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system/uorb: support build in aosp

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Signed-off-by: dongjiuzhu1 <dongjiuzhu1@xiaomi.com>
This commit is contained in:
dongjiuzhu1 2024-04-03 17:50:07 +08:00 committed by Lup Yuen Lee
parent fe5acd6570
commit d076b9815e
6 changed files with 77 additions and 49 deletions
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2
system/uorb/Kconfig
View File

@ -28,7 +28,7 @@ config UORB_TESTS
if UORB_TESTS
config UORB_SRORAGE_DIR
config UORB_STORAGE_DIR
string "uorb test result storage dir"
default "/data/"

1
system/uorb/listener.c
View File

@ -829,6 +829,7 @@ static void listener_top(FAR struct listen_list_s *objlist,
static void exit_handler(int signo)
{
(void)signo;
g_should_exit = true;
}

2
system/uorb/sensor/topics.c
View File

@ -22,8 +22,6 @@
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <ctype.h>
#include <fcntl.h>
#include <stdio.h>

87
system/uorb/test/unit_test.c
View File

@ -25,15 +25,23 @@
#include <errno.h>
#include <math.h>
#include <poll.h>
#include <inttypes.h>
#include <string.h>
#include <stdarg.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <sys/param.h>
#include <sched.h>
#include <pthread.h>
#include "utility.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#define nitems(_a) (sizeof(_a) / sizeof(0[(_a)]))
/****************************************************************************
* Private Data
****************************************************************************/
@ -48,7 +56,7 @@ static int g_pubsubtest_res;
* Private Functions
****************************************************************************/
static int pubsubtest_thread_entry(int argc, FAR char *argv[])
static FAR void *pubsubtest_thread_entry(FAR void *arg)
{
/* poll on test topic and output latency */
@ -68,10 +76,11 @@ static int pubsubtest_thread_entry(int argc, FAR char *argv[])
unsigned timing_max = 0;
unsigned i;
(void)arg;
timings = malloc(MAX_RUNS * sizeof(unsigned));
if (timings == NULL)
{
return -ENOMEM;
return NULL;
}
/* clear all ready flags */
@ -117,7 +126,7 @@ static int pubsubtest_thread_entry(int argc, FAR char *argv[])
if (pret < 0)
{
snerr("poll error %d, %d", pret, errno);
printf("poll error %d, %d", pret, errno);
continue;
}
}
@ -130,14 +139,14 @@ static int pubsubtest_thread_entry(int argc, FAR char *argv[])
FAR FILE *f;
snprintf(fname, sizeof(fname),
CONFIG_UORB_SRORAGE_DIR"/uorb_timings%u.txt", timingsgroup);
UORB_STORAGE_DIR"/uorb_timings%u.txt", timingsgroup);
f = fopen(fname, "w");
if (f == NULL)
{
snerr("Error opening file!");
printf("Error opening file!");
free(timings);
return ERROR;
return NULL;
}
for (i = 0; i < MAX_RUNS; i++)
@ -177,13 +186,13 @@ static int pubsubtest_thread_entry(int argc, FAR char *argv[])
}
free(timings);
return g_pubsubtest_res;
return NULL;
}
static int latency_test(bool print)
{
struct orb_test_medium_s sample;
int pubsub_task;
pthread_t pubsub_task;
int instance = 0;
int fd;
@ -202,11 +211,10 @@ static int latency_test(bool print)
g_pubsubtest_print = print;
g_pubsubtest_passed = false;
pubsub_task = task_create("uorb_latency",
SCHED_PRIORITY_DEFAULT,
CONFIG_UORB_STACKSIZE,
pubsubtest_thread_entry,
NULL);
if (pthread_create(&pubsub_task, NULL, pubsubtest_thread_entry, NULL) < 0)
{
return test_fail("failed launching task");
}
/* give the test task some data */
@ -605,7 +613,7 @@ static int test_unadvertise(int *afds)
return OK;
}
static int pub_test_multi2_entry(int argc, char *argv[])
static FAR void *pub_test_multi2_entry(FAR void *arg)
{
struct orb_test_medium_s data_topic;
const int num_instances = 3;
@ -615,6 +623,7 @@ static int pub_test_multi2_entry(int argc, char *argv[])
int num_messages = 50 * num_instances;
int i;
(void)arg;
memset(&data_topic, '\0', sizeof(data_topic));
for (i = 0; i < num_instances; ++i)
{
@ -650,7 +659,7 @@ static int pub_test_multi2_entry(int argc, char *argv[])
orb_unadvertise(orb_pub[i]);
}
return OK;
return NULL;
}
static int test_multi2(void)
@ -659,7 +668,9 @@ static int test_multi2(void)
int orb_data_fd[num_instances];
int orb_data_next = 0;
orb_abstime last_time = 0;
int pubsub_task;
struct sched_param param;
pthread_attr_t attr;
pthread_t pubsub_task;
int i;
test_note("Testing multi-topic 2 test (queue simulation)");
@ -675,16 +686,18 @@ static int test_multi2(void)
/* launch the publisher thread */
pubsub_task = task_create("uorb_test_multi",
SCHED_PRIORITY_MAX - 5,
CONFIG_UORB_STACKSIZE,
pub_test_multi2_entry,
NULL);
if (pubsub_task < 0)
pthread_attr_init(&attr);
param.sched_priority = sched_get_priority_max(0) - 5;
pthread_attr_setschedparam(&attr, &param);
if (pthread_create(&pubsub_task, &attr, pub_test_multi2_entry, NULL) < 0)
{
pthread_attr_destroy(&attr);
return test_fail("failed launching task");
}
pthread_attr_destroy(&attr);
/* loop check update and copy new data */
while (!g_thread_should_exit)
@ -873,7 +886,7 @@ int test_queue(void)
return test_note("PASS orb queuing");
}
static int pub_test_queue_entry(int argc, char *argv[])
static FAR void *pub_test_queue_entry(FAR void *arg)
{
const int queue_size = 50;
struct orb_test_medium_s t;
@ -882,13 +895,15 @@ static int pub_test_queue_entry(int argc, char *argv[])
int instance = 0;
int ptopic;
(void)arg;
memset(&t, '\0', sizeof(t));
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;
return test_fail("advertise failed: %d", errno);
test_fail("advertise failed: %d", errno);
return NULL;
}
++t.val;
@ -915,17 +930,18 @@ static int pub_test_queue_entry(int argc, char *argv[])
usleep(100 * 1000);
g_thread_should_exit = true;
orb_unadvertise(ptopic);
return 0;
return NULL;
}
static int test_queue_poll_notify(void)
{
struct pollfd fds[1];
struct orb_test_medium_s t;
struct sched_param param;
pthread_attr_t attr;
bool updated;
int next_expected_val = 0;
int pubsub_task;
pthread_t pubsub_task;
int sfd;
test_note("Testing orb queuing (poll & notify)");
@ -951,17 +967,18 @@ static int test_queue_poll_notify(void)
g_thread_should_exit = false;
pubsub_task = task_create("uorb_test_queue",
SCHED_PRIORITY_MIN + 5,
CONFIG_UORB_STACKSIZE,
pub_test_queue_entry,
NULL);
pthread_attr_init(&attr);
param.sched_priority = sched_get_priority_min(0) + 5;
pthread_attr_setschedparam(&attr, &param);
if (pubsub_task < 0)
if (pthread_create(&pubsub_task, &attr, pub_test_queue_entry, NULL) < 0)
{
return test_fail("failed launching task");
pthread_attr_destroy(&attr);
return test_fail("failed test queue task");
}
pthread_attr_destroy(&attr);
fds[0].fd = sfd;
fds[0].events = POLLIN;

