make vcdevtest a generic cdev test

platforms/posix/cmake/sitl_tests.cmake

@@ -100,24 +100,24 @@ set_tests_properties(shutdown PROPERTIES PASS_REGULAR_EXPRESSION "Shutting down"
 sanitizer_fail_test_on_error(shutdown)
 
 # Dynamic module loading test
-add_test(NAME dyn
-	COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
-		$<TARGET_FILE:px4>
-		none
-		none
-		test_dyn_hello
-		${PX4_SOURCE_DIR}
-		${PX4_BINARY_DIR}
-		$<TARGET_FILE:platforms__posix__tests__dyn_hello>
-	WORKING_DIRECTORY ${SITL_WORKING_DIR})
-set_tests_properties(dyn PROPERTIES PASS_REGULAR_EXPRESSION "1: PASSED")
-sanitizer_fail_test_on_error(dyn)
+#add_test(NAME dyn
+#	COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
+#		$<TARGET_FILE:px4>
+#		none
+#		none
+#		test_dyn_hello
+#		${PX4_SOURCE_DIR}
+#		${PX4_BINARY_DIR}
+#		$<TARGET_FILE:platforms__posix__tests__dyn_hello>
+#	WORKING_DIRECTORY ${SITL_WORKING_DIR})
+#set_tests_properties(dyn PROPERTIES PASS_REGULAR_EXPRESSION "1: PASSED")
+#sanitizer_fail_test_on_error(dyn)
 
 # run arbitrary commands
 set(test_cmds
 	hello
 	hrt_test
-	vcdev_test
+	cdev_test
 	wqueue_test
 	)
 
@@ -141,7 +141,7 @@ endforeach()
 
 add_custom_target(test_results
 		COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test
-		DEPENDS px4 platforms__posix__tests__dyn_hello
+		DEPENDS px4 #platforms__posix__tests__dyn_hello
 		USES_TERMINAL
 		COMMENT "Running tests in sitl"
 		WORKING_DIRECTORY ${PX4_BINARY_DIR})

src/lib/cdev/CMakeLists.txt

@@ -47,3 +47,7 @@ px4_add_library(cdev
 	CDev.cpp
 	${SRCS_PLATFORM}
 	)
+
+if(PX4_TESTING)
+	add_subdirectory(test)
+endif()

src/lib/cdev/test/CMakeLists.txt

@@ -30,12 +30,14 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+
 px4_add_module(
-	MODULE platforms__posix__tests__vcdev_test
-	MAIN vcdev_test
+	MODULE lib__cdev__test__cdev_test
+	MAIN cdev_test
 	SRCS
-		vcdevtest_main.cpp
-		vcdevtest_start_posix.cpp
-		vcdevtest_example.cpp
+		cdevtest_example.cpp
+		cdevtest_main.cpp
+		cdevtest_start.cpp
 	DEPENDS
+		cdev
 	)

src/lib/cdev/test/cdevtest_example.cpp

@@ -33,23 +33,24 @@
  ****************************************************************************/
 
 /**
- * @file vcdevtest_example.cpp
+ * @file cdevtest_example.cpp
  * Example for Linux
  *
  * @author Mark Charlebois <charlebm@gmail.com>
  */
 
+#include "cdevtest_example.h"
+
 #include <px4_tasks.h>
 #include <px4_time.h>
-#include "vcdevtest_example.h"
 #include <drivers/drv_device.h>
 #include <lib/cdev/CDev.hpp>
 #include <unistd.h>
 #include <stdio.h>
 
-px4::AppState VCDevExample::appState;
+px4::AppState CDevExample::appState;
 
-#define TESTDEV "/dev/vdevtest"
+#define TESTDEV "/dev/cdevtest"
 
 static bool g_exit = false;
 
@@ -60,8 +61,8 @@ static int writer_main(int argc, char *argv[])
 	int fd = px4_open(TESTDEV, PX4_F_WRONLY);
 
 	if (fd < 0) {
-		PX4_INFO("Writer: Open failed %d %d", fd, px4_errno);
-		return -px4_errno;
+		PX4_INFO("Writer: Open failed %d", fd);
+		return PX4_ERROR;
 	}
 
 	int ret = 0;
@@ -97,15 +98,15 @@ public:
 	size_t _read_offset;
 };
 
-class VCDevNode : public cdev::CDev
+class CDevNode : public cdev::CDev
 {
 public:
-	VCDevNode() :
+	CDevNode() :
 		CDev(TESTDEV),
 		_is_open_for_write(false),
 		_write_offset(0) {}
 
-	~VCDevNode() = default;
+	~CDevNode() = default;
 
 	virtual int open(cdev::file_t *handlep);
 	virtual int close(cdev::file_t *handlep);
@@ -117,7 +118,7 @@ private:
 	char     _buf[1000];
 };
 
