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Merge pull request #2502 from mcharleb/qurt-tests 

QuRT: Unit tests for QuRT
This commit is contained in:
Lorenz Meier 2015-07-01 21:10:01 +02:00
parent c63f5f0486 6b5a9d6c7b
commit 8237b8bbaf
5 changed files with 204 additions and 9 deletions
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7
src/platforms/qurt/tests/muorb/module.mk
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@ -37,7 +37,12 @@
MODULE_COMMAND = muorb_test
SRCS = muorb_test_main.cpp \
SRCS = \
muorb_test_start_qurt.cpp \
muorb_test_example.cpp
INCLUDE_DIRS += $(PX4_BASE)/src/modules/uORB \
$(PX4_BASE)/src/platforms \
$(PX4_BASE)/src/modules

174
src/platforms/qurt/tests/muorb/muorb_test_example.cpp
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@ -42,19 +42,183 @@
#include <px4_log.h>
#include <unistd.h>
#include <stdio.h>
#include <string.h>
#include "uORB/topics/sensor_combined.h"
#include "uORB/topics/pwm_input.h"
#include "uORB.h"
#include "px4_middleware.h"
#include "px4_defines.h"
#include <stdlib.h>
//#include <fstream>
//#include <iostream>
px4::AppState MuorbTestExample::appState;
int MuorbTestExample::main()
{
int rc;
appState.setRunning(true);
rc = PingPongTest();
//rc = FileReadTest();
appState.setRunning( false );
return rc;
}
int MuorbTestExample::DefaultTest()
{
struct pwm_input_s pwm;
struct sensor_combined_s sc;
//sc = new sensor_combined_s;
memset( &pwm, 0, sizeof(pwm_input_s) );
memset( &sc, 0, sizeof(sensor_combined_s) );
PX4_WARN( "Suucessful after memset... " );
orb_advert_t pub_fd = orb_advertise( ORB_ID( pwm_input ), &pwm );
if( pub_fd == nullptr )
{
PX4_WARN( "Error: advertizing pwm_input topic" );
return -1;
}
orb_advert_t pub_sc = orb_advertise( ORB_ID( sensor_combined ), &sc );
if( pub_sc == nullptr )
{
PX4_WARN( "Error: advertizing sensor_combined topic" );
return -1;
}
int i=0;
while (!appState.exitRequested() && i<5) {
pwm.error_count++;
sc.gyro_errcount++;
//while (!appState.exitRequested() && i<5) {
while (!appState.exitRequested() && i < 10 ) {
PX4_DEBUG(" Doing work...");
++i;
PX4_INFO(" Doing work...");
orb_publish( ORB_ID( pwm_input), pub_fd, &pwm );
orb_publish( ORB_ID( sensor_combined ), pub_sc, &sc );
//px4::usleep( 1000000 );
//sleep( 1 );
for( int64_t j = 0; j < 0x80; ++j )
{
volatile int x = 0;
++x;
}
++i;
}
return 0;
return 0;
}
int MuorbTestExample::PingPongTest()
{
int i=0;
orb_advert_t pub_id_esc_status = orb_advertise( ORB_ID( esc_status ), & m_esc_status );
if( pub_id_esc_status == 0 )
{
PX4_ERR( "error publishing esc_status" );
return -1;
}
if( orb_publish( ORB_ID( esc_status ), pub_id_esc_status, &m_esc_status ) == PX4_ERROR )
{
PX4_ERR( "[%d]Error publishing the esc_status message", i );
return -1;
}
int sub_vc = orb_subscribe( ORB_ID( vehicle_command ) );
if ( sub_vc == PX4_ERROR )
{
PX4_ERR( "Error subscribing to vehicle_command topic" );
return -1;
}
while (!appState.exitRequested() ) {
PX4_DEBUG("[%d] Doing work...", i );
bool updated = false;
if( orb_check( sub_vc, &updated ) == 0 )
{
if( updated )
{
PX4_DEBUG( "[%d]vechile command status is updated... reading new value", i );
if( orb_copy( ORB_ID( vehicle_command ), sub_vc, &m_vc ) != 0 )
{
PX4_ERR( "[%d]Error calling orb copy for vechicle... ", i );
break;
}
if( orb_publish( ORB_ID( esc_status ), pub_id_esc_status, &m_esc_status ) == PX4_ERROR )
{
PX4_ERR( "[%d]Error publishing the esc_status message", i );
break;
}
}
else
{
PX4_DEBUG( "[%d] vechicle command topic is not updated", i );
}
}
else
{
PX4_ERR( "[%d]Error checking the updated status for vehicle command ", i );
break;
}
// sleep for 1 sec.
usleep( 1000000 );
++i;
}
return 0;
}
int MuorbTestExample::FileReadTest()
{
int rc = OK;
//static const char TEST_FILE_PATH[] = "/home/linaro/test.txt";
static const char TEST_FILE_PATH[] = "./test.txt";
FILE* fp;
char* line = NULL;
size_t len = 0;
ssize_t read;
fp = fopen( TEST_FILE_PATH, "r" );
if( fp == NULL )
{
PX4_WARN( "unable to open file[%s] for reading", TEST_FILE_PATH );
rc = PX4_ERROR;
}
else
{
int i = 0;
//while( ( read = getline( &line, &len, fp ) ) != -1 )
//{
// ++i;
// PX4_WARN( "LineNum[%d] LineLength[%d]", i, len );
// PX4_WARN( "LineNum[%d] Line[%s]", i, line );
//}
PX4_WARN( "Successfully opened file [%s]", TEST_FILE_PATH );
fclose( fp );
if( line != NULL )
{
free( line );
}
}
/*
std::fstream fs( TEST_FILE_PATH, std::fstream::in );
if( fs.is_open() )
{
int i = 0;
char line[1024];
while( !fs.eof() )
{
++i;
fs.getline( line, 1024 );
PX4_WARN( "ReadLine[%d] Line[%s]", i, line );
}
fs.close();
}
else
{
PX4_WARN( "Unable to open file[%s] for reading", TEST_FILE_PATH );
rc = PX4_ERROR;
}
*/
return rc;
}

