bizhang_-obav/src/modules/uORB/uORB_tests/uORBTest_UnitTest.hpp

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#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();
	template<typename S> int latency_test(orb_id_t T, 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() : pubsubtest_passed(false), pubsubtest_print(false) {}

	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;
	bool pubsubtest_print;
	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, ...);
};

template<typename S>
int uORBTest::UnitTest::latency_test(orb_id_t T, bool print)
{
	test_note("---------------- LATENCY TEST ------------------");
	S t{};
	t.val = 308;
	t.timestamp = hrt_absolute_time();

	orb_advert_t pfd0 = orb_advertise(T, &t);

	if (pfd0 == nullptr) {
		return test_fail("orb_advertise failed (%i)", errno);
	}

	char *const args[1] = { nullptr };

	pubsubtest_print = print;
	pubsubtest_passed = false;

	/* test pub / sub latency */

	// Can't pass a pointer in args, must be a null terminated
	// array of strings because the strings are copied to
	// prevent access if the caller data goes out of scope
	int pubsub_task = px4_task_spawn_cmd("uorb_latency",
					     SCHED_DEFAULT,
					     SCHED_PRIORITY_MAX,
					     3000,
					     (px4_main_t)&uORBTest::UnitTest::pubsubtest_threadEntry,
					     args);

	/* give the test task some data */
	while (!pubsubtest_passed) {
		++t.val;
		t.timestamp = hrt_absolute_time();

		if (PX4_OK != orb_publish(T, pfd0, &t)) {
			return test_fail("mult. pub0 timing fail");
		}

		/* simulate >800 Hz system operation */
		px4_usleep(1000);
	}

	if (pubsub_task < 0) {
		return test_fail("failed launching task");
	}

	orb_unadvertise(pfd0);

	return pubsubtest_res;
}

#endif // _uORBTest_UnitTest_hpp_