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posix: unit test for poll and vdev

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Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-09-16 14:00:51 -07:00
parent c602d55df9
commit 6feaccca78
2 changed files with 147 additions and 91 deletions
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236
src/platforms/posix/tests/vcdev_test/vcdevtest_example.cpp
View File

@@ -51,73 +51,126 @@ px4::AppState VCDevExample::appState;
using namespace device;
#define TESTDEV "/dev/vdevex"
#define TESTDEV "/dev/vdevtest"
static bool g_exit = false;
static int writer_main(int argc, char *argv[])
{
char buf[1];
int fd = px4_open(TESTDEV, PX4_F_RDONLY);
int fd = px4_open(TESTDEV, PX4_F_WRONLY);
if (fd < 0) {
PX4_INFO("--- Open failed %d %d", fd, px4_errno);
PX4_INFO("Writer: Open failed %d %d", fd, px4_errno);
return -px4_errno;
}
int ret;
int i=0;
while (i<3) {
// Wait for 4 seconds
PX4_INFO("Writer: Sleeping for 4 sec\n");
ret = sleep(4);
while (!g_exit) {
// Wait for 2 seconds
PX4_INFO("Writer: Sleeping for 2 sec");
ret = sleep(2);
if (ret < 0) {
PX4_INFO("Writer: sleep failed %d %d\n", ret, errno);
PX4_INFO("Writer: sleep failed %d %d", ret, errno);
return ret;
}
PX4_INFO("Writer: writing to fd\n");
buf[0] = 'A'+(char)(i % 26);
PX4_INFO("Writer: writing char '%c'", buf[0]);
ret = px4_write(fd, buf, 1);
++i;
}
px4_close(fd);
PX4_INFO("Writer: stopped");
return ret;
}
class PrivData {
public:
PrivData() : _read_offset(0) {}
~PrivData() {}
size_t _read_offset;
};
class VCDevNode : public VDev {
public:
VCDevNode() : VDev("vcdevtest", TESTDEV) {};
VCDevNode() :
VDev("vcdevtest", TESTDEV),
_is_open_for_write(false),
_write_offset(0) {};
~VCDevNode() {}
virtual int open(device::file_t *handlep);
virtual int close(device::file_t *handlep);
virtual ssize_t write(device::file_t *handlep, const char *buffer, size_t buflen);
virtual ssize_t read(device::file_t *handlep, const char *buffer, size_t buflen);
virtual ssize_t read(device::file_t *handlep, char *buffer, size_t buflen);
private:
uint32_t _read_offset;
uint32_t _write_offset;
bool _is_open_for_write;
size_t _write_offset;
char _buf[1000];
};
int VCDevNode::open(device::file_t *handlep)
{
// Only allow one writer
if (_is_open_for_write && (handlep->flags & PX4_F_WRONLY)) {
errno = EBUSY;
return -1;
}
int ret = VDev::open(handlep);
if (ret != 0) {
return ret;
}
handlep->priv = new PrivData;
if (_is_open_for_write && (handlep->flags & PX4_F_WRONLY)) {
_is_open_for_write = true;
}
return 0;
}
int VCDevNode::close(device::file_t *handlep)
{
delete (PrivData *)handlep->priv;
handlep->priv = nullptr;
VDev::close(handlep);
// Enable a new writer of the device is re-opened for write
if ((handlep->flags & PX4_F_WRONLY) && _is_open_for_write) {
_is_open_for_write = false;
}
return 0;
}
ssize_t VCDevNode::write(device::file_t *handlep, const char *buffer, size_t buflen)
{
// ignore what was written, but let pollers know something was written
poll_notify(POLLIN);
for (int i=0; i<buflen && _write_offset<1000; i++) {
for (size_t i=0; i<buflen && _write_offset<1000; i++) {
_buf[_write_offset] = buffer[i];
_write_offset++;
}
// ignore what was written, but let pollers know something was written
poll_notify(POLLIN);
return buflen;
}
ssize_t VCDevNode::read(device::file_t *handlep, const char *buffer, size_t buflen)
ssize_t VCDevNode::read(device::file_t *handlep, char *buffer, size_t buflen)
{
for (int i=0; i<buflen && _read_offset<_write_offset; i++) {
buffer[i] = _buf[_read_offset];
_read_offset++;
PrivData *p = (PrivData *)handlep->priv;
ssize_t chars_read = 0;
PX4_INFO("read %zu write %zu", p->_read_offset, _write_offset);
for (size_t i=0; i<buflen && (p->_read_offset < _write_offset); i++) {
buffer[i] = _buf[p->_read_offset];
p->_read_offset++;
chars_read++;
}
return buflen;
return chars_read;
}
VCDevExample::~VCDevExample() {
@@ -140,11 +193,57 @@ static int test_pub_block(int fd, unsigned long blocked)
PX4_INFO("ioctl PX4_DEVIOCGPUBBLOCK failed %d %d", ret, px4_errno);
return -px4_errno;
}
PX4_INFO("pub_blocked = %d %s\n", ret, (unsigned long)ret == blocked ? "PASS" : "FAIL");
