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app/system/uorb: modify unit test to support data persist

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Signed-off-by: jihandong <jihandong@xiaomi.com>
This commit is contained in:
jihandong 2022-05-30 16:58:23 +08:00 committed by Alan Carvalho de Assis
parent 874ed7654d
commit 2b8bfc5be7
1 changed files with 24 additions and 13 deletions
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37
system/uorb/test/unit_test.c
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@ -183,6 +183,7 @@ static int latency_test(bool print)
FAR char *const args[1];
struct orb_test_medium_s sample;
int pubsub_task;
int instance = 0;
int fd;
test_note("---------------- LATENCY TEST ------------------");
@ -190,7 +191,8 @@ static int latency_test(bool print)
sample.val = 308;
sample.timestamp = orb_absolute_time();
fd = orb_advertise(ORB_ID(orb_test_medium), &sample);
fd = orb_advertise_multi_queue_persist(ORB_ID(orb_test_medium),
&sample, &instance, 1);
if (fd < 0)
{
return test_fail("orb_advertise failed (%i)", errno);
@ -239,6 +241,7 @@ static int test_single(void)
{
struct orb_test_s sample;
struct orb_test_s sub_sample;
int instance = 0;
bool updated;
int afd;
int sfd;
@ -250,7 +253,8 @@ static int test_single(void)
sample.val = 0;
afd = orb_advertise(ORB_ID(orb_test), &sample);
afd = orb_advertise_multi_queue_persist(ORB_ID(orb_test),
&sample, &instance, 1);
if (afd < 0)
{
return test_fail("advertise failed: %d", errno);
@ -361,7 +365,8 @@ static int test_multi_inst10(void)
for (i = 0; i < max_inst; i++)
{
afd[i] = orb_advertise_multi_queue(ORB_ID(orb_test), NULL, &i, 1);
afd[i] = orb_advertise_multi_queue_persist(ORB_ID(orb_test),
NULL, &i, 1);
if (OK != orb_exists(ORB_ID(orb_test), i))
{
return test_fail("sub %d advertise failed", i);
@ -438,14 +443,16 @@ static int test_multi(int *afds, int *sfds)
test_note("try multi-topic support");
afds[0] = orb_advertise_multi(ORB_ID(orb_multitest), &sample, &instance0);
afds[0] = orb_advertise_multi_queue_persist(ORB_ID(orb_multitest),
&sample, &instance0, 1);
if (instance0 != 0)
{
return test_fail("mult. id0: %d", instance0);
}
afds[1] = orb_advertise_multi(ORB_ID(orb_multitest), &sample, &instance1);
afds[1] = orb_advertise_multi_queue_persist(ORB_ID(orb_multitest),
&sample, &instance1, 1);
if (instance1 != 1)
{
@ -524,14 +531,16 @@ static int test_multi_reversed(int *afds, int *sfds)
return test_fail("sub. id2: ret: %d", sfds[2]);
}
afds[2] = orb_advertise_multi(ORB_ID(orb_multitest), &sample, &instance2);
afds[2] = orb_advertise_multi_queue_persist(ORB_ID(orb_multitest),
&sample, &instance2, 1);
if (instance2 != 2)
{
return test_fail("mult. id2: %d", instance2);
}
afds[3] = orb_advertise_multi(ORB_ID(orb_multitest), &sample, &instance3);
afds[3] = orb_advertise_multi_queue_persist(ORB_ID(orb_multitest),
&sample, &instance3, 1);
if (instance3 != 3)
{
@ -615,8 +624,8 @@ static int pub_test_multi2_entry(int argc, char *argv[])
memset(&data_topic, '\0', sizeof(data_topic));
for (i = 0; i < num_instances; ++i)
{
orb_pub[i] = orb_advertise_multi(ORB_ID(orb_test_medium_multi),
&data_topic, &i);
orb_pub[i] = orb_advertise_multi_queue_persist(
ORB_ID(orb_test_medium_multi), &data_topic, &i, 1);
}
usleep(100 * 1000);
@ -728,6 +737,7 @@ int test_queue(void)
struct orb_test_medium_s sample;
struct orb_test_medium_s sub_sample;
bool updated;
int instance = 0;
int ptopic;
int sfd;
int i;
@ -755,8 +765,8 @@ int test_queue(void)
}
while (updated);
ptopic = orb_advertise_queue(ORB_ID(orb_test_medium_queue),
&sample, queue_size);
ptopic = orb_advertise_multi_queue_persist(
ORB_ID(orb_test_medium_queue), &sample, &instance, queue_size);
if (ptopic < 0)
{
return test_fail("advertise failed: %d", errno);
@ -872,11 +882,12 @@ static int pub_test_queue_entry(int argc, char *argv[])
struct orb_test_medium_s t;
int num_messages = 20 * queue_size;
int message_counter = 0;
int instance = 0;
int ptopic;
memset(&t, '\0', sizeof(t));
ptopic = orb_advertise_queue(ORB_ID(orb_test_medium_queue_poll),
&t, queue_size);
ptopic = orb_advertise_multi_queue_persist(
ORB_ID(orb_test_medium_queue_poll), &t, &instance, queue_size);
if (ptopic < 0)
{
g_thread_should_exit = true;