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POSIX: Fixed some of the failing gtests 

The orb_advert_t change from int to void * required some fixups
for the gtests.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois 2015-06-11 19:42:54 -07:00
parent 527b97e8b4
commit ea7d5070c5
7 changed files with 102 additions and 91 deletions
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1
src/platforms/posix/px4_layer/dq_addlast.c
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@ -41,6 +41,7 @@
* Included Files
************************************************************/
#include <stddef.h>
#include <queue.h>
/************************************************************

1
src/platforms/posix/px4_layer/dq_rem.c
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@ -41,6 +41,7 @@
* Included Files
************************************************************/
#include <stddef.h>
#include <queue.h>
/************************************************************

1
src/platforms/posix/px4_layer/dq_remfirst.c
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@ -41,6 +41,7 @@
* Included Files
************************************************************/
#include <stddef.h>
#include <queue.h>
/************************************************************

1
src/platforms/posix/px4_layer/sq_addlast.c
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@ -41,6 +41,7 @@
* Included Files
************************************************************/
#include <stddef.h>
#include <queue.h>
/************************************************************

1
src/platforms/posix/px4_layer/sq_remfirst.c
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@ -41,6 +41,7 @@
* Included Files
************************************************************/
#include <stddef.h>
#include <queue.h>
/************************************************************

60
unittests/uorb_unittests/uORBCommunicatorMock.hpp
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@ -1,31 +1,35 @@
//=============================================================================
// File: uORB_test.cpp
//
// @@-COPYRIGHT-START-@@
//
// Copyright 2014 Qualcomm Technologies, Inc. All rights reserved.
// Confidential & Proprietary - Qualcomm Technologies, Inc. ("QTI")
//
// The party receiving this software directly from QTI (the "Recipient")
// may use this software as reasonably necessary solely for the purposes
// set forth in the agreement between the Recipient and QTI (the
// "Agreement"). The software may be used in source code form solely by
// the Recipient's employees (if any) authorized by the Agreement. Unless
// expressly authorized in the Agreement, the Recipient may not sublicense,
// assign, transfer or otherwise provide the source code to any third
// party. Qualcomm Technologies, Inc. retains all ownership rights in and
// to the software
//
// This notice supersedes any other QTI notices contained within the software
// except copyright notices indicating different years of publication for
// different portions of the software. This notice does not supersede the
// application of any third party copyright notice to that third party's
// code.
//
// @@-COPYRIGHT-END-@@
//
//=============================================================================
/****************************************************************************
*
* Copyright (c) 2015 Mark Charlebois. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#ifndef _uORBCommunicatorMock_hpp_
#define _uORBCommunicatorMock_hpp_

