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apps/system/uorb: c unit testcases

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testcases:
1. test_single(): single instance, advertise then subscribe.
2. test_multi_inst10(): 10 instance, each 1 subscriber.
3. test_multi(): 2 instances, 2 advertisers, 2 subscribers.
4. test_multi_reversed(): same as test_multi(), but subsribe before
		          advertise.
5. test_unadvertise(): unadvertise upper 4 advertisers.
6. test_multi2(): same as tset_multi(). but multi-thread.
7, test_queue():  topic queue_size = 16.

Signed-off-by: jihandong <jihandong@xiaomi.com>
Signed-off-by: Jiuzhu Dong <dongjiuzhu1@xiaomi.com>
This commit is contained in:
jihandong 2022-03-15 20:08:52 +08:00 committed by Alan Carvalho de Assis
parent 3528b5515f
commit d8d1e1e761
5 changed files with 1303 additions and 1 deletions
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20
system/uorb/Kconfig
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@ -10,6 +10,14 @@ menuconfig UORB
if UORB
config UORB_PRIORITY
int "task priority"
default 100
config UORB_STACKSIZE
int "stack size"
default DEFAULT_TASK_STACKSIZE
config DEBUG_UORB
bool "uorb debug output"
default n
@ -38,4 +46,16 @@ config UORB_INFO
endif # DEBUG_UORB
config UORB_TESTS
bool "uorb unit tests"
default n
if UORB_TESTS
config UORB_SRORAGE_DIR
string "uorb test result storage dir"
default "/data/"
endif # UORB_TESTS
endif # UORB

12
system/uorb/Makefile
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@ -20,6 +20,16 @@
include $(APPDIR)/Make.defs
CSRCS += uORB/uORB.c
CSRCS += uORB/uORB.c
ifneq ($(CONFIG_UORB_TESTS),)
CSRCS += test/utility.c
MAINSRC = test/unit_test.c
PROGNAME = uorb_unit_test
endif
PRIORITY = $(CONFIG_UORB_PRIORITY)
STACKSIZE = $(CONFIG_UORB_STACKSIZE)
MODULE = $(CONFIG_UORB)
include $(APPDIR)/Application.mk

1076
system/uorb/test/unit_test.c Normal file
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122
system/uorb/test/utility.c Normal file
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@ -0,0 +1,122 @@
/****************************************************************************
* apps/system/uorb/test/utility.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <stdio.h>
#include <inttypes.h>
#include "utility.h"
/****************************************************************************
* Private Functions
****************************************************************************/
#ifdef CONFIG_DEBUG_UORB
static void print_orb_test_msg(FAR const struct orb_metadata *meta,
FAR const void *buffer)
{
FAR const struct orb_test_s *message = buffer;
const orb_abstime now = orb_absolute_time();
uorbinfo_raw("%s:\ttimestamp: %"PRIu64" (%"PRIu64" us ago) val: %"PRId32"",
meta->o_name, message->timestamp, now - message->timestamp,
message->val);
}
static void print_orb_test_medium_msg(FAR const struct orb_metadata *meta,
FAR const void *buffer)
{
FAR const struct orb_test_medium_s *message = buffer;
const orb_abstime now = orb_absolute_time();
uorbinfo_raw("%s:\ttimestamp: %"PRIu64" (%"PRIu64" us ago) val: %"PRId32"",
meta->o_name, message->timestamp, now - message->timestamp,
message->val);
}
static void print_orb_test_large_msg(FAR const struct orb_metadata *meta,
FAR const void *buffer)
{
FAR const struct orb_test_large_s *message = buffer;
const orb_abstime now = orb_absolute_time();
uorbinfo_raw("%s:\ttimestamp: %"PRIu64" (%"PRIu64" us ago) val: %"PRId32"",
meta->o_name, message->timestamp, now - message->timestamp,
message->val);
}
#endif
/****************************************************************************
* Public Data
****************************************************************************/
ORB_DEFINE(orb_test, struct orb_test_s, print_orb_test_msg);
ORB_DEFINE(orb_multitest, struct orb_test_s, print_orb_test_msg);
ORB_DEFINE(orb_test_medium, struct orb_test_medium_s,
print_orb_test_medium_msg);
ORB_DEFINE(orb_test_medium_multi, struct orb_test_medium_s,
print_orb_test_medium_msg);
ORB_DEFINE(orb_test_medium_wrap_around, struct orb_test_medium_s,
print_orb_test_medium_msg);
ORB_DEFINE(orb_test_medium_queue, struct orb_test_medium_s,
print_orb_test_medium_msg);
ORB_DEFINE(orb_test_medium_queue_poll, struct orb_test_medium_s,
print_orb_test_medium_msg);
ORB_DEFINE(orb_test_large, struct orb_test_large_s,
print_orb_test_large_msg);
/****************************************************************************
* Public Functions
****************************************************************************/
int test_note(FAR const char *fmt, ...)
{
va_list ap;
fprintf(stderr, "uORB note: ");
va_start(ap, fmt);
vfprintf(stderr, fmt, ap);
va_end(ap);
fprintf(stderr, "\n");
fflush(stderr);
return OK;
}
int test_fail(FAR const char *fmt, ...)
{
va_list ap;
fprintf(stderr, "uORB fail: ");
va_start(ap, fmt);
vfprintf(stderr, fmt, ap);
va_end(ap);
fprintf(stderr, "\n");
fflush(stderr);
return ERROR;
}

74
system/uorb/test/utility.h Normal file
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@ -0,0 +1,74 @@
/****************************************************************************
* apps/system/uorb/test/utility.h
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
#ifndef __APP_SYSTEM_UORB_UORB_TEST_UTILITY_H
#define __APP_SYSTEM_UORB_UORB_TEST_UTILITY_H
/****************************************************************************
* Included Files
****************************************************************************/
#include "uORB/uORB.h"
/****************************************************************************
* Public Types
****************************************************************************/
struct orb_test_s
{
uint64_t timestamp;
int32_t val;
};
struct orb_test_medium_s
{
uint64_t timestamp;
int32_t val;
};
struct orb_test_large_s
{
uint64_t timestamp;
int32_t val;
};
/****************************************************************************
* Public Data
****************************************************************************/
/* register this as object request broker structure */
ORB_DECLARE(orb_test);
ORB_DECLARE(orb_multitest);
ORB_DECLARE(orb_test_large);
ORB_DECLARE(orb_test_medium);
ORB_DECLARE(orb_test_medium_multi);
ORB_DECLARE(orb_test_medium_wrap_around);
ORB_DECLARE(orb_test_medium_queue);
ORB_DECLARE(orb_test_medium_queue_poll);
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
int test_note(FAR const char *fmt, ...);
int test_fail(FAR const char *fmt, ...);
#endif /* __APP_SYSTEM_UORB_TEST_UTILITY_H */