uORB move to PX4 platform layer

platforms/common/uORB/uORB_tests/CMakeLists.txt

@@ -0,0 +1,41 @@
+############################################################################
+#
+#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_module(
+	MODULE modules__uORB__uORB_tests
+	MAIN uorb_tests
+	PRIORITY "SCHED_PRIORITY_MAX"
+	SRCS
+		uORB_tests_main.cpp
+		uORBTest_UnitTest.cpp
+	)

platforms/common/uORB/uORB_tests/uORBTest_UnitTest.hpp

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+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#ifndef _uORBTest_UnitTest_hpp_
+#define _uORBTest_UnitTest_hpp_
+
+#include <uORB/uORB.h>
+#include <uORB/uORBDeviceMaster.hpp>
+#include <uORB/uORBDeviceNode.hpp>
+#include <uORB/uORBManager.hpp>
+#include <uORB/topics/orb_test.h>
+#include <uORB/topics/orb_test_medium.h>
+#include <uORB/topics/orb_test_large.h>
+
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/time.h>
+#include <px4_platform_common/tasks.h>
+
+#include <drivers/drv_hrt.h>
+
+#include <errno.h>
+#include <unistd.h>
+
+namespace uORBTest
+{
+class UnitTest;
+}
+
+class uORBTest::UnitTest
+{
+public:
+
+	// Singleton pattern
+	static uORBTest::UnitTest &instance();
+	~UnitTest() = default;
+
+	int test();
+	int latency_test(bool print);
+	int info();
+
+	// Disallow copy
+	UnitTest(const uORBTest::UnitTest & /*unused*/) = delete;
+
+	// Assist in testing the wrap-around situation
+	static void set_generation(uORB::DeviceNode &node, unsigned generation)
+	{
+		node._generation.store(generation);
+	}
+
+private:
+	UnitTest() = default;
+
+	static int pubsubtest_threadEntry(int argc, char *argv[]);
+	int pubsublatency_main();
+
+	static int pub_test_multi2_entry(int argc, char *argv[]);
+	int pub_test_multi2_main();
+
+	volatile bool _thread_should_exit;
+
+	bool pubsubtest_passed{false};
+	bool pubsubtest_print{false};
+	int pubsubtest_res = OK;
+
+	orb_advert_t _pfd[4] {}; ///< used for test_multi and test_multi_reversed
+
+	int test_single();
+
+	/* These 3 depend on each other and must be called in this order */
+	int test_multi();
+	int test_multi_reversed();
+	int test_unadvertise();
+
+	int test_multi2();
+
+	int test_wrap_around();
+
+	int test_SubscriptionMulti();
+
+	/* queuing tests */
+	int test_queue();
+	static int pub_test_queue_entry(int argc, char *argv[]);
+	int pub_test_queue_main();
+	int test_queue_poll_notify();
+	volatile int _num_messages_sent = 0;
+
+	int test_fail(const char *fmt, ...);
+	int test_note(const char *fmt, ...);
+};
+
+#endif // _uORBTest_UnitTest_hpp_

platforms/common/uORB/uORB_tests/uORB_tests_main.cpp

@@ -0,0 +1,75 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <string.h>
+
+#include "uORBTest_UnitTest.hpp"
+
+extern "C" { __EXPORT int uorb_tests_main(int argc, char *argv[]); }
+
+static void usage()
+{
+	PX4_INFO("Usage: uorb_tests [latency_test]");
+}
+
+int
+uorb_tests_main(int argc, char *argv[])
+{
+	/*
+	 * Test the driver/device.
+	 */
+	if (argc == 1) {
+		uORBTest::UnitTest &t = uORBTest::UnitTest::instance();
+		int rc = t.test();
+
+		if (rc == OK) {
+			PX4_INFO("PASS");
+			return 0;
+
+		} else {
+			PX4_ERR("FAIL");
+			return -1;
+		}
+	}
+
+	/*
+	 * Test the latency.
+	 */
+	if (argc > 1 && !strcmp(argv[1], "latency_test")) {
+		uORBTest::UnitTest &t = uORBTest::UnitTest::instance();
+		return t.latency_test(true);
+	}
+
+	usage();
+	return -EINVAL;
+}