forked from Archive/PX4-Autopilot
Better timing tests
This commit is contained in:
Lorenz Meier
parent
677bfddcb6
commit
19811bc73f
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@ -695,6 +695,22 @@ struct orb_test {
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ORB_DEFINE(orb_test, struct orb_test);
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ORB_DEFINE(orb_multitest, struct orb_test);
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struct orb_test_medium {
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int val;
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hrt_abstime time;
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char junk[64];
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};
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ORB_DEFINE(orb_test_medium, struct orb_test_medium);
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struct orb_test_large {
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int val;
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hrt_abstime time;
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char junk[512];
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};
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ORB_DEFINE(orb_test_large, struct orb_test_large);
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int
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test_fail(const char *fmt, ...)
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{
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@ -729,23 +745,44 @@ int pubsublatency_main(void)
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float latency_integral = 0.0f;
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/* wakeup source(s) */
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struct pollfd fds[1];
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struct pollfd fds[3];
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int test_multi_sub = orb_subscribe_multi(ORB_ID(orb_multitest), 0);
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int test_multi_sub = orb_subscribe_multi(ORB_ID(orb_test), 0);
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int test_multi_sub_medium = orb_subscribe_multi(ORB_ID(orb_test_medium), 0);
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int test_multi_sub_large = orb_subscribe_multi(ORB_ID(orb_test_large), 0);
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struct orb_test_large t;
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/* clear all ready flags */
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orb_copy(ORB_ID(orb_test), test_multi_sub, &t);
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orb_copy(ORB_ID(orb_test_medium), test_multi_sub_medium, &t);
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orb_copy(ORB_ID(orb_test_large), test_multi_sub_large, &t);
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fds[0].fd = test_multi_sub;
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fds[0].events = POLLIN;
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struct orb_test t;
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fds[1].fd = test_multi_sub_medium;
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fds[1].events = POLLIN;
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fds[2].fd = test_multi_sub_large;
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fds[2].events = POLLIN;
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const unsigned maxruns = 1000;
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unsigned timingsgroup = 0;
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unsigned *timings = new unsigned[maxruns];
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for (unsigned i = 0; i < maxruns; i++) {
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/* wait for up to 500ms for data */
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int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 500);
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orb_copy(ORB_ID(orb_multitest), test_multi_sub, &t);
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if (fds[0].revents & POLLIN) {
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orb_copy(ORB_ID(orb_test), test_multi_sub, &t);
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timingsgroup = 0;
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} else if (fds[1].revents & POLLIN) {
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orb_copy(ORB_ID(orb_test_medium), test_multi_sub_medium, &t);
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timingsgroup = 1;
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} else if (fds[2].revents & POLLIN) {
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orb_copy(ORB_ID(orb_test_large), test_multi_sub_large, &t);
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timingsgroup = 2;
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}
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if (pret < 0) {
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warn("poll error %d, %d", pret, errno);
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@ -758,11 +795,23 @@ int pubsublatency_main(void)
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}
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orb_unsubscribe(test_multi_sub);
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orb_unsubscribe(test_multi_sub_medium);
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orb_unsubscribe(test_multi_sub_large);
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if (pubsubtest_print) {
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char fname[32];
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sprintf(fname, "/fs/microsd/timings%u.txt", timingsgroup);
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FILE *f = fopen(fname, "w");
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if (f == NULL) {
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warnx("Error opening file!\n");
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return ERROR;
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}
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for (unsigned i = 0; i < maxruns; i++) {
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printf("%u\n", timings[i]);
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fprintf(f, "%u\n", timings[i]);
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}
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fclose(f);
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}
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delete[] timings;
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@ -780,7 +829,7 @@ int pubsublatency_main(void)
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return pubsubtest_res;
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}
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int latency_test(bool print);
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template<typename S> int latency_test(orb_id_t T, bool print);
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int
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test()
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@ -895,20 +944,20 @@ test()
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if (prio != ORB_PRIO_MIN)
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return test_fail("prio: %d", prio);
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if (OK != latency_test(false))
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if (OK != latency_test<struct orb_test>(ORB_ID(orb_test), false))
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return test_fail("latency test failed");
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return test_note("PASS");
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}
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int
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latency_test(bool print)
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template<typename S> int
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latency_test(orb_id_t T, bool print)
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{
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struct orb_test t;
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S t;
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t.val = 308;
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t.time = hrt_absolute_time();
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int pfd0 = orb_advertise(ORB_ID(orb_multitest), &t);
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int pfd0 = orb_advertise(T, &t);
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pubsubtest_print = print;
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@ -927,13 +976,15 @@ latency_test(bool print)
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while (!pubsubtest_passed) {
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t.val = 308;
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t.time = hrt_absolute_time();
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if (OK != orb_publish(ORB_ID(orb_multitest), pfd0, &t))
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if (OK != orb_publish(T, pfd0, &t))
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return test_fail("mult. pub0 timing fail");
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/* simulate >800 Hz system operation */
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usleep(1000);
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}
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close(pfd0);
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if (pubsub_task < 0) {
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return test_fail("failed launching task");
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}
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@ -998,8 +1049,16 @@ uorb_main(int argc, char *argv[])
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/*
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* Test the latency.
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*/
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if (!strcmp(argv[1], "latency_test"))
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return latency_test(true);
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if (!strcmp(argv[1], "latency_test")) {
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if (argc > 2 && !strcmp(argv[2], "medium")) {
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return latency_test<struct orb_test_medium>(ORB_ID(orb_test_medium), true);
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} else if (argc > 2 && !strcmp(argv[2], "large")) {
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return latency_test<struct orb_test_large>(ORB_ID(orb_test_large), true);
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} else {
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return latency_test<struct orb_test>(ORB_ID(orb_test), true);
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}
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}
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/*
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* Print driver information.
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@ -1007,7 +1066,7 @@ uorb_main(int argc, char *argv[])
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if (!strcmp(argv[1], "status"))
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return info();
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errx(-EINVAL, "unrecognized command, try 'start', 'test' or 'status'");
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errx(-EINVAL, "unrecognized command, try 'start', 'test', 'latency_test' or 'status'");
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}
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/*
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