128
unittests/uorb_unittests/uORBCommunicator_gtests.cpp
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@ -1,30 +1,35 @@
//=============================================================================
// File: uORB_test.cpp
//
// @@-COPYRIGHT-START-@@
//
// Copyright 2014 Qualcomm Technologies, Inc. All rights reserved.
// Confidential & Proprietary - Qualcomm Technologies, Inc. ("QTI")
//
// The party receiving this software directly from QTI (the "Recipient")
// may use this software as reasonably necessary solely for the purposes
// set forth in the agreement between the Recipient and QTI (the
// "Agreement"). The software may be used in source code form solely by
// the Recipient's employees (if any) authorized by the Agreement. Unless
// expressly authorized in the Agreement, the Recipient may not sublicense,
// assign, transfer or otherwise provide the source code to any third
// party. Qualcomm Technologies, Inc. retains all ownership rights in and
// to the software
//
// This notice supersedes any other QTI notices contained within the software
// except copyright notices indicating different years of publication for
// different portions of the software. This notice does not supersede the
// application of any third party copyright notice to that third party's
// code.
//
// @@-COPYRIGHT-END-@@
//
//=============================================================================
/****************************************************************************
*
* Copyright (c) 2015 Mark Charlebois. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include "uORBCommunicatorMock.hpp"
#include "uORBCommunicatorMockLoopback.hpp"
@ -69,7 +74,7 @@ namespace uORB_test
uORB_test::uORBCommunicatorMock _comm_channel;
struct orb_topic_A _topicA;
struct orb_topic_B _topicB;
int _pub_fd;
orb_advert_t _pub_ptr;
int _sub_fd;
uORB::DeviceMaster* _masterDevice;
};
@ -93,11 +98,10 @@ namespace uORB_test
uORB_test::uORBCommunicatorMock::InterfaceCounters c = _comm_channel.get_interface_counters( "topicA" );
ASSERT_EQ( c._add_subscriptionCount, 0 );
//step 1.
//step 1.
_topicA.val = 1;
ASSERT_NE( ( _pub_fd = orb_advertise(ORB_ID(topicA), &_topicA) ), 0 ) << "Failed to advertize uORB Topic orb_topic_A: errno: " << errno;
PX4_INFO( "publist handle: 0x%08x", _pub_fd );
ASSERT_NE( ( _pub_ptr = orb_advertise(ORB_ID(topicA), &_topicA) ), nullptr ) << "Failed to advertize uORB Topic orb_topic_A: errno: " << errno;
PX4_INFO( "publist handle: 0x%08lx", (unsigned long)_pub_ptr );
//step 2.
c = _comm_channel.get_interface_counters( "topicA" );
@ -121,13 +125,12 @@ namespace uORB_test
uORB_test::uORBCommunicatorMock::InterfaceCounters c = _comm_channel.get_interface_counters( "topicA" );
ASSERT_EQ( c._add_subscriptionCount, 0 );
//step 1.
//step 1.
_topicA.val = 1;
_pub_fd = orb_advertise(ORB_ID(topicA), &_topicA);
PX4_INFO( "[uORBCommunicatorTest.add_subscription_case2] orb_advertize(topicA) returncode:(%d)", _pub_fd );
ASSERT_TRUE( ( _pub_fd != -1 && _pub_fd != 0 ) ) << "Failed to advertize uORB Topic orb_topic_A: errno: " << errno;
PX4_INFO( "publist handle: 0x%08x", _pub_fd );
_pub_ptr = orb_advertise(ORB_ID(topicA), &_topicA);
PX4_INFO( "[uORBCommunicatorTest.add_subscription_case2] orb_advertize(topicA) returncode:(%p)", _pub_ptr );
