forked from Archive/PX4-Autopilot
uORBTest_UnitTest: astyle
This commit is contained in:
Ban Siesta
Lorenz Meier
parent
45f5907716
commit
8be1b4f19c
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@ -45,245 +45,277 @@ uORBTest::UnitTest &uORBTest::UnitTest::instance()
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int uORBTest::UnitTest::pubsublatency_main(void)
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{
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/* poll on test topic and output latency */
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float latency_integral = 0.0f;
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/* poll on test topic and output latency */
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float latency_integral = 0.0f;
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/* wakeup source(s) */
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px4_pollfd_struct_t fds[3];
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/* wakeup source(s) */
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px4_pollfd_struct_t fds[3];
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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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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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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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/* 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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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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fds[0].fd = test_multi_sub;
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fds[0].events = POLLIN;
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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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const unsigned maxruns = 1000;
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unsigned timingsgroup = 0;
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unsigned *timings = new unsigned[maxruns];
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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 = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 500);
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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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for (unsigned i = 0; i < maxruns; i++) {
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/* wait for up to 500ms for data */
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int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 500);
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if (pret < 0) {
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warn("poll error %d, %d", pret, errno);
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continue;
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}
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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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hrt_abstime elt = hrt_elapsed_time(&t.time);
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latency_integral += elt;
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timings[i] = elt;
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}
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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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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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} 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 (pubsubtest_print) {
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char fname[32];
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sprintf(fname, PX4_ROOTFSDIR"/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 uORB::ERROR;
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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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continue;
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}
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for (unsigned i = 0; i < maxruns; i++) {
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fprintf(f, "%u\n", timings[i]);
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}
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hrt_abstime elt = hrt_elapsed_time(&t.time);
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latency_integral += elt;
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timings[i] = elt;
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}
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fclose(f);
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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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delete[] timings;
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if (pubsubtest_print) {
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char fname[32];
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sprintf(fname, PX4_ROOTFSDIR"/fs/microsd/timings%u.txt", timingsgroup);
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FILE *f = fopen(fname, "w");
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warnx("mean: %8.4f", static_cast<double>(latency_integral / maxruns));
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if (f == NULL) {
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warnx("Error opening file!\n");
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return uORB::ERROR;
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}
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pubsubtest_passed = true;
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for (unsigned i = 0; i < maxruns; i++) {
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fprintf(f, "%u\n", timings[i]);
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}
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if (static_cast<float>(latency_integral / maxruns) > 30.0f) {
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pubsubtest_res = uORB::ERROR;
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} else {
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pubsubtest_res = PX4_OK;
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}
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fclose(f);
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}
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return pubsubtest_res;
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delete[] timings;
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warnx("mean: %8.4f", static_cast<double>(latency_integral / maxruns));
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pubsubtest_passed = true;
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if (static_cast<float>(latency_integral / maxruns) > 30.0f) {
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pubsubtest_res = uORB::ERROR;
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} else {
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pubsubtest_res = PX4_OK;
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}
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return pubsubtest_res;
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}
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int uORBTest::UnitTest::test()
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{
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struct orb_test t, u;
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int sfd;
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orb_advert_t ptopic;
