AP_HAL_Linux: add unit tests for Thread implementations

libraries/AP_HAL_Linux/tests/test_thread.cpp

@@ -0,0 +1,120 @@
+/*
+ * Copyright (C) 2016  Intel Corporation. All rights reserved.
+ *
+ * This file is free software: you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This file is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#include <AP_gtest.h>
+
+#include <pthread.h>
+#include <unistd.h>
+
+#include <AP_HAL/AP_HAL.h>
+#include <AP_HAL_Linux/Thread.h>
+#include <AP_HAL_Linux/PollerThread.h>
+
+using namespace Linux;
+
+const AP_HAL::HAL &hal = AP_HAL::get_HAL();
+
+class TestThread1 : public Thread {
+public:
+    TestThread1() : Thread(nullptr) { }
+
+    int n_loop = 0;
+
+protected:
+    bool _run() override {
+        n_loop = 1;
+        return true;
+    }
+};
+
+TEST(LinuxThread, override_run)
+{
+    TestThread1 thr;
+    EXPECT_TRUE(thr.start(nullptr, 0, 0));
+
+    while (thr.n_loop == 0) {
+        usleep(10000);
+    }
+
+    EXPECT_EQ(thr.n_loop, 1);
+}
+
+class TestThread2 : public Thread {
+public:
+    TestThread2() : Thread{FUNCTOR_BIND_MEMBER(&TestThread2::_task, void)} { }
+
+    int n_loop = 0;
+
+protected:
+    void _task() {
+        n_loop = 1;
+    }
+};
+
+TEST(LinuxThread, run_task)
+{
+    TestThread2 thr;
+    EXPECT_TRUE(thr.start(nullptr, 0, 0));
+
+    while (thr.n_loop == 0) {
+        usleep(10000);
+    }
+
+    EXPECT_EQ(thr.n_loop, 1);
+}
+
+TEST(LinuxThread, poller_thread)
+{
+    PollerThread thr;
+    EXPECT_TRUE(thr.start(nullptr, 0, 0));
+
+    while (!thr.is_started()) {
+        usleep(1000);
+    }
+
+    usleep(10000);
+
+    EXPECT_TRUE(thr.stop());
+    EXPECT_TRUE(thr.join());
+}
+
+class TestPeriodicThread1 : public PeriodicThread {
+public:
+    TestPeriodicThread1() : PeriodicThread{FUNCTOR_BIND_MEMBER(&TestPeriodicThread1::_task, void)} { }
+protected:
+    void _task() { }
+};
+
+TEST(LinuxThread, periodic_thread)
+{
+    TestPeriodicThread1 thr;
+    EXPECT_TRUE(thr.set_rate(1000));
+    EXPECT_TRUE(thr.start(nullptr, 0, 0));
+
+    while (!thr.is_started()) {
+        usleep(1000);
+    }
+
+    // this must fail as the thread already started
+    EXPECT_FALSE(thr.set_rate(10));
+
+    usleep(10000);
+
+    EXPECT_TRUE(thr.stop());
+    EXPECT_TRUE(thr.join());
+}
+
+AP_GTEST_MAIN()

libraries/AP_HAL_Linux/tests/wscript

@@ -0,0 +1,7 @@
+#!/usr/bin/env python
+# encoding: utf-8
+
+def build(bld):
+    bld.ap_find_tests(
+        use='ap',
+    )