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px4_autopilot/apps/examples/ostest/ostest_main.c

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/****************************************************************************
* apps/examples/ostest/ostest_main.c
*
* Copyright (C) 2007-2009, 2011-2012 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <stdbool.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <signal.h>
#include <string.h>
#include <sched.h>
#include <errno.h>
#include <nuttx/init.h>
#include "ostest.h"
/****************************************************************************
* Definitions
****************************************************************************/
#define PRIORITY 100
#define NARGS 4
#define HALF_SECOND_USEC 500000L
/****************************************************************************
* Private Data
****************************************************************************/
static const char arg1[] = "Arg1";
static const char arg2[] = "Arg2";
static const char arg3[] = "Arg3";
static const char arg4[] = "Arg4";
#if CONFIG_NFILE_DESCRIPTORS > 0
static const char write_data1[] = "stdio_test: write fd=1\n";
static const char write_data2[] = "stdio_test: write fd=2\n";
#endif
#ifdef SDCC
/* I am not yet certain why SDCC does not like the following
* initializer. It involves some issues with 2- vs 3-byte
* pointer types.
*/
static const char *g_argv[NARGS+1];
#else
static const char *g_argv[NARGS+1] = { arg1, arg2, arg3, arg4, NULL };
#endif
#ifndef CONFIG_DISABLE_SIGNALS
static struct mallinfo g_mmbefore;
static struct mallinfo g_mmprevious;
static struct mallinfo g_mmafter;
#endif
#ifndef CONFIG_DISABLE_ENVIRON
const char g_var1_name[] = "Variable1";
const char g_var1_value[] = "GoodValue1";
const char g_var2_name[] = "Variable2";
const char g_var2_value[] = "GoodValue2";
const char g_var3_name[] = "Variable3";
const char g_var3_value[] = "GoodValue3";
const char g_bad_value1[] = "BadValue1";
const char g_bad_value2[] = "BadValue2";
const char g_putenv_value[] = "Variable1=BadValue3";
#endif
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: show_memory_usage
****************************************************************************/
#ifndef CONFIG_DISABLE_SIGNALS
static void show_memory_usage(struct mallinfo *mmbefore,
struct mallinfo *mmafter)
{
printf("VARIABLE BEFORE AFTER\n");
printf("======== ======== ========\n");
printf("arena %8x %8x\n", mmbefore->arena, mmafter->arena);
printf("ordblks %8d %8d\n", mmbefore->ordblks, mmafter->ordblks);
printf("mxordblk %8x %8x\n", mmbefore->mxordblk, mmafter->mxordblk);
printf("uordblks %8x %8x\n", mmbefore->uordblks, mmafter->uordblks);
printf("fordblks %8x %8x\n", mmbefore->fordblks, mmafter->fordblks);
}
#else
# define show_memory_usage(mm1, mm2)
#endif
/****************************************************************************
* Name: check_test_memory_usage
****************************************************************************/
#ifndef CONFIG_DISABLE_SIGNALS
static void check_test_memory_usage(void)
{
/* Wait a little bit to let any threads terminate */
usleep(HALF_SECOND_USEC);
/* Get the current memory usage */
#ifdef CONFIG_CAN_PASS_STRUCTS
g_mmafter = mallinfo();
#else