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bool updated;
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struct orb_test t, u;
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int sfd;
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orb_advert_t ptopic;
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bool updated;
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t.val = 0;
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ptopic = orb_advertise(ORB_ID(orb_test), &t);
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t.val = 0;
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ptopic = orb_advertise(ORB_ID(orb_test), &t);
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if (ptopic == nullptr)
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return test_fail("advertise failed: %d", errno);
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if (ptopic == nullptr) {
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return test_fail("advertise failed: %d", errno);
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}
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test_note("publish handle 0x%08x", ptopic);
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sfd = orb_subscribe(ORB_ID(orb_test));
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test_note("publish handle 0x%08x", ptopic);
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sfd = orb_subscribe(ORB_ID(orb_test));
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if (sfd < 0)
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return test_fail("subscribe failed: %d", errno);
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if (sfd < 0) {
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return test_fail("subscribe failed: %d", errno);
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}
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test_note("subscribe fd %d", sfd);
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u.val = 1;
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test_note("subscribe fd %d", sfd);
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u.val = 1;
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if (PX4_OK != orb_copy(ORB_ID(orb_test), sfd, &u))
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return test_fail("copy(1) failed: %d", errno);
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if (PX4_OK != orb_copy(ORB_ID(orb_test), sfd, &u)) {
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return test_fail("copy(1) failed: %d", errno);
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}
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if (u.val != t.val)
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return test_fail("copy(1) mismatch: %d expected %d", u.val, t.val);
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if (u.val != t.val) {
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return test_fail("copy(1) mismatch: %d expected %d", u.val, t.val);
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}
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if (PX4_OK != orb_check(sfd, &updated))
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return test_fail("check(1) failed");
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if (PX4_OK != orb_check(sfd, &updated)) {
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return test_fail("check(1) failed");
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}
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if (updated)
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return test_fail("spurious updated flag");
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if (updated) {
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return test_fail("spurious updated flag");
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}
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t.val = 2;
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test_note("try publish");
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t.val = 2;
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test_note("try publish");
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if (PX4_OK != orb_publish(ORB_ID(orb_test), ptopic, &t))
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return test_fail("publish failed");
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if (PX4_OK != orb_publish(ORB_ID(orb_test), ptopic, &t)) {
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return test_fail("publish failed");
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}
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if (PX4_OK != orb_check(sfd, &updated))
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return test_fail("check(2) failed");
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if (PX4_OK != orb_check(sfd, &updated)) {
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return test_fail("check(2) failed");
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}
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if (!updated)
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return test_fail("missing updated flag");
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if (!updated) {
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return test_fail("missing updated flag");
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}
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if (PX4_OK != orb_copy(ORB_ID(orb_test), sfd, &u))
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return test_fail("copy(2) failed: %d", errno);
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if (PX4_OK != orb_copy(ORB_ID(orb_test), sfd, &u)) {
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return test_fail("copy(2) failed: %d", errno);
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}
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if (u.val != t.val)
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return test_fail("copy(2) mismatch: %d expected %d", u.val, t.val);
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if (u.val != t.val) {
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return test_fail("copy(2) mismatch: %d expected %d", u.val, t.val);
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}
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orb_unsubscribe(sfd);
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orb_unsubscribe(sfd);
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/* this routine tests the multi-topic support */
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test_note("try multi-topic support");
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/* this routine tests the multi-topic support */
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test_note("try multi-topic support");
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int instance0;
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orb_advert_t pfd0 = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance0, ORB_PRIO_MAX);
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int instance0;
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orb_advert_t pfd0 = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance0, ORB_PRIO_MAX);
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test_note("advertised");
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test_note("advertised");
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int instance1;
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orb_advert_t pfd1 = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance1, ORB_PRIO_MIN);
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int instance1;
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orb_advert_t pfd1 = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance1, ORB_PRIO_MIN);
