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