diff options
author | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-15 07:43:17 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-15 07:43:17 +0100 |
commit | f3cd83e804e8fffc5e71e4d6443729184b3e7909 (patch) | |
tree | 13ac8af24705fe5f8107f3f46fd989e49fdd00d4 /src/systemcmds/tests | |
parent | 9612514a3f59cfedbd7b29c9e4f30c1edf1c7345 (diff) | |
parent | cd72f564eff13d831d6773e85818b65f708d3323 (diff) | |
download | px4-firmware-f3cd83e804e8fffc5e71e4d6443729184b3e7909.tar.gz px4-firmware-f3cd83e804e8fffc5e71e4d6443729184b3e7909.tar.bz2 px4-firmware-f3cd83e804e8fffc5e71e4d6443729184b3e7909.zip |
Merged master into mixer unit tests branch
Diffstat (limited to 'src/systemcmds/tests')
-rw-r--r-- | src/systemcmds/tests/module.mk | 3 | ||||
-rw-r--r-- | src/systemcmds/tests/test_file.c | 163 | ||||
-rw-r--r-- | src/systemcmds/tests/test_mount.c | 289 | ||||
-rw-r--r-- | src/systemcmds/tests/tests.h | 1 | ||||
-rw-r--r-- | src/systemcmds/tests/tests_main.c | 1 |
5 files changed, 368 insertions, 89 deletions
diff --git a/src/systemcmds/tests/module.mk b/src/systemcmds/tests/module.mk index 576caff99..6a05ac3c6 100644 --- a/src/systemcmds/tests/module.mk +++ b/src/systemcmds/tests/module.mk @@ -29,4 +29,5 @@ SRCS = test_adc.c \ test_param.c \ test_ppm_loopback.c \ test_rc.c \ - test_conv.cpp + test_conv.cpp \ + test_mount.c diff --git a/src/systemcmds/tests/test_file.c b/src/systemcmds/tests/test_file.c index 798724cf1..83d09dd5e 100644 --- a/src/systemcmds/tests/test_file.c +++ b/src/systemcmds/tests/test_file.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2014 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 @@ -35,9 +35,12 @@ * @file test_file.c * * File write test. + * + * @author Lorenz Meier <lm@inf.ethz.ch> */ #include <sys/stat.h> +#include <poll.h> #include <dirent.h> #include <stdio.h> #include <stddef.h> @@ -51,6 +54,40 @@ #include "tests.h" +int check_user_abort(int fd); + +int check_user_abort(int fd) { + /* check if user wants to abort */ + char c; + + struct pollfd fds; + int ret; + fds.fd = 0; /* stdin */ + fds.events = POLLIN; + ret = poll(&fds, 1, 0); + + if (ret > 0) { + + read(0, &c, 1); + + switch (c) { + case 0x03: // ctrl-c + case 0x1b: // esc + case 'c': + case 'q': + { + warnx("Test aborted."); + fsync(fd); + close(fd); + return OK; + /* not reached */ + } + } + } + + return 1; +} + int test_file(int argc, char *argv[]) { @@ -86,7 +123,6 @@ test_file(int argc, char *argv[]) uint8_t read_buf[chunk_sizes[c] + alignments] __attribute__((aligned(64))); hrt_abstime start, end; - //perf_counter_t wperf = perf_alloc(PC_ELAPSED, "SD writes (aligned)"); int fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT); @@ -94,28 +130,25 @@ test_file(int argc, char *argv[]) start = hrt_absolute_time(); for (unsigned i = 0; i < iterations; i++) { - //perf_begin(wperf); int wret = write(fd, write_buf + a, chunk_sizes[c]); if (wret != chunk_sizes[c]) { warn("WRITE ERROR!"); if ((0x3 & (uintptr_t)(write_buf + a))) - errx(1, "memory is unaligned, align shift: %d", a); + warnx("memory is unaligned, align shift: %d", a); + return 1; } fsync(fd); - //perf_end(wperf); + + if (!check_user_abort(fd)) + return OK; } end = hrt_absolute_time(); - //warnx("%dKiB in %llu microseconds", iterations / 2, end - start); - - //perf_print_counter(wperf); - //perf_free(wperf); - close(fd); fd = open("/fs/microsd/testfile", O_RDONLY); @@ -124,7 +157,8 @@ test_file(int argc, char *argv[]) int rret = read(fd, read_buf, chunk_sizes[c]); if (rret != chunk_sizes[c]) { - errx(1, "READ ERROR!"); + warnx("READ ERROR!"); + return 1; } /* compare value */ @@ -139,9 +173,13 @@ test_file(int argc, char *argv[]) } if (!compare_ok) { - errx(1, "ABORTING FURTHER COMPARISON DUE TO ERROR"); + warnx("ABORTING FURTHER COMPARISON DUE TO ERROR"); + return 1; } + if (!check_user_abort(fd)) + return OK; + } /* @@ -152,16 +190,20 @@ test_file(int argc, char *argv[]) int ret = unlink("/fs/microsd/testfile"); fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT); - warnx("testing aligned writes - please wait.."); + warnx("testing aligned writes - please wait.. (CTRL^C to abort)"); start = hrt_absolute_time(); for (unsigned i = 0; i < iterations; i++) { int wret = write(fd, write_buf, chunk_sizes[c]); if (wret != chunk_sizes[c]) { - err(1, "WRITE ERROR!"); + warnx("WRITE ERROR!"); + return 1; } + if (!check_user_abort(fd)) + return OK; + } fsync(fd); @@ -178,7 +220,8 @@ test_file(int argc, char *argv[]) int rret = read(fd, read_buf, chunk_sizes[c]); if (rret != chunk_sizes[c]) { - err(1, "READ ERROR!"); + warnx("READ ERROR!"); + return 1; } /* compare value */ @@ -190,10 +233,14 @@ test_file(int argc, char *argv[]) align_read_ok = false; break; } + + if (!check_user_abort(fd)) + return OK; } if (!align_read_ok) { - errx(1, "ABORTING FURTHER COMPARISON DUE TO ERROR"); + warnx("ABORTING FURTHER COMPARISON DUE TO ERROR"); + return 1; } } @@ -215,7 +262,8 @@ test_file(int argc, char *argv[]) int rret = read(fd, read_buf + a, chunk_sizes[c]); if (rret != chunk_sizes[c]) { - err(1, "READ ERROR!"); + warnx("READ ERROR!"); + return 1; } for (int j = 0; j < chunk_sizes[c]; j++) { @@ -228,10 +276,14 @@ test_file(int argc, char *argv[]) if (unalign_read_err_count > 10) break; } + + if (!check_user_abort(fd)) + return OK; } if (!unalign_read_ok) { - errx(1, "ABORTING FURTHER COMPARISON DUE TO ERROR"); + warnx("ABORTING FURTHER COMPARISON DUE TO ERROR"); + return 1; } } @@ -239,9 +291,10 @@ test_file(int argc, char *argv[]) ret = unlink("/fs/microsd/testfile"); close(fd); - if (ret) - err(1, "UNLINKING FILE FAILED"); - + if (ret) { + warnx("UNLINKING FILE FAILED"); + return 1; + } } } @@ -261,75 +314,9 @@ test_file(int argc, char *argv[]) } else { /* failed opening dir */ - err(1, "FAILED LISTING MICROSD ROOT DIRECTORY"); - } - - return 0; -} -#if 0 -int -test_file(int argc, char *argv[]) -{ - const iterations = 1024; - - /* check if microSD card is mounted */ - struct stat buffer; - if (stat("/fs/microsd/", &buffer)) { - warnx("no microSD card mounted, aborting file test"); + warnx("FAILED LISTING MICROSD ROOT DIRECTORY"); return 1; } - uint8_t buf[512]; - hrt_abstime start, end; - perf_counter_t wperf = perf_alloc(PC_ELAPSED, "SD writes"); - - int fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT); - memset(buf, 0, sizeof(buf)); - - start = hrt_absolute_time(); - for (unsigned i = 0; i < iterations; i++) { - perf_begin(wperf); - write(fd, buf, sizeof(buf)); - perf_end(wperf); - } - end = hrt_absolute_time(); - - close(fd); - - unlink("/fs/microsd/testfile"); - - warnx("%dKiB in %llu microseconds", iterations / 2, end - start); - perf_print_counter(wperf); - perf_free(wperf); - - warnx("running unlink test"); - - /* ensure that common commands do not run against file count limits */ - for (unsigned i = 0; i < 64; i++) { - - warnx("unlink