-int VCDevNode::open(cdev::file_t *handlep)
+int CDevNode::open(cdev::file_t *handlep)
 {
 	// Only allow one writer
 	if (_is_open_for_write && (handlep->f_oflags & PX4_F_WRONLY)) {
@@ -140,7 +141,7 @@ int VCDevNode::open(cdev::file_t *handlep)
 	return 0;
 }
 
-int VCDevNode::close(cdev::file_t *handlep)
+int CDevNode::close(cdev::file_t *handlep)
 {
 	delete (PrivData *)handlep->f_priv;
 	handlep->f_priv = nullptr;
@@ -154,7 +155,7 @@ int VCDevNode::close(cdev::file_t *handlep)
 	return 0;
 }
 
-ssize_t VCDevNode::write(cdev::file_t *handlep, const char *buffer, size_t buflen)
+ssize_t CDevNode::write(cdev::file_t *handlep, const char *buffer, size_t buflen)
 {
 	for (size_t i = 0; i < buflen && _write_offset < 1000; i++) {
 		_buf[_write_offset] = buffer[i];
@@ -167,7 +168,7 @@ ssize_t VCDevNode::write(cdev::file_t *handlep, const char *buffer, size_t bufle
 	return buflen;
 }
 
-ssize_t VCDevNode::read(cdev::file_t *handlep, char *buffer, size_t buflen)
+ssize_t CDevNode::read(cdev::file_t *handlep, char *buffer, size_t buflen)
 {
 	PrivData *p = (PrivData *)handlep->f_priv;
 	ssize_t chars_read = 0;
@@ -182,7 +183,7 @@ ssize_t VCDevNode::read(cdev::file_t *handlep, char *buffer, size_t buflen)
 	return chars_read;
 }
 
-VCDevExample::~VCDevExample()
+CDevExample::~CDevExample()
 {
 	if (_node) {
 		delete _node;
@@ -190,28 +191,7 @@ VCDevExample::~VCDevExample()
 	}
 }
 
-static int test_pub_block(int fd, unsigned long blocked)
-{
-	int ret = px4_ioctl(fd, DEVIOCSPUBBLOCK, blocked);
-
-	if (ret < 0) {
-		PX4_INFO("ioctl PX4_DEVIOCSPUBBLOCK failed %d %d", ret, px4_errno);
-		return -px4_errno;
-	}
-
-	ret = px4_ioctl(fd, DEVIOCGPUBBLOCK, 0);
-
-	if (ret < 0) {
-		PX4_INFO("ioctl PX4_DEVIOCGPUBBLOCK failed %d %d", ret, px4_errno);
-		return -px4_errno;
-	}
-
-	PX4_INFO("pub_blocked = %d %s", ret, (unsigned long)ret == blocked ? "PASS" : "FAIL");
-
-	return 0;
-}
-
-int VCDevExample::do_poll(int fd, int timeout, int iterations, int delayms_after_poll)
+int CDevExample::do_poll(int fd, int timeout, int iterations, int delayms_after_poll)
 {
 	int pollret, readret;
 	int loop_count = 0;
@@ -229,7 +209,7 @@ int VCDevExample::do_poll(int fd, int timeout, int iterations, int delayms_after
 		pollret = px4_poll(fds, 1, timeout);
 
 		if (pollret < 0) {
-			PX4_ERR("Reader: px4_poll failed %d %d FAIL", pollret, px4_errno);
+			PX4_ERR("Reader: px4_poll failed %d FAIL", pollret);
 			goto fail;
 		}
 
@@ -264,42 +244,29 @@ int VCDevExample::do_poll(int fd, int timeout, int iterations, int delayms_after
 fail:
 	return 1;
 }
-int VCDevExample::main()
+int CDevExample::main()
 {
 	appState.setRunning(true);
 
-	_node = new VCDevNode();
+	_node = new CDevNode();
 
 	if (_node == nullptr) {
-		PX4_INFO("Failed to allocate VCDevNode");
+		PX4_INFO("Failed to allocate CDevNode");
 		return -ENOMEM;
 	}
 
 	if (_node->init() != PX4_OK) {
-		PX4_INFO("Failed to init VCDevNode");
+		PX4_INFO("Failed to init CDevNode");
 		return 1;
 	}
 
 	int fd = px4_open(TESTDEV, PX4_F_RDONLY);
 
 	if (fd < 0) {
-		PX4_INFO("Open failed %d %d", fd, px4_errno);
-		return -px4_errno;
-	}
-
-	int ret = test_pub_block(fd, 1);
-
-	if (ret < 0) {
-		return ret;
+		PX4_INFO("Open failed %d", fd);
+		return PX4_ERROR;
 	}
 