1
system/uorb/uORB/uORB.c
View File

@ -26,6 +26,7 @@
#include <fcntl.h>
#include <limits.h>
#include <sys/ioctl.h>
#include <time.h>
#include <unistd.h>
#include <nuttx/streams.h>

33
system/uorb/uORB/uORB.h
View File

@ -25,10 +25,13 @@
* Included Files
****************************************************************************/
#ifdef __NuttX__
#include <nuttx/uorb.h>
#else
#include <linux/uorb.h>
#endif
#include <sys/time.h>
#include <debug.h>
#include <stdio.h>
#include <stdint.h>
#include <stdbool.h>
@ -79,34 +82,42 @@ typedef struct sensor_device_info_s orb_info_t;
#define ORB_USENSOR_PATH "/dev/usensor"
#define ORB_PATH_MAX (NAME_MAX + 16)
#ifdef CONFIG_UORB_ALERT
# define uorbpanic(fmt, ...) _alert(fmt "\n", ##__VA_ARGS__)
#ifdef CONFIG_UORB_STORAGE_DIR
#define UORB_STORAGE_DIR CONFIG_UORB_STORAGE_DIR
#else
# define uorbpanic _none
#define UORB_STORAGE_DIR "/data"
#endif
#define uorbnone(fmt, ...) do { if (0) syslog(LOG_INFO, fmt, ##__VA_ARGS__); } while (0)
#ifdef CONFIG_UORB_ALERT
# define uorbpanic(fmt, ...) syslog(LOG_EMERGY, fmt "\n", ##__VA_ARGS__)
#else
# define uorbpanic uorbnone
#endif
#ifdef CONFIG_UORB_ERROR
# define uorberr(fmt, ...) _err(fmt "\n", ##__VA_ARGS__)
# define uorberr(fmt, ...) syslog(LOG_ERR, fmt "\n", ##__VA_ARGS__)
#else
# define uorberr _none
# define uorberr uorbnone
#endif
#ifdef CONFIG_UORB_WARN
# define uorbwarn(fmt, ...) _warn(fmt "\n", ##__VA_ARGS__)
# define uorbwarn(fmt, ...) syslog(LOG_WARN, fmt "\n", ##__VA_ARGS__)
#else
# define uorbwarn _none
# define uorbwarn uorbnone
#endif
#ifdef CONFIG_UORB_INFO
# define uorbinfo(fmt, ...) _info(fmt "\n", ##__VA_ARGS__)
# define uorbinfo(fmt, ...) syslog(LOG_INFO, fmt "\n", ##__VA_ARGS__)
#else
# define uorbinfo _none
# define uorbinfo uorbnone
#endif
#ifdef CONFIG_DEBUG_UORB
# define uorbdebug(fmt, ...) syslog(LOG_INFO, fmt "\n", ##__VA_ARGS__)
#else
# define uorbdebug _none
# define uorbdebug uorbnone
#endif
#define uorbinfo_raw(fmt, ...) syslog(LOG_INFO, fmt "\n", ##__VA_ARGS__)