(void)mallinfo(&g_mmafter);
#endif
/* Show the change from the previous time */
printf("\nEnd of test memory usage:\n");
show_memory_usage(&g_mmprevious, &g_mmafter);
/* Set up for the next test */
#ifdef CONFIG_CAN_PASS_STRUCTS
g_mmprevious = g_mmafter;
#else
memcpy(&g_mmprevious, &g_mmafter, sizeof(struct mallinfo));
#endif
/* If so enabled, show the use of priority inheritance resources */
dump_nfreeholders("user_main:");
}
#else
# define check_test_memory_usage()
#endif
/****************************************************************************
* Name: show_variable
****************************************************************************/
#ifndef CONFIG_DISABLE_ENVIRON
static void show_variable(const char *var_name, const char *exptd_value, bool var_valid)
{
char *actual_value = getenv(var_name);
if (actual_value)
{
if (var_valid)
{
if (strcmp(actual_value, exptd_value) == 0)
{
printf("show_variable: Variable=%s has value=%s\n", var_name, exptd_value);
}
else
{
printf("show_variable: ERROR Variable=%s has the wrong value\n", var_name);
printf("show_variable: found=%s expected=%s\n", actual_value, exptd_value);
}
}
else
{
printf("show_variable: ERROR Variable=%s has a value when it should not\n", var_name);
printf("show_variable: value=%s\n", actual_value);
}
}
else if (var_valid)
{
printf("show_variable: ERROR Variable=%s has no value\n", var_name);
printf("show_variable: Should have had value=%s\n", exptd_value);
}
else
{
printf("show_variable: Variable=%s has no value\n", var_name);
}
}
static void show_environment(bool var1_valid, bool var2_valid, bool var3_valid)
{
show_variable(g_var1_name, g_var1_value, var1_valid);
show_variable(g_var2_name, g_var2_value, var2_valid);
show_variable(g_var3_name, g_var3_value, var3_valid);
}
#else
# define show_environment()
#endif
/****************************************************************************
* Name: user_main
****************************************************************************/
static int user_main(int argc, char *argv[])
{
int i;
/* Sample the memory usage now */
#ifndef CONFIG_DISABLE_SIGNALS
usleep(HALF_SECOND_USEC);
#ifdef CONFIG_CAN_PASS_STRUCTS
g_mmbefore = mallinfo();
g_mmprevious = g_mmbefore;
#else
(void)mallinfo(&g_mmbefore);
memcpy(&g_mmprevious, &g_mmbefore, sizeof(struct mallinfo));
#endif
#endif
printf("\nuser_main: Begin argument test\n");
printf("user_main: Started with argc=%d\n", argc);
/* Verify passed arguments */
if (argc != NARGS + 1)
{
printf("user_main: Error expected argc=%d got argc=%d\n",
NARGS+1, argc);
}
for (i = 0; i <= NARGS; i++)
{
printf("user_main: argv[%d]=\"%s\"\n", i, argv[i]);
}
for (i = 1; i <= NARGS; i++)
{
if (strcmp(argv[i], g_argv[i-1]) != 0)
{
printf("user_main: ERROR argv[%d]: Expected \"%s\" found \"%s\"\n",
i, g_argv[i-1], argv[i]);
}
}
check_test_memory_usage();
/* If retention of child status is enable, then suppress it for this task.
* This task may produce many, many children (especially if
* CONFIG_EXAMPLES_OSTEST_LOOPS) and it does not harvest their exit status.
* As a result, the test may fail inappropriately unless retention of
* child exit status is disabled.
*
* So basically, this tests that child status can be disabled, but cannot
* verify that status is retained correctly.