ASSERT_TRUE( ( _pub_ptr != nullptr ) ) << "Failed to advertize uORB Topic orb_topic_A: errno: " << errno;
PX4_INFO( "publist handle: 0x%08lx", (unsigned long)_pub_ptr );
// step 2
ASSERT_NE( ( _sub_fd = orb_subscribe(ORB_ID(topicA) ) ) , -1 ) << "Subscribe failed: %d" << errno;
@ -163,10 +166,10 @@ namespace uORB_test
//step 1.
// step 1.
_topicA.val = 1;
_pub_fd = orb_advertise(ORB_ID(topicA), &_topicA);
PX4_INFO( "[uORBCommunicatorTest.remove_subscribtion] orb_advertize(topicA) returncode:(%d)", _pub_fd );
ASSERT_TRUE( ( _pub_fd != -1 && _pub_fd != 0 ) ) << "Failed to advertize uORB Topic orb_topic_A: errno: " << errno;
PX4_INFO( "publist handle: 0x%08x", _pub_fd );
_pub_ptr = orb_advertise(ORB_ID(topicA), &_topicA);
PX4_INFO( "[uORBCommunicatorTest.remove_subscribtion] orb_advertize(topicA) returncode:(%p)", _pub_ptr );
ASSERT_TRUE( ( _pub_ptr != nullptr ) ) << "Failed to advertize uORB Topic orb_topic_A: errno: " << errno;
PX4_INFO( "publist handle: 0x%08lx", (unsigned long)_pub_ptr );
c = _comm_channel.get_interface_counters( "topicA" );
ASSERT_EQ( c._remove_subscriptionCount, 0 );
@ -202,13 +205,12 @@ namespace uORB_test
uORB_test::uORBCommunicatorMock::InterfaceCounters c = _comm_channel.get_interface_counters( "topicA_sndmsg" );
ASSERT_EQ( c._send_messageCount, 0 );
//step 1.
//step 1.
ORB_DEFINE( topicA_sndmsg, struct orb_topic_A );
_topicA.val = 1;
_pub_fd = orb_advertise(ORB_ID(topicA_sndmsg ), &_topicA );
ASSERT_TRUE( ( _pub_fd != -1 && _pub_fd != 0 ) ) << "Failed to advertize uORB Topic topicA_sndmsg: errno: " << errno;
PX4_INFO( "publist handle: 0x%08x", _pub_fd );
_pub_ptr = orb_advertise(ORB_ID(topicA_sndmsg ), &_topicA );
ASSERT_TRUE( ( _pub_ptr != nullptr ) ) << "Failed to advertize uORB Topic topicA_sndmsg: errno: " << errno;
PX4_INFO( "publist handle: 0x%08lx", (unsigned long)_pub_ptr );
c = _comm_channel.get_interface_counters( "topicA_sndmsg" );
ASSERT_EQ( c._send_messageCount, 0 );
@ -246,9 +248,9 @@ namespace uORB_test
// step 2.
_topicB.val = 1;
_pub_fd = orb_advertise(ORB_ID(topicB), &_topicB);
PX4_INFO( "publist handle: 0x%08x", _pub_fd );
ASSERT_TRUE( _pub_fd != -1 && _pub_fd != 0 ) << "Failed to advertize uORB Topic topicB: errno: " << errno;
_pub_ptr = orb_advertise(ORB_ID(topicB), &_topicB);
PX4_INFO( "publist handle: 0x%08lx", (unsigned long)_pub_ptr );
ASSERT_TRUE( _pub_ptr != nullptr ) << "Failed to advertize uORB Topic topicB: errno: " << errno;
//step 3.
c = _comm_channel.get_interface_counters( "topicB" );
@ -260,7 +262,7 @@ namespace uORB_test
//step 4. publish new data.
_topicB.val = 2;
ASSERT_EQ( orb_publish( ORB_ID(topicB), _pub_fd, &_topicB), OK );
ASSERT_EQ( orb_publish( ORB_ID(topicB), _pub_ptr, &_topicB), OK );
//step 5.
c = _comm_channel.get_interface_counters( "topicB" );
@ -275,7 +277,7 @@ namespace uORB_test
//step 7. publish new data.
_topicB.val = 5;
ASSERT_EQ( orb_publish( ORB_ID(topicB), _pub_fd, &_topicB), OK );
ASSERT_EQ( orb_publish( ORB_ID(topicB), _pub_ptr, &_topicB), OK );
//step 8.
c = _comm_channel.get_interface_counters( "topicB" );
@ -307,9 +309,9 @@ namespace uORB_test
// step 2.
_topicB.val = 1;
_pub_fd = orb_advertise(ORB_ID(topicB), &_topicB);
ASSERT_TRUE( _pub_fd != -1 && _pub_fd != 0 ) << "Failed to advertize uORB Topic topicB: errno: " << errno;