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if (instance0 != 0)
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return test_fail("mult. id0: %d", instance0);
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if (instance0 != 0) {
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return test_fail("mult. id0: %d", instance0);
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}
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if (instance1 != 1)
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return test_fail("mult. id1: %d", instance1);
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if (instance1 != 1) {
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return test_fail("mult. id1: %d", instance1);
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}
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t.val = 103;
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if (PX4_OK != orb_publish(ORB_ID(orb_multitest), pfd0, &t))
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return test_fail("mult. pub0 fail");
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t.val = 103;
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test_note("published");
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if (PX4_OK != orb_publish(ORB_ID(orb_multitest), pfd0, &t)) {
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return test_fail("mult. pub0 fail");
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}
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t.val = 203;
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if (PX4_OK != orb_publish(ORB_ID(orb_multitest), pfd1, &t))
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return test_fail("mult. pub1 fail");
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test_note("published");
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/* subscribe to both topics and ensure valid data is received */
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int sfd0 = orb_subscribe_multi(ORB_ID(orb_multitest), 0);
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t.val = 203;
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if (PX4_OK != orb_copy(ORB_ID(orb_multitest), sfd0, &u))
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return test_fail("sub #0 copy failed: %d", errno);
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if (PX4_OK != orb_publish(ORB_ID(orb_multitest), pfd1, &t)) {
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return test_fail("mult. pub1 fail");
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}
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if (u.val != 103)
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return test_fail("sub #0 val. mismatch: %d", u.val);
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/* subscribe to both topics and ensure valid data is received */
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int sfd0 = orb_subscribe_multi(ORB_ID(orb_multitest), 0);
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int sfd1 = orb_subscribe_multi(ORB_ID(orb_multitest), 1);
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if (PX4_OK != orb_copy(ORB_ID(orb_multitest), sfd0, &u)) {
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return test_fail("sub #0 copy failed: %d", errno);
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}
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if (PX4_OK != orb_copy(ORB_ID(orb_multitest), sfd1, &u))
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return test_fail("sub #1 copy failed: %d", errno);
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if (u.val != 103) {
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return test_fail("sub #0 val. mismatch: %d", u.val);
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}
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if (u.val != 203)
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return test_fail("sub #1 val. mismatch: %d", u.val);
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int sfd1 = orb_subscribe_multi(ORB_ID(orb_multitest), 1);
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/* test priorities */
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int prio;
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if (PX4_OK != orb_priority(sfd0, &prio))
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return test_fail("prio #0");
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if (PX4_OK != orb_copy(ORB_ID(orb_multitest), sfd1, &u)) {
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return test_fail("sub #1 copy failed: %d", errno);
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}
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if (prio != ORB_PRIO_MAX)
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return test_fail("prio: %d", prio);
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if (u.val != 203) {
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return test_fail("sub #1 val. mismatch: %d", u.val);
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}
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if (PX4_OK != orb_priority(sfd1, &prio))
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return test_fail("prio #1");
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/* test priorities */
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int prio;
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if (prio != ORB_PRIO_MIN)
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return test_fail("prio: %d", prio);
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if (PX4_OK != orb_priority(sfd0, &prio)) {
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return test_fail("prio #0");
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}
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if (PX4_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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if (prio != ORB_PRIO_MAX) {
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return test_fail("prio: %d", prio);
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}
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return test_note("PASS");
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if (PX4_OK != orb_priority(sfd1, &prio)) {
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return test_fail("prio #1");
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}
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if (prio != ORB_PRIO_MIN) {
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return test_fail("prio: %d", prio);
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}
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if (PX4_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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}
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return test_note("PASS");
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}
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int uORBTest::UnitTest::info()
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{
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return OK;
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return OK;
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}
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int uORBTest::UnitTest::test_fail(const char *fmt, ...)
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{
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va_list ap;
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va_list ap;
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fprintf(stderr, "uORB FAIL: ");
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va_start(ap, fmt);