iteration #%u", i); - - int fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT); - if (fd < 0) - errx(1, "failed opening test file before unlink()"); - int ret = write(fd, buf, sizeof(buf)); - if (ret < 0) - errx(1, "failed writing test file before unlink()"); - close(fd); - - ret = unlink("/fs/microsd/testfile"); - if (ret != OK) - errx(1, "failed unlinking test file"); - - fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT); - if (fd < 0) - errx(1, "failed opening test file after unlink()"); - ret = write(fd, buf, sizeof(buf)); - if (ret < 0) - errx(1, "failed writing test file after unlink()"); - close(fd); - } - return 0; } -#endif diff --git a/src/systemcmds/tests/test_mount.c b/src/systemcmds/tests/test_mount.c new file mode 100644 index 000000000..44e34d9ef --- /dev/null +++ b/src/systemcmds/tests/test_mount.c @@ -0,0 +1,289 @@ +/**************************************************************************** + * + * Copyright (c) 2012-2014 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. + * + ****************************************************************************/ + +/** + * @file test_mount.c + * + * Device mount / unmount stress test + * + * @author Lorenz Meier <lm@inf.ethz.ch> + */ + +#include <sys/stat.h> +#include <dirent.h> +#include <stdio.h> +#include <stddef.h> +#include <unistd.h> +#include <fcntl.h> +#include <systemlib/err.h> +#include <systemlib/systemlib.h> +#include <systemlib/perf_counter.h> +#include <string.h> + +#include <drivers/drv_hrt.h> + +#include "tests.h" + +const int fsync_tries = 1; +const int abort_tries = 10; + +int +test_mount(int argc, char *argv[]) +{ + const unsigned iterations = 2000; + const unsigned alignments = 10; + + const char* cmd_filename = "/fs/microsd/mount_test_cmds.txt"; + + + /* check if microSD card is mounted */ + struct stat buffer; + if (stat("/fs/microsd/", &buffer)) { + warnx("no microSD card mounted, aborting file test"); + return 1; + } + + /* list directory */ + DIR *d; + struct dirent *dir; + d = opendir("/fs/microsd"); + if (d) { + + while ((dir = readdir(d)) != NULL) { + //printf("%s\n", dir->d_name); + } + + closedir(d); + + warnx("directory listing ok (FS mounted and readable)"); + + } else { + /* failed opening dir */ + warnx("FAILED LISTING MICROSD ROOT DIRECTORY"); + + if (stat(cmd_filename, &buffer) == OK) { + (void)unlink(cmd_filename); + } + + return 1; + } + + /* read current test status from file, write test instructions for next round */ + + /* initial values */ + int it_left_fsync = fsync_tries; + int it_left_abort = abort_tries; + + int cmd_fd; + if (stat(cmd_filename, &buffer) == OK) { + + /* command file exists, read off state */ + cmd_fd = open(cmd_filename, O_RDWR | O_NONBLOCK); + char buf[64]; + int ret = read(cmd_fd, buf, sizeof(buf)); + + if (ret > 0) { + int count = 0; + ret = sscanf(buf, "TEST: %u %u %n", &it_left_fsync, &it_left_abort, &count); + } else { + buf[0] = '\0'; + } + + if (it_left_fsync > fsync_tries) + it_left_fsync = fsync_tries; + + if (it_left_abort > abort_tries) + it_left_abort = abort_tries; + + warnx("Iterations left: #%d / #%d of %d / %d\n(%s)", it_left_fsync, it_left_abort, + fsync_tries, abort_tries, buf); + + int it_left_fsync_prev = it_left_fsync; + + /* now write again what to do next */ + if (it_left_fsync > 0) + it_left_fsync--; + + if (it_left_fsync == 0 && it_left_abort > 0) { + + it_left_abort--; + + /* announce