PX4_INFO("pub_blocked = %d %s", ret, (unsigned long)ret == blocked ? "PASS" : "FAIL");
return 0;
}
int VCDevExample::do_poll(int fd, int timeout, int iterations, int delayms_after_poll)
{
int pollret, readret;
int loop_count = 0;
char readbuf[10];
px4_pollfd_struct_t fds[1];
fds[0].fd = fd;
fds[0].events = POLLIN;
fds[0].revents = 0;
bool mustblock = (timeout < 0);
// Test indefinte blocking poll
while ((!appState.exitRequested()) && (loop_count < iterations)) {
pollret = px4_poll(fds, 1, timeout);
if (pollret < 0) {
PX4_ERR("Reader: px4_poll failed %d %d FAIL", pollret, px4_errno);
goto fail;
}
PX4_INFO("Reader: px4_poll returned %d", pollret);
if (pollret) {
readret = px4_read(fd, readbuf, 10);
if (readret != 1) {
if (mustblock) {
PX4_ERR("Reader: read failed %d FAIL", readret);
goto fail;
}
else {
PX4_INFO("Reader: read failed %d FAIL", readret);
}
}
else {
readbuf[readret] = '\0';
PX4_INFO("Reader: px4_poll returned %d, read '%s' PASS", pollret, readbuf);
}
}
if (delayms_after_poll) {
usleep(delayms_after_poll*1000);
}
loop_count++;
}
return 0;
fail:
return 1;
}
int VCDevExample::main()
{
appState.setRunning(true);
@@ -152,12 +251,12 @@ int VCDevExample::main()
_node = new VCDevNode();
if (_node == 0) {
PX4_INFO("Failed to allocate VCDevNode\n");
PX4_INFO("Failed to allocate VCDevNode");
return -ENOMEM;
}
if (_node->init() != PX4_OK) {
PX4_INFO("Failed to init VCDevNode\n");
PX4_INFO("Failed to init VCDevNode");
return 1;
}
@@ -174,7 +273,7 @@ int VCDevExample::main()
PX4_INFO("ioctl DIOC_GETPRIV failed %d %d", ret, px4_errno);
return -px4_errno;
}
PX4_INFO("priv data = %p %s\n", p, p == (void *)_node ? "PASS" : "FAIL");
PX4_INFO("priv data = %p %s", p, p == (void *)_node ? "PASS" : "FAIL");
ret = test_pub_block(fd, 1);
if (ret < 0)
@@ -183,8 +282,6 @@ int VCDevExample::main()
if (ret < 0)
return ret;
int i=0;
px4_pollfd_struct_t fds[1];
// Start a task that will write something in 4 seconds
(void)px4_task_spawn_cmd("writer",
@@ -194,71 +291,28 @@ int VCDevExample::main()
writer_main,
(char* const*)NULL);
while (!appState.exitRequested() && i<13) {
PX4_INFO("=====================\n");
PX4_INFO("Reader: sleeping 2 sec\n");
sleep(2);
ret = 0;
fds[0].fd = fd;
fds[0].events = POLLIN;
fds[0].revents = 0;
PX4_INFO("Reader: Calling px4_poll with 1 sec wait\n");
ret = px4_poll(fds, 1, 1000);
PX4_INFO("Reader: Done px4_poll\n");
if (ret < 0) {
PX4_INFO("Reader: px4_poll failed %d %d\n", ret, px4_errno);
px4_close(fd);
}
else if (i > 0) {
if (ret == 0) {
PX4_INFO("Reader: Nothing to read - PASS\n");
}
else {
PX4_INFO("Reader: poll returned %d\n", ret);
}
}
else if (i == 0) {
if (ret == 1) {
PX4_INFO("Reader: %d to read - %s\n", ret, fds[0].revents & POLLIN ? "PASS" : "FAIL");
}
else {
PX4_INFO("Reader: %d to read - FAIL\n", ret);
}
}
++i;
PX4_INFO("TEST: BLOCKING POLL ---------------");
if (do_poll(fd, -1, 3, 0)) {
ret = 1;
goto fail2;
}
i=0;
while (!appState.exitRequested() && i<13) {
PX4_INFO("=====================\n");
PX4_INFO("Reader: sleeping 2 sec ====\n");
sleep(2);
fds[0].fd = fd;
fds[0].events = POLLIN;
fds[0].revents = 0;
PX4_INFO("Reader: Calling px4_poll with 0 timeout\n");
ret = px4_poll(fds, 1, 0);
PX4_INFO("Reader: Done px4_poll\n");
if (ret < 0) {
PX4_INFO("Reader: px4_poll failed %d %d\n", ret, px4_errno);
px4_close(fd);
}
if (ret == 0) {
PX4_INFO("Reader: Nothing to read - PASS\n");
}
if (ret == 1) {
PX4_INFO("Reader: %d to read - %s\n", ret, fds[0].revents & POLLIN ? "PASS" : "FAIL");
}
else {
PX4_INFO("Reader: %d to read - FAIL\n", ret);
}
++i;
PX4_INFO("TEST: ZERO TIMEOUT POLL -----------");
if(do_poll(fd, 0, 3, 0)) {
ret = 1;
goto fail2;
}
PX4_INFO("TEST: 1 SEC TIMOUT POLL ------------");
if(do_poll(fd, 1000, 3, 0)) {
ret = 1;
goto fail2;
}
fail2:
g_exit = true;
px4_close(fd);
return 0;
PX4_INFO("TEST: waiting for writer to stop");
sleep(3);
return ret;
}

2
src/platforms/posix/tests/vcdev_test/vcdevtest_example.h
View File

@@ -54,5 +54,7 @@ public:
static px4::AppState appState; /* track requests to terminate app */
private:
int do_poll(int fd, int timeout, int iterations, int delayms_after_poll);
VCDevNode *_node;
};