PX4-Autopilot/src/systemcmds/tests/test_mtd.c

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/**
 * @file test_mtd.c
 *
 * Param storage / file test.
 *
 * @author Lorenz Meier <lm@inf.ethz.ch>
 */

#include <sys/stat.h>
#include <poll.h>
#include <dirent.h>
#include <stdio.h>
#include <stddef.h>
#include <unistd.h>
#include <fcntl.h>
#include <systemlib/err.h>
#include <systemlib/perf_counter.h>
#include <string.h>

#include <drivers/drv_hrt.h>

#include "tests.h"

#define PARAM_FILE_NAME "/fs/mtd_params"

static int check_user_abort(int fd);
static void print_fail(void);
static void print_success(void);

int check_user_abort(int fd) {
	/* check if user wants to abort */
	char c;

	struct pollfd fds;
	int ret;
	fds.fd = 0; /* stdin */
	fds.events = POLLIN;
	ret = poll(&fds, 1, 0);

	if (ret > 0) {

		read(0, &c, 1);

		switch (c) {
		case 0x03: // ctrl-c
		case 0x1b: // esc
		case 'c':
		case 'q':
		{
			warnx("Test aborted.");
			fsync(fd);
			close(fd);
			return OK;
			/* not reached */
			}
		}
	}

	return 1;
}

void print_fail()
{
	printf("<[T]: MTD: FAIL>\n");
}

void print_success()
{
	printf("<[T]: MTD: OK>\n");
}

int
test_mtd(int argc, char *argv[])
{
	unsigned iterations= 0;

	/* check if microSD card is mounted */
	struct stat buffer;
	if (stat(PARAM_FILE_NAME, &buffer)) {
		warnx("file %s not found, aborting MTD test", PARAM_FILE_NAME);
		print_fail();
		return 1;
	}

	// XXX get real storage space here
	unsigned file_size = 4096;

	/* perform tests for a range of chunk sizes */
	unsigned chunk_sizes[] = {256, 512, 4096};

	for (unsigned c = 0; c < (sizeof(chunk_sizes) / sizeof(chunk_sizes[0])); c++) {

		printf("\n====== FILE TEST: %u bytes chunks ======\n", chunk_sizes[c]);

		uint8_t write_buf[chunk_sizes[c]] __attribute__((aligned(64)));

		/* fill write buffer with known values */
		for (unsigned i = 0; i < sizeof(write_buf); i++) {
			/* this will wrap, but we just need a known value with spacing */
			write_buf[i] = i+11;
		}

		uint8_t read_buf[chunk_sizes[c]] __attribute__((aligned(64)));
		hrt_abstime start, end;

		int fd = open(PARAM_FILE_NAME, O_RDONLY);
		int rret = read(fd, read_buf, chunk_sizes[c]);
		close(fd);
		if (rret <= 0) {
			err(1, "read error");
		}

		fd = open(PARAM_FILE_NAME, O_WRONLY);

		printf("printing 2 percent of the first chunk:\n");
		for (unsigned i = 0; i < sizeof(read_buf) / 50; i++) {
			printf("%02X", read_buf[i]);
		}
		printf("\n");

		iterations = file_size / chunk_sizes[c];

		start = hrt_absolute_time();
		for (unsigned i = 0; i < iterations; i++) {
			int wret = write(fd, write_buf, chunk_sizes[c]);

			if (wret != (int)chunk_sizes[c]) {
				warn("WRITE ERROR!");
				print_fail();
				return 1;
			}

			fsync(fd);

			if (!check_user_abort(fd))
				return OK;

		}
		end = hrt_absolute_time();

		warnx("write took %llu us", (end - start));

		close(fd);
		fd = open(PARAM_FILE_NAME, O_RDONLY);

		/* read back data for validation */
		for (unsigned i = 0; i < iterations; i++) {
			int rret2 = read(fd, read_buf, chunk_sizes[c]);

			if (rret2 != (int)chunk_sizes[c]) {
				warnx("READ ERROR!");
				print_fail();
				return 1;
			}
			
			/* compare value */
			bool compare_ok = true;

			for (unsigned j = 0; j < chunk_sizes[c]; j++) {
				if (read_buf[j] != write_buf[j]) {
					warnx("COMPARISON ERROR: byte %d", j);
					print_fail();
					compare_ok = false;
					break;
				}
			}

			if (!compare_ok) {
				warnx("ABORTING FURTHER COMPARISON DUE TO ERROR");
				print_fail();
				return 1;
			}

			if (!check_user_abort(fd))
				return OK;

		}


		close(fd);

	}

	/* fill the file with 0xFF to make it look new again */
	char ffbuf[64];
	memset(ffbuf, 0xFF, sizeof(ffbuf));
	int fd = open(PARAM_FILE_NAME, O_WRONLY);
	for (unsigned i = 0; i < file_size / sizeof(ffbuf); i++) {
		int ret = write(fd, ffbuf, sizeof(ffbuf));

		if (ret != sizeof(ffbuf)) {
			warnx("ERROR! Could not fill file with 0xFF");
			close(fd);
			print_fail();
			return 1;
		}
	}

	(void)close(fd);
	print_success();

	return 0;
}