|
static int writer_main(int argc, char *argv[])
|
|
{
|
|
char buf[1];
|
|
|
|
int fd = px4_open(TESTDEV, PX4_F_RDONLY);
|
|
if (fd < 0) {
|
|
PX4_INFO("--- Open failed %d %d", fd, px4_errno);
|
|
return -px4_errno;
|
|
}
|
|
|
|
int ret;
|
|
int i=0;
|
|
while (i<3) {
|
|
// Wait for 4 seconds
|
|
PX4_INFO("Writer: Sleeping for 4 sec\n");
|
|
ret = sleep(4);
|
|
if (ret < 0) {
|
|
PX4_INFO("Writer: sleep failed %d %d\n", ret, errno);
|
|
return ret;
|
|
}
|
|
|
|
PX4_INFO("Writer: writing to fd\n");
|
|
buf[0] = 'A'+(char)(i % 26);
|
|
ret = px4_write(fd, buf, 1);
|
|
++i;
|
|
}
|
|
px4_close(fd);
|
|
return ret;
|
|
}
|
|
|
|
class VCDevNode : public VDev {
|
|
public:
|
|
VCDevNode() : VDev("vcdevtest", TESTDEV) {};
|
|
|
|
~VCDevNode() {}
|
|
|
|
virtual ssize_t write(device::file_t *handlep, const char *buffer, size_t buflen);
|
|
virtual ssize_t read(device::file_t *handlep, const char *buffer, size_t buflen);
|
|
private:
|
|
uint32_t _read_offset;
|
|
uint32_t _write_offset;
|
|
char _buf[1000];
|
|
};
|
|
|
|
ssize_t VCDevNode::write(device::file_t *handlep, const char *buffer, size_t buflen)
|
|
{
|
|
// ignore what was written, but let pollers know something was written
|
|
poll_notify(POLLIN);
|
|
|
|
for (int i=0; i<buflen && _write_offset<1000; i++) {
|
|
_buf[_write_offset] = buffer[i];
|
|
_write_offset++;
|
|
}
|
|
|
|
return buflen;
|
|
}
|
|
|
|
ssize_t VCDevNode::read(device::file_t *handlep, const char *buffer, size_t buflen)
|
|
{
|
|
for (int i=0; i<buflen && _read_offset<_write_offset; i++) {
|
|
buffer[i] = _buf[_read_offset];
|
|
_read_offset++;
|
|
}
|
|
|
|
return buflen;
|
|
}
|
|
|
|
VCDevExample::~VCDevExample() {
|
|
if (_node) {
|
|
delete _node;
|
|
_node = 0;
|
|
}
|
|
}
|
|
|
|
static int test_pub_block(int fd, unsigned long blocked)
|
|
{
|
|
int ret = px4_ioctl(fd, DEVIOCSPUBBLOCK, blocked);
|
|
if (ret < 0) {
|
|
PX4_INFO("ioctl PX4_DEVIOCSPUBBLOCK failed %d %d", ret, px4_errno);
|
|
return -px4_errno;
|
|
}
|
|
|
|
ret = px4_ioctl(fd, DEVIOCGPUBBLOCK, 0);
|
|
if (ret < 0) {
|
|
PX4_INFO("ioctl PX4_DEVIOCGPUBBLOCK failed %d %d", ret, px4_errno);
|
|
return -px4_errno;
|
|
}
|
|
PX4_INFO("pub_blocked = %d %s\n", ret, (unsigned long)ret == blocked ? "PASS" : "FAIL");
|
|
|
|
return 0;
|
|
}
|
|
|
|
int VCDevExample::main()
|
|
{
|
|
appState.setRunning(true);
|
|
|
|
_node = new VCDevNode();
|
|
|
|
if (_node == 0) {
|
|
PX4_INFO("Failed to allocate VCDevNode\n");
|
|
return -ENOMEM;
|
|
}
|
|
|
|
if (_node->init() != PX4_OK) {
|
|
