POSIX: Fixed remaining broke gtests

The addition of the hrt workqueue required adding some additional files to
unittests/CMakeLists.txt

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

src/modules/uORB/uORBCommunicator.hpp

@@ -35,7 +35,6 @@
 #define _uORBCommunicator_hpp_
 
 #include <stdint.h>
-#include <string>
 
 namespace uORBCommunicator
 {

src/platforms/posix/px4_layer/hrt_work.h

@@ -46,16 +46,16 @@ void hrt_work_queue_init(void);
 int hrt_work_queue(struct work_s *work, worker_t worker, void *arg, uint32_t delay);
 void hrt_work_cancel(struct work_s *work);
 
-inline void hrt_work_lock(void);
-inline void hrt_work_unlock(void);
+//inline void hrt_work_lock(void);
+//inline void hrt_work_unlock(void);
 
-inline void hrt_work_lock()
+static inline void hrt_work_lock()
 {
 	//PX4_INFO("hrt_work_lock");
 	sem_wait(&_hrt_work_lock);
 }
 
-inline void hrt_work_unlock()
+static inline void hrt_work_unlock()
 {
 	//PX4_INFO("hrt_work_unlock");
 	sem_post(&_hrt_work_lock);

unittests/CMakeLists.txt

@@ -74,6 +74,7 @@ add_library( px4_platform
                            ${PX_SRC}/platforms/posix/px4_layer/px4_posix_impl.cpp
                            ${PX_SRC}/platforms/posix/px4_layer/px4_posix_tasks.cpp
                            ${PX_SRC}/platforms/posix/px4_layer/work_lock.c
+                           ${PX_SRC}/platforms/posix/px4_layer/hrt_queue.c
                            ${PX_SRC}/platforms/posix/px4_layer/work_queue.c
                            ${PX_SRC}/platforms/posix/px4_layer/dq_rem.c
                            ${PX_SRC}/platforms/posix/px4_layer/sq_addlast.c
@@ -81,7 +82,9 @@ add_library( px4_platform
                            ${PX_SRC}/platforms/posix/px4_layer/sq_addafter.c
                            ${PX_SRC}/platforms/posix/px4_layer/queue.c
                            ${PX_SRC}/platforms/posix/px4_layer/work_cancel.c
+                           ${PX_SRC}/platforms/posix/px4_layer/hrt_work_cancel.c
                            ${PX_SRC}/platforms/posix/px4_layer/dq_remfirst.c
+                           ${PX_SRC}/platforms/posix/px4_layer/hrt_thread.c
                            ${PX_SRC}/platforms/posix/px4_layer/work_thread.c
                            ${PX_SRC}/platforms/posix/px4_layer/drv_hrt.c
                            ${PX_SRC}/platforms/posix/px4_layer/sq_remfirst.c

unittests/sbus2_test.cpp

@@ -34,10 +34,10 @@ TEST(SBUS2Test, SBUS2)
 	uint8_t frame[30];
 	unsigned partial_frame_count = 0;
 	uint16_t rc_values[18];
-	uint16_t num_values;
-	bool sbus_failsafe;
-	bool sbus_frame_drop;
-	uint16_t max_channels = sizeof(rc_values) / sizeof(rc_values[0]);
+	//uint16_t num_values;
+	//bool sbus_failsafe;
+	//bool sbus_frame_drop;
+	//uint16_t max_channels = sizeof(rc_values) / sizeof(rc_values[0]);
 
 	float last_time = 0;
 
@@ -59,7 +59,7 @@ TEST(SBUS2Test, SBUS2)
 		last_time = f;
 
 		// Pipe the data into the parser
-		hrt_abstime now = hrt_absolute_time();
+		//hrt_abstime now = hrt_absolute_time();
 
 		//if (partial_frame_count % 25 == 0)
 		//sbus_parse(now, frame, &partial_frame_count, rc_values, &num_values, &sbus_failsafe, &sbus_frame_drop, max_channels);

unittests/uorb_unittests/uORBCommunicatorMock.cpp

@@ -50,13 +50,13 @@ uORB_test::uORBCommunicatorMock::uORBCommunicatorMock()
 
 int16_t uORB_test::uORBCommunicatorMock::add_subscription
 (
-    const std::string& messageName,
+    const char * messageName,
     int32_t msgRateInHz
 )
 {
 
   int16_t rc = 0;
-  PX4_INFO( "got add_subscription for msg[%s] rate[%d]", messageName.c_str(), msgRateInHz );
+  PX4_INFO( "got add_subscription for msg[%s] rate[%d]", messageName, msgRateInHz );
   _msgCounters[messageName]._add_subscriptionCount++;
 
