px4_autopilot/platforms/common/uORB/uORB_tests/uORBTest_UnitTest.hpp

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#ifndef _uORBTest_UnitTest_hpp_
#define _uORBTest_UnitTest_hpp_

#include <uORB/uORB.h>
#include <uORB/uORBDeviceMaster.hpp>
#include <uORB/uORBDeviceNode.hpp>
#include <uORB/uORBManager.hpp>
#include <uORB/topics/orb_test.h>
#include <uORB/topics/orb_test_medium.h>
#include <uORB/topics/orb_test_large.h>

#include <px4_platform_common/defines.h>
#include <px4_platform_common/posix.h>
#include <px4_platform_common/time.h>
#include <px4_platform_common/tasks.h>

#include <drivers/drv_hrt.h>

#include <errno.h>
#include <unistd.h>

namespace uORBTest
{
class UnitTest;
}

class uORBTest::UnitTest
{
public:

	// Singleton pattern
	static uORBTest::UnitTest &instance();
	~UnitTest() = default;

	int test();
	int latency_test(bool print);
	int info();

	// Disallow copy
	UnitTest(const uORBTest::UnitTest & /*unused*/) = delete;

	// Assist in testing the wrap-around situation
	static void set_generation(uORB::DeviceNode &node, unsigned generation)
	{
		node._generation.store(generation);
	}

private:
	UnitTest() = default;

	static int pubsubtest_threadEntry(int argc, char *argv[]);
	int pubsublatency_main();

	static int pub_test_multi2_entry(int argc, char *argv[]);
	int pub_test_multi2_main();

	volatile bool _thread_should_exit;

	bool pubsubtest_passed{false};
	bool pubsubtest_print{false};
	int pubsubtest_res = OK;

	orb_advert_t _pfd[4] {}; ///< used for test_multi and test_multi_reversed

	int test_single();

	/* These 3 depend on each other and must be called in this order */
	int test_multi();
	int test_multi_reversed();
	int test_unadvertise();

	int test_multi2();

	int test_wrap_around();

	int test_SubscriptionMulti();

	/* queuing tests */
	int test_queue();
	static int pub_test_queue_entry(int argc, char *argv[]);
	int pub_test_queue_main();
	int test_queue_poll_notify();
	volatile int _num_messages_sent = 0;

	int test_fail(const char *fmt, ...);
	int test_note(const char *fmt, ...);
};

#endif // _uORBTest_UnitTest_hpp_