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vfprintf(stderr, fmt, ap);
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va_end(ap);
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fprintf(stderr, "\n");
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fflush(stderr);
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return uORB::ERROR;
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fprintf(stderr, "uORB FAIL: ");
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va_start(ap, fmt);
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vfprintf(stderr, fmt, ap);
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va_end(ap);
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fprintf(stderr, "\n");
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fflush(stderr);
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return uORB::ERROR;
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}
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int uORBTest::UnitTest::test_note(const char *fmt, ...)
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{
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va_list ap;
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va_list ap;
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fprintf(stderr, "uORB note: ");
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va_start(ap, fmt);
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vfprintf(stderr, fmt, ap);
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va_end(ap);
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fprintf(stderr, "\n");
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fflush(stderr);
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return OK;
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fprintf(stderr, "uORB note: ");
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va_start(ap, fmt);
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vfprintf(stderr, fmt, ap);
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va_end(ap);
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fprintf(stderr, "\n");
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fflush(stderr);
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return OK;
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}
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int uORBTest::UnitTest::pubsubtest_threadEntry(char* const argv[])
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int uORBTest::UnitTest::pubsubtest_threadEntry(char *const argv[])
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{
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uORBTest::UnitTest &t = uORBTest::UnitTest::instance();
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return t.pubsublatency_main();
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uORBTest::UnitTest &t = uORBTest::UnitTest::instance();
|
||||
return t.pubsublatency_main();
|
||||
}
|
||||
|
|
|
|||
|
|
@ -38,101 +38,103 @@
|
|||
#include <px4_time.h>
|
||||
|
||||
struct orb_test {
|
||||
int val;
|
||||
hrt_abstime time;
|
||||
int val;
|
||||
hrt_abstime time;
|
||||
};
|
||||
ORB_DEFINE(orb_test, struct orb_test);
|
||||
ORB_DEFINE(orb_multitest, struct orb_test);
|
||||
|
||||
struct orb_test_medium {
|
||||
int val;
|
||||
hrt_abstime time;
|
||||
char junk[64];
|
||||
int val;
|
||||
hrt_abstime time;
|
||||
char junk[64];
|
||||
};
|
||||
ORB_DEFINE(orb_test_medium, struct orb_test_medium);
|
||||
|
||||
struct orb_test_large {
|
||||
int val;
|
||||
hrt_abstime time;
|
||||
char junk[512];
|
||||
int val;
|
||||
hrt_abstime time;
|
||||
char junk[512];
|
||||
};
|
||||
ORB_DEFINE(orb_test_large, struct orb_test_large);
|
||||
|
||||
|
||||
namespace uORBTest
|
||||
{
|
||||
class UnitTest;
|
||||
class UnitTest;
|
||||
}
|
||||
|
||||
class uORBTest::UnitTest
|
||||
{
|
||||
public:
|
||||
|
||||
// Singleton pattern
|
||||
static uORBTest::UnitTest &instance();
|
||||
~UnitTest() {}
|
||||
int test();
|
||||
template<typename S> int latency_test(orb_id_t T, bool print);
|
||||
int info();
|
||||
// Singleton pattern
|
||||
static uORBTest::UnitTest &instance();
|
||||
~UnitTest() {}
|
||||
int test();
|
||||
template<typename S> int latency_test(orb_id_t T, bool print);
|
||||
int info();
|
||||
|
||||
private:
|
||||
UnitTest() : pubsubtest_passed(false), pubsubtest_print(false) {}
|
||||
UnitTest() : pubsubtest_passed(false), pubsubtest_print(false) {}
|
||||
|
||||
// Disallow copy
|
||||
UnitTest(const uORBTest::UnitTest &) {};
|
||||
static int pubsubtest_threadEntry(char* const argv[]);
|
||||
int pubsublatency_main(void);
|
||||
bool pubsubtest_passed;
|
||||
bool pubsubtest_print;
|
||||
int pubsubtest_res = OK;
|
||||
// Disallow copy
|
||||
UnitTest(const uORBTest::UnitTest &) {};
|
||||
static int pubsubtest_threadEntry(char *const argv[]);
|
||||
int pubsublatency_main(void);
|
||||
bool pubsubtest_passed;
|
||||
bool pubsubtest_print;
|
||||
int pubsubtest_res = OK;
|
||||
|
||||
int test_fail(const char *fmt, ...);
|
||||
int test_note(const char *fmt, ...);
|
||||
int test_fail(const char *fmt, ...);
|
||||
int test_note(const char *fmt, ...);
|
||||
};
|
||||
|
||||
template<typename S>
|
||||
int uORBTest::UnitTest::latency_test(orb_id_t T, bool print)
|
||||
{
|
||||
test_note("---------------- LATENCY TEST ------------------");
|
||||
S t;
|
||||
t.val = 308;
|
||||
t.time = hrt_absolute_time();
|
||||
test_note("---------------- LATENCY TEST ------------------");
|
||||
S t;
|
||||
t.val = 308;
|
||||
t.time = hrt_absolute_time();
|
||||
|
||||
orb_advert_t pfd0 = orb_advertise(T, &t);
|
||||
orb_advert_t pfd0 = orb_advertise(T, &t);
|
||||
|
||||
char * const args[1] = { NULL };
|
||||
char *const args[1] = { NULL };
|
||||
|
||||
pubsubtest_print = print;
|
||||
pubsubtest_passed = false;
|
||||
pubsubtest_print = print;
|
||||
pubsubtest_passed = false;
|
||||
|
||||
/* test pub / sub latency */
|
||||
/* test pub / sub latency */
|
||||
|
||||
// Can't pass a pointer in args, must be a null terminated
|
||||
// array of strings because the strings are copied to
|
||||
// prevent access if the caller data goes out of scope
|
||||
int pubsub_task = px4_task_spawn_cmd("uorb_latency",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_MAX - 5,
|
||||
1500,
|
||||
(px4_main_t)&uORBTest::UnitTest::pubsubtest_threadEntry,
|
||||
args);
|
||||
// Can't pass a pointer in args, must be a null terminated
|
||||
// array of strings because the strings are copied to
|
||||
// prevent access if the caller data goes out of scope
|
||||
int pubsub_task = px4_task_spawn_cmd("uorb_latency",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_MAX - 5,
|
||||
1500,
|
||||
(px4_main_t)&uORBTest::UnitTest::pubsubtest_threadEntry,
|
||||
args);
|
||||
|
||||
/* give the test task some data */
|
||||
while (!pubsubtest_passed) {
|
||||
t.val = 308;
|
||||
t.time = hrt_absolute_time();
|
||||
if (PX4_OK != orb_publish(T, pfd0, &t))
|
||||
return test_fail("mult. pub0 timing fail");
|
||||
/* give the test task some data */
|
||||
while (!pubsubtest_passed) {
|
||||
t.val = 308;
|
||||
t.time = hrt_absolute_time();
|
||||
|
||||
/* simulate >800 Hz system operation */
|
||||
usleep(1000);
|
||||
}
|
||||
if (PX4_OK != orb_publish(T, pfd0, &t)) {
|
||||
return test_fail("mult. pub0 timing fail");
|
||||
}
|
||||
|
||||
if (pubsub_task < 0) {
|
||||
return test_fail("failed launching task");
|
||||
}
|
||||
/* simulate >800 Hz system operation */
|
||||
usleep(1000);
|
||||
}
|
||||
|
||||
return pubsubtest_res;
|
||||
if (pubsub_task < 0) {
|
||||
return test_fail("failed launching task");
|
||||
}
|
||||
|
||||
return pubsubtest_res;
|
||||
}
|
||||
|
||||
#endif // _uORBTest_UnitTest_hpp_
|
||||
|
|
|
|||
Loading…
Reference in New Issue