   /*
@@ -78,11 +78,11 @@ int16_t uORB_test::uORBCommunicatorMock::add_subscription
 
 int16_t uORB_test::uORBCommunicatorMock::remove_subscription
 (
-    const std::string& messageName
+    const char * messageName
 )
 {
   int16_t rc = 0;
-  PX4_INFO( "got remove_subscription for msg[%s]", messageName.c_str() );
+  PX4_INFO( "got remove_subscription for msg[%s]", messageName );
   _msgCounters[messageName]._remove_subscriptionCount++;
 /*
   int16_t rc = -1;
@@ -113,27 +113,27 @@ int16_t uORB_test::uORBCommunicatorMock::register_handler
 
 int16_t uORB_test::uORBCommunicatorMock::send_message
 (
-    const std::string& messageName,
+    const char * messageName,
     int32_t length,
     uint8_t* data
 )
 {
   int16_t rc = 0;
-  PX4_INFO( "send_message for msg[%s] datalen[%d]", messageName.c_str(), length );
+  PX4_INFO( "send_message for msg[%s] datalen[%d]", messageName, length );
   if( uORB::Manager::get_instance()->is_remote_subscriber_present( messageName ) )
   {
     _msgCounters[messageName]._send_messageCount++;
-    if( messageName == "topicA" )
+    if( strcmp(messageName, "topicA") == 0 )
     {
       memcpy( &_topicAData, (void*)data, length );
     }
-    else if( messageName == "topicB" )
+    else if( strcmp(messageName, "topicB") == 0 )
     {
       memcpy( &_topicBData, (void*)data, length );
     }
     else
     {
-      //EPRINTF( "error messageName[%s] is not supported", messageName.c_str() );
+      //EPRINTF( "error messageName[%s] is not supported", messageName );
     }
   }
 /*
@@ -200,7 +200,7 @@ void uORB_test::uORBCommunicatorMock::reset_counters()
   }
 }
 
-uORB_test::uORBCommunicatorMock::InterfaceCounters uORB_test::uORBCommunicatorMock::get_interface_counters(const std::string& messageName )
+uORB_test::uORBCommunicatorMock::InterfaceCounters uORB_test::uORBCommunicatorMock::get_interface_counters(const char * messageName )
 {
   return _msgCounters[ messageName ];
 }

unittests/uorb_unittests/uORBCommunicatorMock.hpp

@@ -36,6 +36,7 @@
 #include "uORB/uORBCommunicator.hpp"
 #include "uORBGtestTopics.hpp"
 #include <map>
+#include <string>
 #include <set>
 
 namespace uORB_test
@@ -72,7 +73,7 @@ class uORB_test::uORBCommunicatorMock : public uORBCommunicator::IChannel
    *    Note: This does not mean that the receiver as received it.
    *  otherwise = failure.
    */
-  virtual int16_t add_subscription( const std::string& messageName, int32_t msgRateInHz );
+  virtual int16_t add_subscription( const char *messageName, int32_t msgRateInHz );
 
 
   /**
@@ -86,7 +87,7 @@ class uORB_test::uORBCommunicatorMock : public uORBCommunicator::IChannel
    *    Note: This does not necessarily mean that the receiver as received it.
    *  otherwise = failure.
    */
-  virtual int16_t remove_subscription( const std::string& messageName );
+  virtual int16_t remove_subscription( const char * messageName );
 
   /**
    * Register Message Handler.  This is internal for the IChannel implementer*
@@ -108,7 +109,7 @@ class uORB_test::uORBCommunicatorMock : public uORBCommunicator::IChannel
    *    Note: This does not mean that the receiver as received it.
    *  otherwise = failure.
    */
-  virtual int16_t send_message( const std::string& messageName, int32_t length, uint8_t* data);
+  virtual int16_t send_message( const char * messageName, int32_t length, uint8_t* data);
 
   uORBCommunicator::IChannelRxHandler* get_rx_handler()
   {
@@ -120,7 +121,7 @@ class uORB_test::uORBCommunicatorMock : public uORBCommunicator::IChannel
 
   void reset_counters();
 
