Added missing lock() unlock() to MuORB

The commented out lock and unlock were determined to be needed and added back.

The unit test for VDev was updated. It showed the race between the poll and a
write that only does a poll_notify().

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

src/modules/uORB/MuORB.cpp

@@ -310,8 +310,7 @@ ORBDevNode::read(device::file_t *filp, char *buffer, size_t buflen)
 	/*
 	 * Perform an atomic copy & state update
 	 */
-	// FIXME - This used to disable interrupts
-	//lock();
+	lock();
 
 	/* if the caller doesn't want the data, don't give it to them */
 	if (nullptr != buffer)
@@ -329,7 +328,7 @@ ORBDevNode::read(device::file_t *filp, char *buffer, size_t buflen)
 	 */
 	sd->update_reported = false;
 
-	//unlock();
+	unlock();
 
 	return _meta->o_size;
 }
@@ -366,7 +365,6 @@ ORBDevNode::write(device::file_t *filp, const char *buffer, size_t buflen)
 		return -EIO;
 
 	/* Perform an atomic copy. */
-	// FIXME - make sure lock is what we want here
 	lock();
 	memcpy(_data, buffer, _meta->o_size);
 	unlock();

src/platforms/posix/tests/vcdev_test/vcdevtest_example.cpp

@@ -41,7 +41,8 @@
 
 #include <px4_tasks.h>
 #include "vcdevtest_example.h"
-#include "drivers/device/device.h"
+#include <drivers/drv_device.h>
+#include <drivers/device/device.h>
 #include <unistd.h>
 #include <stdio.h>
 
@@ -61,28 +62,35 @@ static int writer_main(int argc, char *argv[])
 		return -px4_errno;
 	}
 
-	// Wait for 3 seconds
-	printf("--- Sleeping for 3 sec\n");
-	int ret = sleep(3);
-	if (ret < 0) {
-		printf("--- usleep failed %d %d\n", ret, errno);
-		return ret;
-	}
+	int ret;
+	int i=0;
+	while (i<3) {
+		// Wait for 3 seconds
+		printf("--- Sleeping for 4 sec\n");
+		ret = sleep(4);
+		if (ret < 0) {
+			printf("--- sleep failed %d %d\n", ret, errno);
+			return ret;
+		}
 
-	printf("--- writing to fd\n");
-	return px4_write(fd, buf, 1);
+		printf("--- writing to fd\n");
+		ret = px4_write(fd, buf, 1);
+	++i;
+	}
+	px4_close(fd);
+	return ret;
 }
 
-class VCDevNode : public CDev {
+class VCDevNode : public VDev {
 public:
-	VCDevNode() : CDev("vcdevtest", TESTDEV) {};
+	VCDevNode() : VDev("vcdevtest", TESTDEV) {};
 
 	~VCDevNode() {}
 
-	virtual ssize_t write(px4_dev_handle_t *handlep, const char *buffer, size_t buflen);
+	virtual ssize_t write(device::file_t *handlep, const char *buffer, size_t buflen);
 };
 
-ssize_t VCDevNode::write(px4_dev_handle_t *handlep, const char *buffer, size_t buflen)
+ssize_t VCDevNode::write(device::file_t *handlep, const char *buffer, size_t buflen)
 {
 	// ignore what was written, but let pollers know something was written
 	poll_notify(POLLIN);
@@ -99,13 +107,13 @@ VCDevExample::~VCDevExample() {
 
 static int test_pub_block(int fd, unsigned long blocked)
 {
-	int ret = px4_ioctl(fd, PX4_DEVIOCSPUBBLOCK, blocked);
+	int ret = px4_ioctl(fd, DEVIOCSPUBBLOCK, blocked);
 	if (ret < 0) {
 		printf("ioctl PX4_DEVIOCSPUBBLOCK failed %d %d", ret, px4_errno);
 		return -px4_errno;
 	}
 
-	ret = px4_ioctl(fd, PX4_DEVIOCGPUBBLOCK, 0);
+	ret = px4_ioctl(fd, DEVIOCGPUBBLOCK, 0);
 	if (ret < 0) {
 		printf("ioctl PX4_DEVIOCGPUBBLOCK failed %d %d", ret, px4_errno);
 		return -px4_errno;
@@ -139,9 +147,9 @@ int VCDevExample::main()
 	}
 
 	void *p = 0;
-	int ret = px4_ioctl(fd, PX4_DIOC_GETPRIV, (unsigned long)&p);
+	int ret = px4_ioctl(fd, DIOC_GETPRIV, (unsigned long)&p);
 	if (ret < 0) {
-		printf("ioctl PX4_DIOC_GETPRIV failed %d %d", ret, px4_errno);
+		printf("ioctl DIOC_GETPRIV failed %d %d", ret, px4_errno);
 		return -px4_errno;
 	}
 	printf("priv data = %p %s\n", p, p == (void *)_node ? "PASS" : "FAIL");
@@ -164,28 +172,33 @@ int VCDevExample::main()
 				       writer_main,
 				       (char* const*)NULL);
 
-	while (!appState.exitRequested() && i<3) {
+	while (!appState.exitRequested() && i<13) {
+		printf("=====================\n");
+		printf("====  sleeping 2 sec ====\n");
 		sleep(2);
 
-		printf("  polling...\n");
 		fds[0].fd = fd;
 		fds[0].events = POLLIN;
 		fds[0].revents = 0;
 
-		printf("  Calling Poll\n");
+		printf("==== Calling Poll\n");
 		ret = px4_poll(fds, 1, 1000);
-		printf("  Done poll\n");
+		printf("==== Done poll\n");
 		if (ret < 0) {
-			printf("poll failed %d %d\n", ret, px4_errno);
+			printf("==== poll failed %d %d\n", ret, px4_errno);
 			px4_close(fd);
 		} 
-		else if (i > 0 && ret == 0)
-			printf("  Nothing to read - PASS\n");
+		else if (i > 0) {
+			if (ret == 0)
+				printf("==== Nothing to read - PASS\n");
+			else
+				printf("==== poll returned %d\n", ret);
+		}
 		else if (i == 0) {
 			if (ret == 1) 
-				printf("  %d to read - %s\n", ret, fds[0].revents & POLLIN ? "PASS" : "FAIL");
+				printf("==== %d to read - %s\n", ret, fds[0].revents & POLLIN ? "PASS" : "FAIL");
 			else
-				printf("  %d to read - FAIL\n", ret);
+				printf("==== %d to read - FAIL\n", ret);
 		
 		}
 		++i;