10
src/platforms/qurt/tests/muorb/muorb_test_example.h
View File

@ -34,6 +34,8 @@
#pragma once
#include <px4_app.h>
#include "uORB/topics/esc_status.h"
#include "uORB/topics/vehicle_command.h"
class MuorbTestExample {
public:
@ -44,4 +46,12 @@ public:
int main();
static px4::AppState appState; /* track requests to terminate app */
private:
int DefaultTest();
int PingPongTest();
int FileReadTest();
struct esc_status_s m_esc_status;
struct vehicle_command_s m_vc;
};

4
src/platforms/qurt/tests/muorb/muorb_test_main.cpp
View File

@ -42,7 +42,9 @@
#include <px4_app.h>
#include "muorb_test_example.h"
int PX4_MAIN(int argc, char **argv)
extern "C" __EXPORT int muorb_test_entry( int argc, char** argv );
int muorb_test_entry(int argc, char **argv)
{
px4::init(argc, argv, "muorb_test");

18
src/platforms/qurt/tests/muorb/muorb_test_start_qurt.cpp
View File

@ -50,6 +50,18 @@ static int daemon_task; /* Handle of deamon task / thread */
extern "C" __EXPORT int muorb_test_main(int argc, char *argv[]);
int muorb_test_entry(int argc, char **argv)
{
//px4::init(argc, argv, "muorb_test");
PX4_INFO("muorb_test entry.....");
MuorbTestExample hello;
hello.main();
PX4_INFO("goodbye");
return 0;
}
static void usage()
{
PX4_DEBUG("usage: muorb_test {start|stop|status}");
@ -68,12 +80,14 @@ int muorb_test_main(int argc, char *argv[])
/* this is not an error */
return 0;
}
PX4_INFO( "before starting the muorb_test_entry task" );
daemon_task = px4_task_spawn_cmd("muorb_test",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
16000,
PX4_MAIN,
8192,
muorb_test_entry,
(char* const*)argv);
return 0;