PX4_INFO("Failed to init VCDevNode\n");
|
|
return 1;
|
|
}
|
|
|
|
int fd = px4_open(TESTDEV, PX4_F_RDONLY);
|
|
|
|
if (fd < 0) {
|
|
PX4_INFO("Open failed %d %d", fd, px4_errno);
|
|
return -px4_errno;
|
|
}
|
|
|
|
void *p = 0;
|
|
int ret = px4_ioctl(fd, DIOC_GETPRIV, (unsigned long)&p);
|
|
if (ret < 0) {
|
|
PX4_INFO("ioctl DIOC_GETPRIV failed %d %d", ret, px4_errno);
|
|
return -px4_errno;
|
|
}
|
|
PX4_INFO("priv data = %p %s\n", p, p == (void *)_node ? "PASS" : "FAIL");
|
|
|
|
ret = test_pub_block(fd, 1);
|
|
if (ret < 0)
|
|
return ret;
|
|
ret = test_pub_block(fd, 0);
|
|
if (ret < 0)
|
|
return ret;
|
|
|
|
int i=0;
|
|
px4_pollfd_struct_t fds[1];
|
|
|
|
// Start a task that will write something in 4 seconds
|
|
(void)px4_task_spawn_cmd("writer",
|
|
SCHED_DEFAULT,
|
|
SCHED_PRIORITY_MAX - 6,
|
|
2000,
|
|
writer_main,
|
|
(char* const*)NULL);
|
|
|
|
while (!appState.exitRequested() && i<13) {
|
|
PX4_INFO("=====================\n");
|
|
PX4_INFO("Reader: sleeping 2 sec\n");
|
|
sleep(2);
|
|
|
|
fds[0].fd = fd;
|
|
fds[0].events = POLLIN;
|
|
fds[0].revents = 0;
|
|
|
|
PX4_INFO("Reader: Calling px4_poll with 1 sec wait\n");
|
|
ret = px4_poll(fds, 1, 1000);
|
|
PX4_INFO("Reader: Done px4_poll\n");
|
|
if (ret < 0) {
|
|
PX4_INFO("Reader: px4_poll failed %d %d\n", ret, px4_errno);
|
|
px4_close(fd);
|
|
}
|
|
else if (i > 0) {
|
|
if (ret == 0) {
|
|
PX4_INFO("Reader: Nothing to read - PASS\n");
|
|
}
|
|
else {
|
|
PX4_INFO("Reader: poll returned %d\n", ret);
|
|
}
|
|
}
|
|
else if (i == 0) {
|
|
if (ret == 1) {
|
|
PX4_INFO("Reader: %d to read - %s\n", ret, fds[0].revents & POLLIN ? "PASS" : "FAIL");
|
|
}
|
|
else {
|
|
PX4_INFO("Reader: %d to read - FAIL\n", ret);
|
|
}
|
|
|
|
}
|
|
++i;
|
|
}
|
|
i=0;
|
|
while (!appState.exitRequested() && i<13) {
|
|
PX4_INFO("=====================\n");
|
|
PX4_INFO("Reader: sleeping 2 sec ====\n");
|
|
sleep(2);
|
|
|
|
fds[0].fd = fd;
|
|
fds[0].events = POLLIN;
|
|
fds[0].revents = 0;
|
|
|
|
PX4_INFO("Reader: Calling px4_poll with 0 timeout\n");
|
|
ret = px4_poll(fds, 1, 0);
|
|
PX4_INFO("Reader: Done px4_poll\n");
|
|
if (ret < 0) {
|
|
PX4_INFO("Reader: px4_poll failed %d %d\n", ret, px4_errno);
|
|
px4_close(fd);
|
|
}
|
|
if (ret == 0) {
|
|
PX4_INFO("Reader: Nothing to read - PASS\n");
|
|
}
|
|
if (ret == 1) {
|
|
PX4_INFO("Reader: %d to read - %s\n", ret, fds[0].revents & POLLIN ? "PASS" : "FAIL");
|
|
}
|
|
else {
|
|
PX4_INFO("Reader: %d to read - FAIL\n", ret);
|
|
}
|
|
|
|
++i;
|
|
}
|
|
px4_close(fd);
|
|
|
|
return 0;
|
|
}
|