*/
#if defined(CONFIG_SCHED_HAVE_PARENT) && defined(CONFIG_SCHED_CHILD_STATUS)
{
struct sigaction sa;
int ret;
sa.sa_handler = SIG_IGN;
sa.sa_flags = SA_NOCLDWAIT;
ret = sigaction(SIGCHLD, &sa, NULL);
if (ret < 0)
{
printf("user_main: ERROR: sigaction failed: %d\n", errno);
}
}
#endif
/* Check environment variables */
#ifndef CONFIG_DISABLE_ENVIRON
show_environment(true, true, true);
unsetenv(g_var1_name);
show_environment(false, true, true);
check_test_memory_usage();
clearenv();
show_environment(false, false, false);
check_test_memory_usage();
#endif
/* Top of test loop */
#if CONFIG_EXAMPLES_OSTEST_LOOPS > 1
for (i = 0; i < CONFIG_EXAMPLES_OSTEST_LOOPS; i++)
#elif CONFIG_EXAMPLES_OSTEST_LOOPS == 0
for (;;)
#endif
{
#if CONFIG_NFILE_DESCRIPTORS > 0
/* Checkout /dev/null */
printf("\nuser_main: /dev/null test\n");
dev_null();
check_test_memory_usage();
#endif
#ifdef CONFIG_ARCH_FPU
/* Check that the FPU is properly supported during context switching */
printf("\nuser_main: FPU test\n");
fpu_test();
check_test_memory_usage();
#endif
#ifdef CONFIG_SCHED_WAITPID
/* Check waitpid() and friends */
printf("\nuser_main: waitpid test\n");
waitpid_test();
check_test_memory_usage();
#endif
#ifndef CONFIG_DISABLE_PTHREAD
/* Verify pthreads and pthread mutex */
printf("\nuser_main: mutex test\n");
mutex_test();
check_test_memory_usage();
#endif
#if !defined(CONFIG_DISABLE_PTHREAD) && defined(CONFIG_MUTEX_TYPES)
/* Verify recursive mutexes */
printf("\nuser_main: recursive mutex test\n");
recursive_mutex_test();
check_test_memory_usage();
#endif
#ifndef CONFIG_DISABLE_PTHREAD
/* Verify pthread cancellation */
printf("\nuser_main: cancel test\n");
cancel_test();
check_test_memory_usage();
#endif
#ifndef CONFIG_DISABLE_PTHREAD
/* Verify pthreads and semaphores */
printf("\nuser_main: semaphore test\n");
sem_test();
check_test_memory_usage();
#endif
#ifndef CONFIG_DISABLE_PTHREAD
/* Verify pthreads and condition variables */
printf("\nuser_main: condition variable test\n");
#ifdef CONFIG_PRIORITY_INHERITANCE
printf("\n Skipping, Test logic incompatible with priority inheritance\n");
#else
cond_test();
check_test_memory_usage();
#endif
#endif
#if !defined(CONFIG_DISABLE_SIGNALS) && !defined(CONFIG_DISABLE_PTHREAD) && !defined(CONFIG_DISABLE_CLOCK)
/* Verify pthreads and condition variable timed waits */
printf("\nuser_main: timed wait test\n");
timedwait_test();
check_test_memory_usage();
#endif
#if !defined(CONFIG_DISABLE_MQUEUE) && !defined(CONFIG_DISABLE_PTHREAD)
/* Verify pthreads and message queues */
printf("\nuser_main: message queue test\n");
mqueue_test();
check_test_memory_usage();
#endif
#if !defined(CONFIG_DISABLE_MQUEUE) && !defined(CONFIG_DISABLE_PTHREAD) && !defined(CONFIG_DISABLE_CLOCK)
/* Verify pthreads and message queues */
printf("\nuser_main: timed message queue test\n");
timedmqueue_test();
check_test_memory_usage();
#endif
#ifndef CONFIG_DISABLE_SIGNALS
/* Verify signal handlers */
printf("\nuser_main: signal handler test\n");
sighand_test();
check_test_memory_usage();
#endif
#if !defined(CONFIG_DISABLE_POSIX_TIMERS) && !defined(CONFIG_DISABLE_SIGNALS)
/* Verify posix timers */
printf("\nuser_main: POSIX timer test\n");
timer_test();
check_test_memory_usage();
#endif
#if !defined(CONFIG_DISABLE_PTHREAD) && CONFIG_RR_INTERVAL > 0
/* Verify round robin scheduling */
printf("\nuser_main: round-robin scheduler test\n");
rr_test();
check_test_memory_usage();
#endif
#ifndef CONFIG_DISABLE_PTHREAD
/* Verify pthread barriers */
printf("\nuser_main: barrier test\n");
barrier_test();
check_test_memory_usage();
#endif
#if defined(CONFIG_PRIORITY_INHERITANCE) && !defined(CONFIG_DISABLE_SIGNALS) && !defined(CONFIG_DISABLE_PTHREAD)
/* Verify priority inheritance */
printf("\nuser_main: priority inheritance test\n");
priority_inheritance();
check_test_memory_usage();
#endif /* CONFIG_PRIORITY_INHERITANCE && !CONFIG_DISABLE_SIGNALS && !CONFIG_DISABLE_PTHREAD */
#ifdef CONFIG_ARCH_HAVE_VFORK
printf("\nuser_main: vfork() test\n");
vfork_test();
#endif
/* Compare memory usage at time ostest_main started until
* user_main exits. These should not be identical, but should
* be similar enough that we can detect any serious OS memory
* leaks.
