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px4-firmware/apps/examples/ostest/timedmqueue.c

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/**************************************************************************
* apps/examples/ostest/mqueue.c
*
* Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
*
* 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 NuttX 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.
*
**************************************************************************/
/**************************************************************************
* Included Files
**************************************************************************/
#include <nuttx/config.h>
#include <stdio.h>
#include <unistd.h>
#include <string.h>
#include <ctype.h>
#include <fcntl.h>
#include <pthread.h>
#include <mqueue.h>
#include <sched.h>
#include <errno.h>
#include "ostest.h"
/**************************************************************************
* Private Definitions
**************************************************************************/
#define TEST_MESSAGE "This is a test and only a test"
#if defined(SDCC) || defined(__ZILOG__)
/* Cannot use strlen in array size */
# define TEST_MSGLEN (31)
#else
/* Message lenght is the size of the message plus the null terminator */
# define TEST_MSGLEN (strlen(TEST_MESSAGE)+1)
#endif
#define TEST_SEND_NMSGS (10)
#define TEST_RECEIVE_NMSGS (10)
/**************************************************************************
* Private Types
**************************************************************************/
/**************************************************************************
* Private Function Prototypes
**************************************************************************/
/**************************************************************************
* Global Variables
**************************************************************************/
/**************************************************************************
* Private Variables
**************************************************************************/
/**************************************************************************
* Private Functions
**************************************************************************/
/**************************************************************************
* Public Functions
**************************************************************************/
static void *sender_thread(void *arg)
{
mqd_t mqfd;
char msg_buffer[TEST_MSGLEN];
struct mq_attr attr;
int status = 0;
int nerrors = 0;
int i;
printf("sender_thread: Starting\n");
/* Fill in attributes for message queue */
attr.mq_maxmsg = TEST_SEND_NMSGS-1;
attr.mq_msgsize = TEST_MSGLEN;
attr.mq_flags = 0;
/* Set the flags for the open of the queue.
* Make it a blocking open on the queue, meaning it will block if
* this process tries to send to the queue and the queue is full.
*
* O_CREAT - the queue will get created if it does not already exist.
* O_WRONLY - we are only planning to write to the queue.
*
* Open the queue, and create it if the receiving process hasn't
* already created it.
*/
mqfd = mq_open("testmq", O_WRONLY|O_CREAT, 0666, &attr);
if (mqfd < 0)
{
printf("sender_thread: ERROR mq_open failed\n");
pthread_exit((pthread_addr_t)1);
}
/* Fill in a test message buffer to send */
memcpy(msg_buffer, TEST_MESSAGE, TEST_MSGLEN);
/* Perform the send TEST_SEND_NMSGS times */
for (i = 0; i < TEST_SEND_NMSGS; i++)
{
struct timespec ts;
status = clock_gettime(CLOCK_REALTIME, &ts);
if (status != 0)
{
printf("sender_thread: ERROR clock_gettime failed\n");
}
ts.tv_sec += 5;
/* The first TEST_SEND_NMSGS-1 send should succeed. The last
* one should fail with errno == ETIMEDOUT
*/
status = mq_timedsend(mqfd, msg_buffer, TEST_MSGLEN, 42, &ts);
if (status < 0)
{
if (i == TEST_SEND_NMSGS-1 && errno == ETIMEDOUT)
{
printf("sender_thread: mq_timedsend %d timed out as expected\n", i);
}
else
{
printf("sender_thread: ERROR mq_timedsend failure=%d on msg %d\n", errno, i);
nerrors++;
}
}
else
{
if (i == TEST_SEND_NMSGS-1)
{
printf("sender_thread: ERROR mq_timedsend of msg %d succeeded\n", i);
nerrors++;
}
else
{
printf("sender_thread: mq_timedsend succeeded on msg %d\n", i);
}
}
}
/* Close the queue and return success */
if (mq_close(mqfd) < 0)
{
printf("sender_thread: ERROR mq_close failed\n");
}
printf("sender_thread: returning nerrors=%d\n", nerrors);
FFLUSH();
return (pthread_addr_t)nerrors;
}
static void *receiver_thread(void *arg)
{
mqd_t mqfd;
char msg_buffer[TEST_MSGLEN];
struct mq_attr attr;
int nbytes;
int nerrors = 0;
int i;
printf("receiver_thread: Starting\n");
/* Fill in attributes for message queue */
attr.mq_maxmsg = TEST_SEND_NMSGS-1;
attr.mq_msgsize = TEST_MSGLEN;
attr.mq_flags = 0;
/* Set the flags for the open of the queue.
* Make it a blocking open on the queue, meaning it will block if
* this process tries to* send to the queue and the queue is full.
*
* O_CREAT - the queue will get created if it does not already exist.
* O_RDONLY - we are only planning to write to the queue.
*
* Open the queue, and create it if the sending process hasn't
* already created it.