-  InterfaceCounters get_interface_counters( const std::string& messageName );
+  InterfaceCounters get_interface_counters( const char * messageName );
 
 
  private:

unittests/uorb_unittests/uORBCommunicatorMockLoopback.cpp

@@ -50,13 +50,13 @@ uORB_test::uORBCommunicatorMockLoopback::uORBCommunicatorMockLoopback()
 
 int16_t uORB_test::uORBCommunicatorMockLoopback::add_subscription
 (
-    const std::string& messageName,
+    const char * messageName,
     int32_t msgRateInHz
 )
 {
 
   int16_t rc = -1;
-  PX4_INFO( "got add_subscription for msg[%s] rate[%d]", messageName.c_str(), msgRateInHz );
+  PX4_INFO( "got add_subscription for msg[%s] rate[%d]", messageName, msgRateInHz );
 
   if( _rx_handler )
   {
@@ -64,7 +64,7 @@ int16_t uORB_test::uORBCommunicatorMockLoopback::add_subscription
     {
        rc = _rx_handler->process_add_subscription
            (
-              _topic_translation_map[messageName],
+              _topic_translation_map[messageName].c_str(),
               msgRateInHz
            );
     }
@@ -74,18 +74,18 @@ int16_t uORB_test::uORBCommunicatorMockLoopback::add_subscription
 
 int16_t uORB_test::uORBCommunicatorMockLoopback::remove_subscription
 (
-    const std::string& messageName
+    const char * messageName
 )
 {
   int16_t rc = -1;
-  PX4_INFO( "got remove_subscription for msg[%s]", messageName.c_str() );
+  PX4_INFO( "got remove_subscription for msg[%s]", messageName );
   if( _rx_handler )
   {
     if( _topic_translation_map.find( messageName ) != _topic_translation_map.end() )
     {
        rc = _rx_handler->process_remove_subscription
            (
-              _topic_translation_map[messageName]
+              _topic_translation_map[messageName].c_str()
            );
     }
   }
@@ -105,22 +105,22 @@ int16_t uORB_test::uORBCommunicatorMockLoopback::register_handler
 
 int16_t uORB_test::uORBCommunicatorMockLoopback::send_message
 (
-    const std::string& messageName,
+    const char * messageName,
     int32_t length,
     uint8_t* data
 )
 {
   int16_t rc = -1;
-  PX4_INFO( "send_message for msg[%s] datalen[%d]", messageName.c_str(), length );
+  PX4_INFO( "send_message for msg[%s] datalen[%d]", messageName, length );
   if( _rx_handler )
   {
     if( _topic_translation_map.find( messageName ) != _topic_translation_map.end() )
     {
-      if( uORB::Manager::get_instance()->is_remote_subscriber_present( _topic_translation_map[messageName] ) )
+      if( uORB::Manager::get_instance()->is_remote_subscriber_present( _topic_translation_map[messageName].c_str() ) )
       {
         rc = _rx_handler->process_received_message
-            ( _topic_translation_map[messageName], length, data );
-        PX4_INFO( "[uORBCommunicatorMockLoopback::send_message] return from[topic(%s)] _rx_handler->process_received_message[%d]", messageName.c_str(), rc );
+            ( _topic_translation_map[messageName].c_str(), length, data );
+        PX4_INFO( "[uORBCommunicatorMockLoopback::send_message] return from[topic(%s)] _rx_handler->process_received_message[%d]", messageName, rc );
       }
       else
       {

unittests/uorb_unittests/uORBCommunicatorMockLoopback.hpp

@@ -32,6 +32,7 @@
 #include "uORB/uORBCommunicator.hpp"
 #include "uORBGtestTopics.hpp"
 #include <map>
+#include <string>
 #include <set>
 
 namespace uORB_test
@@ -59,7 +60,7 @@ class uORB_test::uORBCommunicatorMockLoopback : public uORBCommunicator::IChanne
    *    Note: This does not mean that the receiver as received it.
    *  otherwise = failure.
    */
-  virtual int16_t add_subscription( const std::string& messageName, int32_t msgRateInHz );
+  virtual int16_t add_subscription( const char * messageName, int32_t msgRateInHz );
 
 
   /**
@@ -73,7 +74,7 @@ class uORB_test::uORBCommunicatorMockLoopback : public uORBCommunicator::IChanne
    *    Note: This does not necessarily mean that the receiver as received it.
    *  otherwise = failure.
    */
-  virtual int16_t remove_subscription( const std::string& messageName );
+  virtual int16_t remove_subscription( const char * messageName );
 
   /**
    * Register Message Handler.  This is internal for the IChannel implementer*
@@ -95,7 +96,7 @@ class uORB_test::uORBCommunicatorMockLoopback : public uORBCommunicator::IChanne
    *    Note: This does not mean that the receiver as received it.
    *  otherwise = failure.
    */
-  virtual int16_t send_message( const std::string& messageName, int32_t length, uint8_t* data);
+  virtual int16_t send_message( const char * messageName, int32_t length, uint8_t* data);
 
   uORBCommunicator::IChannelRxHandler* get_rx_handler()
   {