This is an automated email from the ASF dual-hosted git repository.
lupyuen pushed a commit to branch releases/12.7
in repository https://gitbox.apache.org/repos/asf/nuttx-apps.git
commit d076b9815e810f24496603e8c6fdb1762c9e4c45
Author: dongjiuzhu1 <dongjiuz...@xiaomi.com>
AuthorDate: Wed Apr 3 17:50:07 2024 +0800
system/uorb: support build in aosp
Signed-off-by: dongjiuzhu1 <dongjiuz...@xiaomi.com>
---
system/uorb/Kconfig | 2 +-
system/uorb/listener.c | 1 +
system/uorb/sensor/topics.c | 2 -
system/uorb/test/unit_test.c | 87 ++++++++++++++++++++++++++------------------
system/uorb/uORB/uORB.c | 1 +
system/uorb/uORB/uORB.h | 31 +++++++++++-----
6 files changed, 76 insertions(+), 48 deletions(-)
diff --git a/system/uorb/Kconfig b/system/uorb/Kconfig
index 6345f77b1..41c44d2c4 100644
--- a/system/uorb/Kconfig
+++ b/system/uorb/Kconfig
@@ -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/"
diff --git a/system/uorb/listener.c b/system/uorb/listener.c
index 2a2f77f88..fa310e0f1 100644
--- a/system/uorb/listener.c
+++ b/system/uorb/listener.c
@@ -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;
}
diff --git a/system/uorb/sensor/topics.c b/system/uorb/sensor/topics.c
index 7c66569ae..f12db068f 100644
--- a/system/uorb/sensor/topics.c
+++ b/system/uorb/sensor/topics.c
@@ -22,8 +22,6 @@
* Included Files
****************************************************************************/
-#include <nuttx/config.h>
-
#include <ctype.h>
#include <fcntl.h>
#include <stdio.h>
diff --git a/system/uorb/test/unit_test.c b/system/uorb/test/unit_test.c
index 81f2355a8..fc8d340e2 100644
--- a/system/uorb/test/unit_test.c
+++ b/system/uorb/test/unit_test.c
@@ -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, ¶m);
+
+ 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, ¶m);
- 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;
diff --git a/system/uorb/uORB/uORB.c b/system/uorb/uORB/uORB.c
index cf3f70cb8..9d9f6ac75 100644
--- a/system/uorb/uORB/uORB.c
+++ b/system/uorb/uORB/uORB.c
@@ -26,6 +26,7 @@
#include <fcntl.h>
#include <limits.h>
#include <sys/ioctl.h>
+#include <time.h>
#include <unistd.h>
#include <nuttx/streams.h>
diff --git a/system/uorb/uORB/uORB.h b/system/uorb/uORB/uORB.h
index 84774d2af..aceccc014 100644
--- a/system/uorb/uORB/uORB.h
+++ b/system/uorb/uORB/uORB.h
@@ -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_STORAGE_DIR
+#define UORB_STORAGE_DIR CONFIG_UORB_STORAGE_DIR
+#else
+#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, ...) _alert(fmt "\n", ##__VA_ARGS__)
+# define uorbpanic(fmt, ...) syslog(LOG_EMERGY, fmt "\n", ##__VA_ARGS__)
#else
-# define uorbpanic _none
+# 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__)
