Linux: added HRT test, moved tests to linux/tests

Also fixed naming of mavlink files for NuttX build.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>

makefiles/linux/config_linux_default.mk

@@ -54,6 +54,7 @@ MODULES		+= lib/conversion
 # Linux port
 #
 MODULES		+= platforms/linux/px4_layer
-MODULES		+= platforms/linux/hello
-MODULES		+= platforms/linux/vcdev_test
+MODULES		+= platforms/linux/tests/hello
+MODULES		+= platforms/linux/tests/vcdev_test
+MODULES		+= platforms/linux/tests/hrt_test
 

src/modules/mavlink/mavlink_tests/module.mk

@@ -38,8 +38,12 @@
 MODULE_COMMAND		= mavlink_tests
 SRCS			= mavlink_tests.cpp \
 			mavlink_ftp_test.cpp \
-			../mavlink_ftp.cpp \
 			../mavlink.c
+ifeq ($(PX4_TARGET_NUTTX),nuttx)
+SRCS += 		../mavlink_ftp_nuttx.cpp 
+else
+SRCS += 		../mavlink_ftp_linux.cpp 
+endif
 
 INCLUDE_DIRS	 += $(MAVLINK_SRC)/include/mavlink
 

src/modules/mavlink/module.mk

@@ -36,16 +36,17 @@
 #
 
 MODULE_COMMAND	 = mavlink
-ifeq ($(PX$_TARGET_OS),nuttx)
+ifeq ($(PX4_TARGET_OS),nuttx)
 SRCS		 += 	mavlink_main_nuttx.cpp \
-			mavlink_ftp_nuttx.cpp
+			mavlink_ftp_nuttx.cpp \
+			mavlink_receiver_nuttx.cpp 
 else
 SRCS		 += 	mavlink_main_linux.cpp \
-			mavlink_ftp_linux.cpp
+			mavlink_ftp_linux.cpp \
+			mavlink_receiver_linux.cpp 
 endif
 
 SRCS 		 +=	mavlink.c \
-			mavlink_receiver.cpp \
 			mavlink_mission.cpp \
 			mavlink_parameters.cpp \
 			mavlink_orb_subscription.cpp \

src/modules/uORB/MuORB.cpp

@@ -197,7 +197,7 @@ ORBDevNode::ORBDevNode(const struct orb_metadata *meta, const char *name, const
 	_priority(priority)
 {
 	// enable debug() calls
-	_debug_enabled = true;
+	//_debug_enabled = true;
 }
 
 ORBDevNode::~ORBDevNode()
@@ -702,7 +702,7 @@ namespace
 
 ORBDevMaster	*g_dev;
 bool pubsubtest_passed = false;
-bool pubsubtest_print = false;
+bool pubsubtest_print = true;
 int pubsubtest_res = PX4_OK;
 
 struct orb_test {
@@ -818,7 +818,8 @@ int pubsublatency_main(void)
 
 	if (pubsubtest_print) {
 		char fname[32];
-		sprintf(fname, "/fs/microsd/timings%u.txt", timingsgroup);
+		//sprintf(fname, "/fs/microsd/timings%u.txt", timingsgroup);
+		sprintf(fname, "/tmp/timings%u.txt", timingsgroup);
 		FILE *f = fopen(fname, "w");
 		if (f == NULL) {
 			warnx("Error opening file!\n");
@@ -971,6 +972,7 @@ test()
 template<typename S> int
 latency_test(orb_id_t T, bool print)
 {
+	test_note("---------------- LATENCY TEST ------------------");
 	S t;
 	t.val = 308;
 	t.time = hrt_absolute_time();

src/platforms/linux/px4_layer/drv_hrt.c

@@ -78,11 +78,6 @@ hrt_abstime ts_to_abstime(struct timespec *ts)
 	return result;
 }
 
-/*
- * Convert absolute time to a timespec.
- */
-void	abstime_to_ts(struct timespec *ts, hrt_abstime abstime);
-
 /*
  * Compute the delta between a timestamp taken in the past
  * and now.
@@ -289,3 +284,10 @@ void	hrt_call_at(struct hrt_call *entry, hrt_abstime calltime, hrt_callout callo
 	hrt_call_internal(entry, calltime, 0, callout, arg);
 }
 
+#if 0
+/*
+ * Convert absolute time to a timespec.
+ */
+void	abstime_to_ts(struct timespec *ts, hrt_abstime abstime);
+#endif
+

src/platforms/linux/px4_layer/px4_linux_tasks.c

@@ -96,7 +96,9 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
 	unsigned long structsize;
 	char * p = (char *)argv;
 
-        px4_task_t task;
+        pthread_t task;
+	pthread_attr_t attr;
+	struct sched_param param;
 
 	// Calculate argc
 	while (p != (char *)0) {
@@ -125,14 +127,36 @@ px4_task_t px4_task_spawn_cmd(const char *name, int scheduler, int priority, int
 	// Must add NULL at end of argv
 	taskdata->argv[argc] = (char *)0;
 
