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uORB: test multi timestamp requirement only applies per topic instance

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This commit is contained in:
Daniel Agar
2021-03-17 11:29:28 -04:00
parent 205beb9526
commit 385512aead
1 changed files with 5 additions and 6 deletions
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11
platforms/common/uORB/uORB_tests/uORBTest_UnitTest.cpp
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@@ -418,12 +418,11 @@ int uORBTest::UnitTest::pub_test_multi2_main()
while (message_counter++ < num_messages) {
px4_usleep(2); //make sure the timestamps are different
orb_advert_t &pub = orb_pub[data_next_idx];
data_topic.timestamp = hrt_absolute_time();
data_topic.val = data_next_idx;
orb_publish(ORB_ID(orb_test_medium_multi), pub, &data_topic);
orb_publish(ORB_ID(orb_test_medium_multi), orb_pub[data_next_idx], &data_topic);
// PX4_WARN("publishing msg (idx=%i, t=%" PRIu64 ")", data_next_idx, data_topic.time);
data_next_idx = (data_next_idx + 1) % num_instances;
@@ -470,7 +469,7 @@ int uORBTest::UnitTest::test_multi2()
return test_fail("failed launching task");
}
hrt_abstime last_time = 0;
hrt_abstime last_time[num_instances] {};
while (!_thread_should_exit) {
@@ -484,11 +483,11 @@ int uORBTest::UnitTest::test_multi2()
orb_test_medium_s msg{};
orb_copy(ORB_ID(orb_test_medium_multi), orb_data_cur_fd, &msg);
if (last_time >= msg.timestamp && last_time != 0) {
return test_fail("Timestamp not increasing! (%" PRIu64 " >= %" PRIu64 ")", last_time, msg.timestamp);
if (last_time[orb_data_next] >= msg.timestamp && last_time[orb_data_next] != 0) {
return test_fail("Timestamp not increasing! (%" PRIu64 " >= %" PRIu64 ")", last_time[orb_data_next], msg.timestamp);
}
last_time = msg.timestamp;
last_time[orb_data_next] = msg.timestamp;
PX4_DEBUG("got message (val=%i, idx=%i, t=%" PRIu64 ")", msg.val, orb_data_next, msg.timestamp);
orb_data_next = (orb_data_next + 1) % num_instances;