PX4_INFO( "publist handle: 0x%08x", _pub_fd );
_pub_ptr = orb_advertise(ORB_ID(topicB), &_topicB);
ASSERT_TRUE( _pub_ptr != nullptr ) << "Failed to advertize uORB Topic topicB: errno: " << errno;
PX4_INFO( "publist handle: 0x%08lx", (unsigned long)_pub_ptr );
// step 3.
ASSERT_NE( ( _sub_fd = orb_subscribe(ORB_ID(topicB)) ), -1 ) << "Subscribe failed for topicB: %d" << errno;
@ -356,9 +358,9 @@ namespace uORB_test
// step 2.
_topicB.val = 1;
_pub_fd = orb_advertise(ORB_ID(topicB), &_topicB);
ASSERT_TRUE( _pub_fd != -1 && _pub_fd != 0 ) << "Failed to advertize uORB Topic topicB: errno: " << errno;
PX4_INFO( "publist handle: 0x%08x", _pub_fd );
_pub_ptr = orb_advertise(ORB_ID(topicB), &_topicB);
ASSERT_TRUE( _pub_ptr != nullptr ) << "Failed to advertize uORB Topic topicB: errno: " << errno;
PX4_INFO( "publist handle: 0x%08lx", (unsigned long)_pub_ptr );
// step 3.
ASSERT_NE( ( _sub_fd = orb_subscribe(ORB_ID(topicB)) ), -1 ) << "Subscribe failed for topicB: %d" << errno;
@ -404,7 +406,7 @@ namespace uORB_test
uORB::Manager::get_instance()->set_uorb_communicator( &_comm_channel_loopback );
// now for the actual test.
int pub_topicA_fd;
orb_advert_t pub_topicA_ptr;
int sub_topicA_fd;
int sub_topicAClone_fd;
@ -414,10 +416,10 @@ namespace uORB_test
// step 1.
topicA.val = 10;
pub_topicA_fd = orb_advertise(ORB_ID(topicA), &topicA);
PX4_INFO( "[uORBCommunicatorTest.Loopback]orb_advertize(topicA) return code:(%d)", pub_topicA_fd );
ASSERT_TRUE( pub_topicA_fd != -1 && pub_topicA_fd != 0 ) << "Failed to advertize uORB Topic orb_topic_A: errno: " << errno;
PX4_INFO( "publist handle: 0x%08x", pub_topicA_fd );
pub_topicA_ptr = orb_advertise(ORB_ID(topicA), &topicA);
PX4_INFO( "[uORBCommunicatorTest.Loopback]orb_advertize(topicA) return code:(%p)", pub_topicA_ptr );
ASSERT_TRUE( pub_topicA_ptr != nullptr ) << "Failed to advertize uORB Topic orb_topic_A: errno: " << errno;
PX4_INFO( "publist handle: 0x%08lx", (unsigned long)pub_topicA_ptr );
// step 2.
ASSERT_NE( ( sub_topicA_fd = orb_subscribe(ORB_ID(topicA)) ), -1 ) << "Subscribe failed: %d" << errno;
@ -440,7 +442,7 @@ namespace uORB_test
// publish a new data and check to see that the data is received on the remote.
topicA.val = 15;
ASSERT_EQ( orb_publish( ORB_ID(topicA), pub_topicA_fd, &topicA), OK );
ASSERT_EQ( orb_publish( ORB_ID(topicA), pub_topicA_ptr, &topicA), OK );
// check to see that the subscriber got a new value.
ASSERT_EQ( orb_copy(ORB_ID(topicA), sub_topicA_fd, &topicALocal), OK ) << "copy(1) failed: " << errno;
@ -458,7 +460,7 @@ namespace uORB_test
// publish a new data and check to see that the data is received on local this should not crash.
topicA.val = 20;
ASSERT_EQ( orb_publish( ORB_ID(topicA), pub_topicA_fd, &topicA), OK );
ASSERT_EQ( orb_publish( ORB_ID(topicA), pub_topicA_ptr, &topicA), OK );
// check to see that the subscriber got a new value.
ASSERT_EQ( orb_copy(ORB_ID(topicA), sub_topicA_fd, &topicALocal), OK ) << "copy(1) failed: " << errno;
@ -471,7 +473,7 @@ namespace uORB_test
// publish a new data; this should not crash.
topicA.val = 25;
ASSERT_EQ( orb_publish( ORB_ID(topicA), pub_topicA_fd, &topicA), OK );
ASSERT_EQ( orb_publish( ORB_ID(topicA), pub_topicA_ptr, &topicA), OK );
}
}