*/
#ifndef CONFIG_DISABLE_SIGNALS
usleep(HALF_SECOND_USEC);
#ifdef CONFIG_CAN_PASS_STRUCTS
g_mmafter = mallinfo();
#else
(void)mallinfo(&g_mmafter);
#endif
printf("\nFinal memory usage:\n");
show_memory_usage(&g_mmbefore, &g_mmafter);
#endif
}
printf("user_main: Exitting\n");
return 0;
}
/****************************************************************************
* Name: stdio_test
****************************************************************************/
static void stdio_test(void)
{
/* Verify that we can communicate */
#if CONFIG_NFILE_DESCRIPTORS > 0
write(1, write_data1, sizeof(write_data1)-1);
#endif
printf("stdio_test: Standard I/O Check: printf\n");
#if CONFIG_NFILE_DESCRIPTORS > 1
write(2, write_data2, sizeof(write_data2)-1);
#endif
#if CONFIG_NFILE_STREAMS > 0
fprintf(stderr, "stdio_test: Standard I/O Check: fprintf to stderr\n");
#endif
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* ostest_main
****************************************************************************/
int ostest_main(int argc, char *argv[])
{
int result;
/* Verify that stdio works first */
stdio_test();
#ifdef SDCC
/* I am not yet certain why SDCC does not like the following initilizers.
* It involves some issues with 2- vs 3-byte pointer types.
*/
g_argv[0] = arg1;
g_argv[1] = arg2;
g_argv[2] = arg3;
g_argv[3] = arg4;
g_argv[4] = NULL;
#endif
/* Set up some environment variables */
#ifndef CONFIG_DISABLE_ENVIRON
printf("ostest_main: putenv(%s)\n", g_putenv_value);
putenv(g_putenv_value); /* Varaible1=BadValue3 */
printf("ostest_main: setenv(%s, %s, TRUE)\n", g_var1_name, g_var1_value);
setenv(g_var1_name, g_var1_value, TRUE); /* Variable1=GoodValue1 */
printf("ostest_main: setenv(%s, %s, FALSE)\n", g_var2_name, g_bad_value1);
setenv(g_var2_name, g_bad_value1, FALSE); /* Variable2=BadValue1 */
printf("ostest_main: setenv(%s, %s, TRUE)\n", g_var2_name, g_var2_value);
setenv(g_var2_name, g_var2_value, TRUE); /* Variable2=GoodValue2 */
printf("ostest_main: setenv(%s, %s, FALSE)\n", g_var3_name, g_var3_name);
setenv(g_var3_name, g_var3_value, FALSE); /* Variable3=GoodValue3 */
printf("ostest_main: setenv(%s, %s, FALSE)\n", g_var3_name, g_var3_name);
setenv(g_var3_name, g_bad_value2, FALSE); /* Variable3=GoodValue3 */
show_environment(true, true, true);
#endif
/* Verify that we can spawn a new task */
#ifndef CONFIG_CUSTOM_STACK
result = task_create("ostest", PRIORITY, STACKSIZE, user_main, g_argv);
#else
result = task_create("ostest", PRIORITY, user_main, g_argv);
#endif
if (result == ERROR)
{
printf("ostest_main: ERROR Failed to start user_main\n");
}
else
{
printf("ostest_main: Started user_main at PID=%d\n", result);
}
printf("ostest_main: Exitting\n");
return 0;
}