-	ret = test_pub_block(fd, 0);
-
-	if (ret < 0) {
-		return ret;
-	}
-
-
 	// Start a task that will write something in 4 seconds
 	(void)px4_task_spawn_cmd("writer",
 				 SCHED_DEFAULT,
@@ -308,7 +275,7 @@ int VCDevExample::main()
 				 writer_main,
 				 (char *const *)nullptr);
 
-	ret = 0;
+	int ret = 0;
 
 	PX4_INFO("TEST: BLOCKING POLL ---------------");
 

src/lib/cdev/test/cdevtest_example.h

@@ -41,14 +41,14 @@
 
 #include <px4_app.h>
 
-class VCDevNode;
+class CDevNode;
 
-class VCDevExample
+class CDevExample
 {
 public:
-	VCDevExample() : _node(0) {}
+	CDevExample() : _node(0) {}
 
-	~VCDevExample();
+	~CDevExample();
 
 	int main();
 
@@ -57,5 +57,5 @@ public:
 private:
 	int do_poll(int fd, int timeout, int iterations, int delayms_after_poll);
 
-	VCDevNode *_node;
+	CDevNode *_node;
 };

src/lib/cdev/test/cdevtest_main.cpp

@@ -32,23 +32,24 @@
  ****************************************************************************/
 
 /**
- * @file vcdevtest_main.cpp
+ * @file cdevtest_main.cpp
  * Example for Linux
  *
  * @author Mark Charlebois <charlebm@gmail.com>
  */
+#include "cdevtest_example.h"
+
 #include <px4_middleware.h>
 #include <px4_app.h>
-#include "vcdevtest_example.h"
 #include <stdio.h>
 
 int PX4_MAIN(int argc, char **argv)
 {
-	px4::init(argc, argv, "vcdevtest");
+	px4::init(argc, argv, "cdevtest");
 
-	printf("vcdevtest\n");
-	VCDevExample vcdevtest;
-	vcdevtest.main();
+	printf("cdevtest\n");
+	CDevExample cdevtest;
+	cdevtest.main();
 
 	printf("goodbye\n");
 	return 0;

src/lib/cdev/test/cdevtest_start.cpp

@@ -32,12 +32,13 @@
  ****************************************************************************/
 
 /**
- * @file vcdevtest_start_posix.cpp
+ * @file cdevtest_start.cpp
  *
  * @author Thomas Gubler <thomasgubler@gmail.com>
  * @author Mark Charlebois <mcharleb@gmail.com>
  */
-#include "vcdevtest_example.h"
+#include "cdevtest_example.h"
+
 #include <px4_app.h>
 #include <px4_tasks.h>
 #include <stdio.h>
@@ -47,24 +48,24 @@ static int daemon_task;             /* Handle of deamon task / thread */
 
 //using namespace px4;
 
-extern "C" __EXPORT int vcdev_test_main(int argc, char *argv[]);
-int vcdev_test_main(int argc, char *argv[])
+extern "C" __EXPORT int cdev_test_main(int argc, char *argv[]);
+int cdev_test_main(int argc, char *argv[])
 {
 
 	if (argc < 2) {
-		printf("usage: vcdevtest {start|stop|status}\n");
+		printf("usage: cdevtest {start|stop|status}\n");
 		return 1;
 	}
 
 	if (!strcmp(argv[1], "start")) {
 
-		if (VCDevExample::appState.isRunning()) {
+		if (CDevExample::appState.isRunning()) {
 			printf("already running\n");
 			/* this is not an error */
 			return 0;
 		}
 
-		daemon_task = px4_task_spawn_cmd("vcdevtest",
+		daemon_task = px4_task_spawn_cmd("cdevtest",
 						 SCHED_DEFAULT,
 						 SCHED_PRIORITY_MAX - 5,
 						 2000,
@@ -75,12 +76,12 @@ int vcdev_test_main(int argc, char *argv[])
 	}
 
 	if (!strcmp(argv[1], "stop")) {
-		VCDevExample::appState.requestExit();
+		CDevExample::appState.requestExit();
 		return 0;
 	}
 
 	if (!strcmp(argv[1], "status")) {
-		if (VCDevExample::appState.isRunning()) {
+		if (CDevExample::appState.isRunning()) {
 			printf("is running\n");
 
 		} else {
@@ -90,6 +91,6 @@ int vcdev_test_main(int argc, char *argv[])
 		return 0;
 	}
 
-	printf("usage: vcdevtest_main {start|stop|status}\n");
+	printf("usage: cdevtest_main {start|stop|status}\n");
 	return 1;
 }

src/platforms/px4_app.h

@@ -73,9 +73,10 @@ private:
 }
 
 // Task/process based build
-#if defined(__PX4_ROS) || defined(__PX4_NUTTX)
+#if defined(__PX4_ROS)
 
 // Thread based build
+
 #else
 
 #ifdef PX4_MAIN