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test_dataman add to SITL with minor updates

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This commit is contained in:
Daniel Agar
2017-02-15 14:18:50 -05:00
parent 9369262e63
commit 1bbca3bf1d
5 changed files with 47 additions and 36 deletions
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3
posix-configs/SITL/init/test/test_template.in
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@@ -28,4 +28,7 @@ mavlink boot_complete
tests @test_name@
dataman status
dataman stop
shutdown

2
src/firmware/posix/sitl_tests.cmake
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@@ -9,6 +9,7 @@ set(tests
commander
controllib
conv
dataman
file2
float
gpio
@@ -51,6 +52,7 @@ foreach(test_name ${tests})
${PX4_BINARY_DIR}
WORKING_DIRECTORY ${SITL_WORKING_DIR})
set_tests_properties(${test_name} PROPERTIES FAIL_REGULAR_EXPRESSION "${test_name} FAILED")
set_tests_properties(${test_name} PROPERTIES PASS_REGULAR_EXPRESSION "${test_name} PASSED")
endforeach()

2
src/systemcmds/tests/CMakeLists.txt
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@@ -34,7 +34,7 @@
set(srcs
test_adc.c
test_autodeclination.cpp
# test_dataman.c # Enable for by hand testing
test_dataman.c
test_hysteresis.cpp
test_bson.c
test_conv.cpp

