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_