From 6feaccca78053a4bb947876ab62ac5cf3642b68d Mon Sep 17 00:00:00 2001 From: Mark Charlebois Date: Wed, 16 Sep 2015 14:00:51 -0700 Subject: [PATCH] posix: unit test for poll and vdev Signed-off-by: Mark Charlebois --- .../tests/vcdev_test/vcdevtest_example.cpp | 236 +++++++++++------- .../tests/vcdev_test/vcdevtest_example.h | 2 + 2 files changed, 147 insertions(+), 91 deletions(-) diff --git a/src/platforms/posix/tests/vcdev_test/vcdevtest_example.cpp b/src/platforms/posix/tests/vcdev_test/vcdevtest_example.cpp index cf409ec18d..46f4b1d82d 100644 --- a/src/platforms/posix/tests/vcdev_test/vcdevtest_example.cpp +++ b/src/platforms/posix/tests/vcdev_test/vcdevtest_example.cpp @@ -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; ipriv; + ssize_t chars_read = 0; + PX4_INFO("read %zu write %zu", p->_read_offset, _write_offset); + for (size_t i=0; i_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; } diff --git a/src/platforms/posix/tests/vcdev_test/vcdevtest_example.h b/src/platforms/posix/tests/vcdev_test/vcdevtest_example.h index 4898210dff..10befc795c 100644 --- a/src/platforms/posix/tests/vcdev_test/vcdevtest_example.h +++ b/src/platforms/posix/tests/vcdev_test/vcdevtest_example.h @@ -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; };