74
src/systemcmds/tests/test_dataman.c
View File

@@ -61,61 +61,64 @@
static px4_sem_t *sems;
int test_dataman(int argc, char *argv[]);
#define NUM_MISSIONS_TEST 50
static int
task_main(int argc, char *argv[])
{
char buffer[DM_MAX_DATA_SIZE];
hrt_abstime wstart, wend, rstart, rend;
warnx("Starting dataman test task %s", argv[1]);
PX4_INFO("Starting dataman test task %s", argv[1]);
/* try to read an invalid item */
int my_id = atoi(argv[1]);
/* try to read an invalid item */
if (dm_read(DM_KEY_NUM_KEYS, 0, buffer, sizeof(buffer)) >= 0) {
warnx("%d read an invalid item failed", my_id);
PX4_ERR("%d read an invalid item failed", my_id);
goto fail;
}
/* try to read an invalid index */
if (dm_read(DM_KEY_SAFE_POINTS, DM_KEY_SAFE_POINTS_MAX, buffer, sizeof(buffer)) >= 0) {
warnx("%d read an invalid index failed", my_id);
PX4_ERR("%d read an invalid index failed", my_id);
goto fail;
}
srand(hrt_absolute_time() ^ my_id);
unsigned hit = 0, miss = 0;
wstart = hrt_absolute_time();
hrt_abstime wstart = hrt_absolute_time();
for (unsigned i = 0; i < NUM_MISSIONS_SUPPORTED; i++) {
for (unsigned i = 0; i < NUM_MISSIONS_TEST; i++) {
memset(buffer, my_id, sizeof(buffer));
buffer[1] = i;
unsigned hash = i ^ my_id;
unsigned len = (hash % (DM_MAX_DATA_SIZE / 2)) + 2;
int ret = dm_write(DM_KEY_WAYPOINTS_OFFBOARD_1, hash, DM_PERSIST_IN_FLIGHT_RESET, buffer, len);
warnx("ret: %d", ret);
//PX4_INFO("ret: %d", ret);
if (ret != len) {
warnx("%d write failed, index %d, length %d", my_id, hash, len);
PX4_WARN("task %d: write failed, index %d, length %d", my_id, hash, len);
goto fail;
}
if (i % (NUM_MISSIONS_TEST / 10) == 0) {
PX4_INFO("task %d: %.0f%%", my_id, (double)i * 100.0f / NUM_MISSIONS_TEST);
}
usleep(rand() & ((64 * 1024) - 1));
}
rstart = hrt_absolute_time();
wend = rstart;
hrt_abstime rstart = hrt_absolute_time();
hrt_abstime wend = rstart;
for (unsigned i = 0; i < NUM_MISSIONS_SUPPORTED; i++) {
for (unsigned i = 0; i < NUM_MISSIONS_TEST; i++) {
unsigned hash = i ^ my_id;
unsigned len2;
unsigned len = (hash % (DM_MAX_DATA_SIZE / 2)) + 2;
;
if ((len2 = dm_read(DM_KEY_WAYPOINTS_OFFBOARD_1, hash, buffer, sizeof(buffer))) < 2) {
warnx("%d read failed length test, index %d", my_id, hash);
PX4_WARN("task %d: read failed length test, index %d", my_id, hash);
goto fail;
}
@@ -123,12 +126,12 @@ task_main(int argc, char *argv[])
hit++;
if (len2 != len) {
warnx("%d read failed length test, index %d, wanted %d, got %d", my_id, hash, len, len2);
PX4_WARN("task %d: read failed length test, index %d, wanted %d, got %d", my_id, hash, len, len2);
goto fail;
}
if (buffer[1] != i) {
warnx("%d data verification failed, index %d, wanted %d, got %d", my_id, hash, my_id, buffer[1]);
PX4_WARN("task %d: data verification failed, index %d, wanted %d, got %d", my_id, hash, my_id, buffer[1]);
goto fail;
}
@@ -137,21 +140,23 @@ task_main(int argc, char *argv[])
}
}
rend = hrt_absolute_time();
warnx("Test %d pass, hit %d, miss %d, io time read %llums. write %llums.",
my_id, hit, miss, (rend - rstart) / NUM_MISSIONS_SUPPORTED / 1000, (wend - wstart) / NUM_MISSIONS_SUPPORTED / 1000);
hrt_abstime rend = hrt_absolute_time();
PX4_INFO("task %d pass, hit %d, miss %d, io time read %llums. write %llums.",
my_id, hit, miss, (rend - rstart) / NUM_MISSIONS_TEST / 1000, (wend - wstart) / NUM_MISSIONS_TEST / 1000);
px4_sem_post(sems + my_id);
return 0;
fail:
warnx("Test %d fail, buffer %02x %02x %02x %02x %02x %02x",
my_id, buffer[0], buffer[1], buffer[2], buffer[3], buffer[4], buffer[5]);
PX4_ERR("test_dataman FAILED: task %d, buffer %02x %02x %02x %02x %02x %02x",
my_id, buffer[0], buffer[1], buffer[2], buffer[3], buffer[4], buffer[5]);
px4_sem_post(sems + my_id);
return -1;
}
int test_dataman(int argc, char *argv[])
{
int i, num_tasks = 4;
int i = 0;
unsigned num_tasks = 4;
char buffer[DM_MAX_DATA_SIZE];
if (argc > 1) {
@@ -159,22 +164,23 @@ int test_dataman(int argc, char *argv[])
}
sems = (px4_sem_t *)malloc(num_tasks * sizeof(px4_sem_t));
warnx("Running %d tasks", num_tasks);
PX4_INFO("Running %d tasks", num_tasks);
for (i = 0; i < num_tasks; i++) {
int task;
char a[16];
sprintf(a, "%d", i);
const char *av[2];
av[0] = a;
av[1] = 0;
snprintf(a, 16, "%d", i);
char *av[] = {"tests_dataman", a, NULL};
px4_sem_init(sems + i, 1, 0);
/* sems use case is a signal */
px4_sem_setprotocol(&sems, SEM_PRIO_NONE);
px4_sem_setprotocol(sems, SEM_PRIO_NONE);
/* start the task */
if ((task = px4_task_spawn_cmd("dataman", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 2048, task_main, (void *)av)) <= 0) {
warn("task start failed");
if ((task = px4_task_spawn_cmd("dataman", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 2048, task_main, av)) <= 0) {
PX4_ERR("task start failed");
}
}
@@ -186,23 +192,23 @@ int test_dataman(int argc, char *argv[])
free(sems);
dm_restart(DM_INIT_REASON_IN_FLIGHT);
for (i = 0; i < NUM_MISSIONS_SUPPORTED; i++) {
for (i = 0; i < NUM_MISSIONS_TEST; i++) {
if (dm_read(DM_KEY_WAYPOINTS_OFFBOARD_1, i, buffer, sizeof(buffer)) != 0) {
break;
}
}
if (i >= NUM_MISSIONS_SUPPORTED) {
warnx("Restart in-flight failed");
if (i >= NUM_MISSIONS_TEST) {
PX4_ERR("Restart in-flight failed");
return -1;
}
dm_restart(DM_INIT_REASON_POWER_ON);
for (i = 0; i < NUM_MISSIONS_SUPPORTED; i++) {
for (i = 0; i < NUM_MISSIONS_TEST; i++) {
if (dm_read(DM_KEY_WAYPOINTS_OFFBOARD_1, i, buffer, sizeof(buffer)) != 0) {
warnx("Restart power-on failed");
PX4_ERR("Restart power-on failed");
return -1;
}
}

2
src/systemcmds/tests/tests_main.c
View File

@@ -104,7 +104,7 @@ const struct {
{"autodeclination", test_autodeclination, 0},
{"bson", test_bson, 0},
{"conv", test_conv, 0},
//{"dataman", test_dataman, OPT_NOJIGTEST | OPT_NOALLTEST}, // Enable for by hand testing
{"dataman", test_dataman, OPT_NOJIGTEST | OPT_NOALLTEST},
{"file2", test_file2, OPT_NOJIGTEST},
{"float", test_float, 0},
{"gpio", test_gpio, OPT_NOJIGTEST | OPT_NOALLTEST},