*/
mqfd = mq_open("testmq", O_RDONLY|O_CREAT, 0666, &attr);
if (mqfd < 0)
{
printf("receiver_thread: ERROR mq_open failed\n");
pthread_exit((pthread_addr_t)1);
}
/* Perform the receive TEST_RECEIVE_NMSGS times */
for (i = 0; i < TEST_RECEIVE_NMSGS; i++)
{
struct timespec ts;
int status = clock_gettime(CLOCK_REALTIME, &ts);
if (status != 0)
{
printf("sender_thread: ERROR clock_gettime failed\n");
}
ts.tv_sec += 5;
/* The first TEST_SEND_NMSGS-1 send should succeed. The last
* one should fail with errno == ETIMEDOUT
*/
memset(msg_buffer, 0xaa, TEST_MSGLEN);
nbytes = mq_timedreceive(mqfd, msg_buffer, TEST_MSGLEN, 0, &ts);
if (nbytes < 0)
{
if (i == TEST_SEND_NMSGS-1 && errno == ETIMEDOUT)
{
printf("receiver_thread: Receive %d timed out as expected\n", i);
}
else
{
printf("receiver_thread: ERROR mq_timedreceive failure=%d on msg %d\n", errno, i);
nerrors++;
}
}
else if (nbytes != TEST_MSGLEN)
{
printf("receiver_thread: mq_timedreceive return bad size %d on msg %d\n", nbytes, i);
nerrors++;
}
else if (memcmp(TEST_MESSAGE, msg_buffer, nbytes) != 0)
{
int j;
printf("receiver_thread: mq_timedreceive returned corrupt message on msg %d\n", i);
printf("receiver_thread: i Expected Received\n");
for (j = 0; j < TEST_MSGLEN-1; j++)
{
if (isprint(msg_buffer[j]))
{
printf("receiver_thread: %2d %02x (%c) %02x (%c)\n",
j, TEST_MESSAGE[j], TEST_MESSAGE[j], msg_buffer[j], msg_buffer[j]);
}
else
{
printf("receiver_thread: %2d %02x (%c) %02x\n",
j, TEST_MESSAGE[j], TEST_MESSAGE[j], msg_buffer[j]);
}
}
printf("receiver_thread: %2d 00 %02x\n",
j, msg_buffer[j]);
}
else if (i == TEST_SEND_NMSGS-1)
{
printf("receiver_thread: ERROR mq_timedreceive of msg %d succeeded\n", i);
nerrors++;
}
else
{
printf("receiver_thread: mq_timedreceive succeeded on msg %d\n", i);
}
}
/* Close the queue and return success */
if (mq_close(mqfd) < 0)
{
printf("receiver_thread: ERROR mq_close failed\n");
nerrors++;
}
/* Destroy the queue */
if (mq_unlink("testmq") < 0)
{
printf("receiver_thread: ERROR mq_close failed\n");
nerrors++;
}
printf("receiver_thread: returning nerrors=%d\n", nerrors);
FFLUSH();
pthread_exit((pthread_addr_t)nerrors);
return (pthread_addr_t)nerrors;
}
void timedmqueue_test(void)
{
pthread_t sender;
pthread_t receiver;
void *result;
pthread_attr_t attr;
int status;
/* Start the sending thread at the default priority */
printf("timedmqueue_test: Starting sender\n");
status = pthread_attr_init(&attr);
if (status != 0)
{
printf("timedmqueue_test: pthread_attr_init failed, status=%d\n", status);
}
status = pthread_attr_setstacksize(&attr, STACKSIZE);
if (status != 0)
{
printf("timedmqueue_test: pthread_attr_setstacksize failed, status=%d\n", status);
}
status = pthread_create(&sender, &attr, sender_thread, NULL);
if (status != 0)
{
printf("timedmqueue_test: pthread_create failed, status=%d\n", status);
}
/* Wait for the sending thread to complete */
printf("timedmqueue_test: Waiting for sender to complete\n");
pthread_join(sender, &result);
if (result != (void*)0)
{
printf("timedmqueue_test: ERROR sender thread exited with %d errors\n", (int)result);
}
/* Start the receiving thread at the default priority */
printf("timedmqueue_test: Starting receiver\n");
status = pthread_attr_init(&attr);
if (status != 0)
{
printf("timedmqueue_test: pthread_attr_init failed, status=%d\n", status);
}
status = pthread_attr_setstacksize(&attr, STACKSIZE);
if (status != 0)
{
printf("timedmqueue_test: pthread_attr_setstacksize failed, status=%d\n", status);
}
status = pthread_create(&receiver, &attr, receiver_thread, NULL);
if (status != 0)
{
printf("timedmqueue_test: pthread_create failed, status=%d\n", status);
}
/* Wait for the receiving thread to complete */
printf("timedmqueue_test: Waiting for receiver to complete\n");
pthread_join(receiver, &result);
if (result != (void*)0)
{
printf("timedmqueue_test: ERROR receiver thread exited with %d errors\n", (int)result);
}
printf("timedmqueue_test: Test complete\n");
}
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