Lorenz Meier
10 years ago
5 changed files with 128 additions and 314 deletions
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@@ -1,206 +0,0 @@
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//=============================================================================
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// File: uORB_test.cpp
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//
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// @@-COPYRIGHT-START-@@
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//
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// Copyright 2014 Qualcomm Technologies, Inc. All rights reserved.
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// Confidential & Proprietary - Qualcomm Technologies, Inc. ("QTI")
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//
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// The party receiving this software directly from QTI (the "Recipient")
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// may use this software as reasonably necessary solely for the purposes
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// set forth in the agreement between the Recipient and QTI (the
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// "Agreement"). The software may be used in source code form solely by
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// the Recipient's employees (if any) authorized by the Agreement. Unless
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// expressly authorized in the Agreement, the Recipient may not sublicense,
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// assign, transfer or otherwise provide the source code to any third
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// party. Qualcomm Technologies, Inc. retains all ownership rights in and
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// to the software
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//
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// This notice supersedes any other QTI notices contained within the software
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// except copyright notices indicating different years of publication for
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// different portions of the software. This notice does not supersede the
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// application of any third party copyright notice to that third party's
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// code.
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//
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// @@-COPYRIGHT-END-@@
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//
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//=============================================================================
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#include <unistd.h> |
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#include <stdarg.h> |
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#include <assert.h> |
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#include <string> |
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#include <palSemaphore.hpp> |
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#include <palThread.hpp> |
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#include <errno.h> |
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#include "uORB/uORB.h" |
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#include "utils/general.h" |
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#include "utils/logging.h" |
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#include <gtest/gtest.h> |
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#define LOG_TAG "uORB_test.cpp" |
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//#ifdef INCLUDE_ANDROID_UNIT_TEST_UORB
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namespace uORB_test |
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{ |
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struct orb_test |
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{ |
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int val; |
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}; |
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ORB_DEFINE(orb_test, struct orb_test); |
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pal::Semaphore sub_semaphore; |
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static int pfd, sfd; |
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static struct orb_test t; |
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bool threadTestPassed = false; |
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TEST( uORBTest, pub_sub_initialization ) |
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{ |
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struct orb_test u; |
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bool updated; |
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t.val = 0; |
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ASSERT_NE( ( pfd = orb_advertise(ORB_ID(orb_test), &t) ), 0 ) << "Failed to advertize uORB Topic orb_test: errno: " << errno; |
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IPRINTF( "publist handle: 0x%08x", pfd ); |
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ASSERT_NE( ( sfd = orb_subscribe(ORB_ID(orb_test), (void *)&sub_semaphore) ), 0 ) << "Subscribe failed: %d" << errno; |
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IPRINTF( "subscribe fd: %d", sfd ); |
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u.val = 1; |
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ASSERT_EQ( orb_copy(ORB_ID(orb_test), sfd, &u), OK ) << "copy(1) failed: " << errno; |
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ASSERT_EQ( u.val, t.val ) << "copy(1) mismatch: " << u.val << " expected " << t.val; |
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ASSERT_EQ(orb_check(sfd, &updated), OK ) << "check(1) failed"; |
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ASSERT_FALSE( updated ) << "spurious updated flag"; |
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ASSERT_EQ(orb_unsubscribe(sfd), OK ); |
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close(pfd); |
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} |
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void test_subscriber_thread(void *this_ptr) |
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{ |
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struct orb_test u; |
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bool updated; |
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pal::Semaphore *sub_semaphore = (pal::Semaphore *)this_ptr; |
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assert(sub_semaphore != nullptr); |
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IPRINTF( "waiting for new subscriber data"); |
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sub_semaphore->wait(); |
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if (OK != orb_check(sfd, &updated)) |
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{ |
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EPRINTF("check(2) failed"); |
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return; |
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} |
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if (!updated) |
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{ |
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EPRINTF("missing updated flag"); |
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return; |
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} |
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if (OK != orb_copy(ORB_ID(orb_test), sfd, &u)) |
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{ |
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EPRINTF("copy(2) failed: %d", errno); |
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return; |
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} |
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if (u.val != t.val) |
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{ |
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EPRINTF("copy(2) mismatch: %d expected %d", u.val, t.val); |
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return; |
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} |
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threadTestPassed = true; |
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} |
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TEST( uORB, pub_sub_withThread ) |
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{ |
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pal::Thread sub_thread; |
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threadTestPassed = false; |
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// advertize the topic first if it is not created.
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t.val = 1; |
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ASSERT_NE( (pfd = orb_advertise(ORB_ID(orb_test), &t) ), 0 ) << "Failed to advertize uORB Topic orb_test: errno: " << errno; |
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IPRINTF( "publist handle: 0x%08x", pfd ); |
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ASSERT_NE( ( sfd = orb_subscribe(ORB_ID(orb_test), (void *)&sub_semaphore) ), 0 ) << "Subscribe failed: %d" << errno; |
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IPRINTF( "subscribe fd: %d", sfd ); |
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sub_thread.create(test_subscriber_thread, (void *)&sub_semaphore); |
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t.val = 2; |
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IPRINTF("try publish, creating new thread to await the results"); |
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ASSERT_EQ(orb_publish(ORB_ID(orb_test), pfd, &t), OK) << "publish failed"; |
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ASSERT_EQ( t.val, 2 ); |
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IPRINTF("waiting for the subscriber thread to exit"); |
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sub_thread.wait(); |
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ASSERT_TRUE( threadTestPassed ); |
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ASSERT_EQ(orb_unsubscribe(sfd), OK ); |
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close(pfd); |
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} |
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#if 0 |
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/* this is a hacky test that exploits the sensors app to test rate-limiting */ |
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sfd = orb_subscribe(ORB_ID(sensor_combined)); |
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hrt_abstime start, end; |
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unsigned count; |
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start = hrt_absolute_time(); |
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count = 0; |
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do |
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{ |
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orb_check(sfd, &updated); |
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if (updated) |
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{ |
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orb_copy(ORB_ID(sensor_combined), sfd, nullptr); |
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count++; |
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} |
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}while (count < 100); |
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end = hrt_absolute_time(); |
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test_note("full-speed, 100 updates in %llu", end - start); |
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orb_set_interval(sfd, 10); |
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start = hrt_absolute_time(); |
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count = 0; |
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do |
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{ |
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orb_check(sfd, &updated); |
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if (updated) |
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{ |
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orb_copy(ORB_ID(sensor_combined), sfd, nullptr); |
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count++; |
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} |
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}while (count < 100); |
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end = hrt_absolute_time(); |
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test_note("100Hz, 100 updates in %llu", end - start); |
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orb_unsubscribe(sfd); |
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#endif |
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} |
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