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

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/**************************************************************************
* apps/examples/ostest/mqueue.c
*
* Copyright (C) 2007-2009, 2011 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* 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)
#ifndef CONFIG_DISABLE_SIGNALS
# define TEST_RECEIVE_NMSGS (11)
#else
# define TEST_RECEIVE_NMSGS (10)
#endif
#define HALF_SECOND_USEC_USEC 500000L
/**************************************************************************
* 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 = 20;
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++)
{
status = mq_send(mqfd, msg_buffer, TEST_MSGLEN, 42);
if (status < 0)
{
printf("sender_thread: ERROR mq_send failure=%d on msg %d\n", status, i);
nerrors++;
}
else
{
printf("sender_thread: mq_send 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);
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 = 20;
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 task tries to read from the queue when the queue is empty
*
* O_CREAT - the queue will get created if it does not already exist.
* O_RDONLY - we are only planning to read from 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++)
{
memset(msg_buffer, 0xaa, TEST_MSGLEN);
nbytes = mq_receive(mqfd, msg_buffer, TEST_MSGLEN, 0);
if (nbytes < 0)
{
/* mq_receive failed. If the error is because of EINTR then
* it is not a failure.
*/
if (errno != EINTR)
{
printf("receiver_thread: ERROR mq_receive failure on msg %d, errno=%d\n", i, errno);
nerrors++;
}
else
{
printf("receiver_thread: mq_receive interrupted!\n");
}
}
else if (nbytes != TEST_MSGLEN)
{
printf("receiver_thread: mq_receive 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_receive 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
{
printf("receiver_thread: mq_receive 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);
pthread_exit((pthread_addr_t)nerrors);
return (pthread_addr_t)nerrors;
}
void mqueue_test(void)
{
pthread_t sender;
pthread_t receiver;
void *result;
pthread_attr_t attr;
struct sched_param sparam;
int prio_min;
int prio_max;
int prio_mid;
int status;
/* Start the sending thread at higher priority */
printf("mqueue_test: Starting receiver\n");
status = pthread_attr_init(&attr);
if (status != 0)
{
printf("mqueue_test: pthread_attr_init failed, status=%d\n", status);
}
status = pthread_attr_setstacksize(&attr, STACKSIZE);
if (status != 0)
{
printf("mqueue_test: pthread_attr_setstacksize failed, status=%d\n", status);
}
prio_min = sched_get_priority_min(SCHED_FIFO);
prio_max = sched_get_priority_max(SCHED_FIFO);
prio_mid = (prio_min + prio_max) / 2;
sparam.sched_priority = prio_mid;
status = pthread_attr_setschedparam(&attr,&sparam);
if (status != OK)
{
printf("mqueue_test: pthread_attr_setschedparam failed, status=%d\n", status);
}
else
{
printf("mqueue_test: Set receiver priority to %d\n", sparam.sched_priority);
}
status = pthread_create(&receiver, &attr, receiver_thread, NULL);
if (status != 0)
{
printf("mqueue_test: pthread_create failed, status=%d\n", status);
}
/* Start the sending thread at lower priority */
printf("mqueue_test: Starting sender\n");
status = pthread_attr_init(&attr);
if (status != 0)
{
printf("mqueue_test: pthread_attr_init failed, status=%d\n", status);
}
status = pthread_attr_setstacksize(&attr, STACKSIZE);
if (status != 0)
{
printf("mqueue_test: pthread_attr_setstacksize failed, status=%d\n", status);
}
sparam.sched_priority = (prio_min + prio_mid) / 2;
status = pthread_attr_setschedparam(&attr,&sparam);
if (status != OK)
{
printf("mqueue_test: pthread_attr_setschedparam failed, status=%d\n", status);
}
else
{
printf("mqueue_test: Set sender thread priority to %d\n", sparam.sched_priority);
}
status = pthread_create(&sender, &attr, sender_thread, NULL);
if (status != 0)
{
printf("mqueue_test: pthread_create failed, status=%d\n", status);
}
printf("mqueue_test: Waiting for sender to complete\n");
pthread_join(sender, &result);
if (result != (void*)0)
{
printf("mqueue_test: ERROR sender thread exited with %d errors\n", (int)result);
}
#ifndef CONFIG_DISABLE_SIGNALS
/* Wake up the receiver thread with a signal */
printf("mqueue_test: Killing receiver\n");
pthread_kill(receiver, 9);
/* Wait a bit to see if the thread exits on its own */
usleep(HALF_SECOND_USEC_USEC);
#endif
/* Then cancel the thread and see if it did */
printf("mqueue_test: Canceling receiver\n");
status = pthread_cancel(receiver);
if (status == ESRCH)
{
printf("mqueue_test: receiver has already terminated\n");
}
pthread_join(receiver, &result);
if (result != (void*)0)
{
printf("mqueue_test: ERROR receiver thread exited with %d errors\n", (int)result);
}
}
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