You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
120 lines
2.5 KiB
120 lines
2.5 KiB
/* |
|
* Copyright (C) 2016 Intel Corporation. All rights reserved. |
|
* |
|
* This file is free software: you can redistribute it and/or modify it |
|
* under the terms of the GNU General Public License as published by the |
|
* Free Software Foundation, either version 3 of the License, or |
|
* (at your option) any later version. |
|
* |
|
* This file is distributed in the hope that it will be useful, but |
|
* WITHOUT ANY WARRANTY; without even the implied warranty of |
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
|
* See the GNU General Public License for more details. |
|
* |
|
* You should have received a copy of the GNU General Public License along |
|
* with this program. If not, see <http://www.gnu.org/licenses/>. |
|
*/ |
|
#include <AP_gtest.h> |
|
|
|
#include <pthread.h> |
|
#include <unistd.h> |
|
|
|
#include <AP_HAL/AP_HAL.h> |
|
#include <AP_HAL_Linux/Thread.h> |
|
#include <AP_HAL_Linux/PollerThread.h> |
|
|
|
using namespace Linux; |
|
|
|
const AP_HAL::HAL &hal = AP_HAL::get_HAL(); |
|
|
|
class TestThread1 : public Thread { |
|
public: |
|
TestThread1() : Thread(nullptr) { } |
|
|
|
int n_loop = 0; |
|
|
|
protected: |
|
bool _run() override { |
|
n_loop = 1; |
|
return true; |
|
} |
|
}; |
|
|
|
TEST(LinuxThread, override_run) |
|
{ |
|
TestThread1 thr; |
|
EXPECT_TRUE(thr.start(nullptr, 0, 0)); |
|
|
|
while (thr.n_loop == 0) { |
|
usleep(10000); |
|
} |
|
|
|
EXPECT_EQ(thr.n_loop, 1); |
|
} |
|
|
|
class TestThread2 : public Thread { |
|
public: |
|
TestThread2() : Thread{FUNCTOR_BIND_MEMBER(&TestThread2::_task, void)} { } |
|
|
|
int n_loop = 0; |
|
|
|
protected: |
|
void _task() { |
|
n_loop = 1; |
|
} |
|
}; |
|
|
|
TEST(LinuxThread, run_task) |
|
{ |
|
TestThread2 thr; |
|
EXPECT_TRUE(thr.start(nullptr, 0, 0)); |
|
|
|
while (thr.n_loop == 0) { |
|
usleep(10000); |
|
} |
|
|
|
EXPECT_EQ(thr.n_loop, 1); |
|
} |
|
|
|
TEST(LinuxThread, poller_thread) |
|
{ |
|
PollerThread thr; |
|
EXPECT_TRUE(thr.start(nullptr, 0, 0)); |
|
|
|
while (!thr.is_started()) { |
|
usleep(1000); |
|
} |
|
|
|
usleep(10000); |
|
|
|
EXPECT_TRUE(thr.stop()); |
|
EXPECT_TRUE(thr.join()); |
|
} |
|
|
|
class TestPeriodicThread1 : public PeriodicThread { |
|
public: |
|
TestPeriodicThread1() : PeriodicThread{FUNCTOR_BIND_MEMBER(&TestPeriodicThread1::_task, void)} { } |
|
protected: |
|
void _task() { } |
|
}; |
|
|
|
TEST(LinuxThread, periodic_thread) |
|
{ |
|
TestPeriodicThread1 thr; |
|
EXPECT_TRUE(thr.set_rate(1000)); |
|
EXPECT_TRUE(thr.start(nullptr, 0, 0)); |
|
|
|
while (!thr.is_started()) { |
|
usleep(1000); |
|
} |
|
|
|
// this must fail as the thread already started |
|
EXPECT_FALSE(thr.set_rate(10)); |
|
|
|
usleep(10000); |
|
|
|
EXPECT_TRUE(thr.stop()); |
|
EXPECT_TRUE(thr.join()); |
|
} |
|
|
|
AP_GTEST_MAIN()
|
|
|