-	//printf("Called px4_task_spawn_cmd\n");
-	// FIXME - add handling for scheduler and priority
-        rv = pthread_create (&task, NULL, (void *)&entry_adapter, (void *) taskdata);
-
-	if (rv != 0)
-	{
+	rv = pthread_attr_init(&attr);
+	if (rv != 0) {
+		printf("px4_task_spawn_cmd: failed to init thread attrs\n");
 		return (rv < 0) ? rv : -rv;
 	}
+	rv = pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED);
+	if (rv != 0) {
+		printf("px4_task_spawn_cmd: failed to set inherit sched\n");
+		return (rv < 0) ? rv : -rv;
+	}
+	rv = pthread_attr_setschedpolicy(&attr, scheduler);
+	if (rv != 0) {
+		printf("px4_task_spawn_cmd: failed to set sched policy\n");
+		return (rv < 0) ? rv : -rv;
+	}
+
+	param.sched_priority = priority;
+
+	rv = pthread_attr_setschedparam(&attr, &param);
+	if (rv != 0) {
+		printf("px4_task_spawn_cmd: failed to set sched param\n");
+		return (rv < 0) ? rv : -rv;
+	}
+
+        rv = pthread_create (&task, &attr, (void *)&entry_adapter, (void *) taskdata);
+	if (rv != 0) {
+		printf("px4_task_spawn_cmd: failed to create thread\n");
+		return (rv < 0) ? rv : -rv;
+	}
+
 	//printf("pthread_create task=%d rv=%d\n",(int)task, rv);
 
 	for (i=0; i<PX4_MAX_TASKS; ++i) {

src/platforms/linux/tests/hrt_test/hrt_test.cpp

@@ -0,0 +1,66 @@
+
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file hrt_test.cpp
+ * Test High Resolution Timers in Linux
+ *
+ * @author Mark Charlebois <charlebm@gmail.com>
+ */
+
+#include <drivers/drv_hrt.h>
+#include "hrt_test.h"
+#include <unistd.h>
+#include <stdio.h>
+
+px4::AppState HRTTest::appState;
+
+int HRTTest::main()
+{
+	appState.setRunning(true);
+
+	hrt_abstime t = hrt_absolute_time();
+	usleep(1000000);
+	hrt_abstime elt = hrt_elapsed_time(&t);
+	printf("Elapsed time %llu in 1 sec (usleep)\n", elt);
+	printf("Start time %llu\n", t);
+
+	t = hrt_absolute_time();
+	sleep(1);
+	elt = hrt_elapsed_time(&t);
+	printf("Elapsed time %llu in 1 sec (sleep)\n", elt);
+	printf("Start time %llu\n", t);
+
+	return 0;
+}

src/platforms/linux/tests/hrt_test/hrt_test.h

@@ -0,0 +1,53 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file hrt_test.h
+ * Example app for Linux
+ *
+ * @author Mark Charlebois <charlebm@gmail.com>
+ */
+#pragma once
+
+#include <px4_app.h>
+
+class HRTTest {
+public:
+	HRTTest() {};
+
+	~HRTTest() {};
+
+	int main();
+
+	static px4::AppState appState; /* track requests to terminate app */
+};

src/platforms/linux/tests/hrt_test/hrt_test_main.cpp

@@ -0,0 +1,55 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 Mark Charlebois. 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file hello_main.cpp
+ * Example for Linux
+ *
+ * @author Mark Charlebois <charlebm@gmail.com>
+ */
+#include <px4_middleware.h>
+#include <px4_app.h>
+#include "hrt_test.h"
+#include <stdio.h>
+
+int PX4_MAIN(int argc, char **argv)
+{
+	px4::init(argc, argv, "hello");
+
+	printf("hello\n");
+	HRTTest test;
+	test.main();
+
+	printf("goodbye\n");
+	return 0;
+}

src/platforms/linux/tests/hrt_test/hrt_test_start_linux.cpp

@@ -0,0 +1,92 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2015 Mark Charlebois. 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file hrt_test_start_linux.cpp
+ *
+ * @author Mark Charlebois <mcharleb@gmail.com>
+ */
+#include "hrt_test.h"
+#include <px4_app.h>
+#include <px4_tasks.h>
+#include <stdio.h>
+#include <string.h>
+#include <sched.h>
+
+static int daemon_task;             /* Handle of deamon task / thread */
+
+extern "C" __EXPORT int hrttest_main(int argc, char *argv[]);
+int hrttest_main(int argc, char *argv[])
+{
+	if (argc < 2) {
+		printf("usage: hrttest_main {start|stop|status}\n");
+		return 1;
+	}
+
+	if (!strcmp(argv[1], "start")) {
+
+		if (HRTTest::appState.isRunning()) {
+			printf("already running\n");
+			/* this is not an error */
+			return 0;
+		}
+
+		daemon_task = px4_task_spawn_cmd("hrttest",
+				       SCHED_DEFAULT,
+				       SCHED_PRIORITY_MAX - 5,
+				       2000,
+				       PX4_MAIN,
+				       (argv) ? (char* const*)&argv[2] : (char* const*)NULL);
+
+		return 0;
+	}
+
+	if (!strcmp(argv[1], "stop")) {
+		HRTTest::appState.requestExit();
+		return 0;
+	}
+
+	if (!strcmp(argv[1], "status")) {
+		if (HRTTest::appState.isRunning()) {
+			printf("is running\n");
+
+		} else {
+			printf("not started\n");
+		}
+
+		return 0;
+	}
+
+	printf("usage: hrttest_main {start|stop|status}\n");
+	return 1;
+}

src/platforms/linux/tests/hrt_test/module.mk

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2014 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.
+#
+############################################################################
+
+#
+# Publisher Example Application
+#
+
+MODULE_COMMAND	= hrttest
+
+SRCS		= hrt_test_main.cpp \
+		  hrt_test_start_linux.cpp \
+		  hrt_test.cpp
+

src/platforms/px4_posix.h

@@ -55,8 +55,8 @@
 #define PX4_DEVIOCSPUBBLOCK     3
 #define PX4_DEVIOCGPUBBLOCK     4
 
-//#define PX4_DEBUG(...)
-#define PX4_DEBUG(...) printf(__VA_ARGS__)
+#define PX4_DEBUG(...)
+//#define PX4_DEBUG(...) printf(__VA_ARGS__)
 
 __BEGIN_DECLS