mode switch */ + if (it_left_fsync_prev != it_left_fsync && it_left_fsync == 0) { + warnx("\n SUCCESSFULLY PASSED FSYNC'ED WRITES, CONTINUTING WITHOUT FSYNC"); + fsync(stdout); + fsync(stderr); + usleep(20000); + } + + } + + if (it_left_abort == 0) { + (void)unlink(cmd_filename); + return 0; + } + + } else { + + /* this must be the first iteration, do something */ + cmd_fd = open(cmd_filename, O_TRUNC | O_WRONLY | O_CREAT); + + warnx("First iteration of file test\n"); + } + + char buf[64]; + int wret = sprintf(buf, "TEST: %d %d ", it_left_fsync, it_left_abort); + lseek(cmd_fd, 0, SEEK_SET); + write(cmd_fd, buf, strlen(buf) + 1); + fsync(cmd_fd); + + /* perform tests for a range of chunk sizes */ + unsigned chunk_sizes[] = {32, 64, 128, 256, 512, 600, 1200}; + + for (unsigned c = 0; c < (sizeof(chunk_sizes) / sizeof(chunk_sizes[0])); c++) { + + printf("\n\n====== FILE TEST: %u bytes chunks (%s) ======\n", chunk_sizes[c], (it_left_fsync > 0) ? "FSYNC" : "NO FSYNC"); + printf("unpower the system immediately (within 0.5s) when the hash (#) sign appears\n"); + fsync(stdout); + fsync(stderr); + usleep(50000); + + for (unsigned a = 0; a < alignments; a++) { + + printf("."); + + uint8_t write_buf[chunk_sizes[c] + alignments] __attribute__((aligned(64))); + + /* fill write buffer with known values */ + for (int i = 0; i < sizeof(write_buf); i++) { + /* this will wrap, but we just need a known value with spacing */ + write_buf[i] = i+11; + } + + uint8_t read_buf[chunk_sizes[c] + alignments] __attribute__((aligned(64))); + hrt_abstime start, end; + + int fd = open("/fs/microsd/testfile", O_TRUNC | O_WRONLY | O_CREAT); + + start = hrt_absolute_time(); + for (unsigned i = 0; i < iterations; i++) { + + int wret = write(fd, write_buf + a, chunk_sizes[c]); + + if (wret != chunk_sizes[c]) { + warn("WRITE ERROR!"); + + if ((0x3 & (uintptr_t)(write_buf + a))) + warnx("memory is unaligned, align shift: %d", a); + + return 1; + + } + + if (it_left_fsync > 0) { + fsync(fd); + } else { + printf("#"); + fsync(stdout); + fsync(stderr); + } + } + + if (it_left_fsync > 0) { + printf("#"); + } + + printf("."); + fsync(stdout); + fsync(stderr); + usleep(200000); + + end = hrt_absolute_time(); + + close(fd); + fd = open("/fs/microsd/testfile", O_RDONLY); + + /* read back data for validation */ + for (unsigned i = 0; i < iterations; i++) { + int rret = read(fd, read_buf, chunk_sizes[c]); + + if (rret != chunk_sizes[c]) { + warnx("READ ERROR!"); + return 1; + } + + /* compare value */ + bool compare_ok = true; + + for (int j = 0; j < chunk_sizes[c]; j++) { + if (read_buf[j] != write_buf[j + a]) { + warnx("COMPARISON ERROR: byte %d, align shift: %d", j, a); + compare_ok = false; + break; + } + } + + if (!compare_ok) { + warnx("ABORTING FURTHER COMPARISON DUE TO ERROR"); + return 1; + } + + } + + int ret = unlink("/fs/microsd/testfile"); + close(fd); + + if (ret) { + warnx("UNLINKING FILE FAILED"); + return 1; + } + + } + } + + fsync(stdout); + fsync(stderr); + usleep(20000); + + + + /* we always reboot for the next test if we get here */ + warnx("Iteration done, rebooting.."); + fsync(stdout); + fsync(stderr); + usleep(50000); + systemreset(false); + + /* never going to get here */ + return 0; +} diff --git a/src/systemcmds/tests/tests.h b/src/systemcmds/tests/tests.h index 321e91e60..ff05cc322 100644 --- a/src/systemcmds/tests/tests.h +++ b/src/systemcmds/tests/tests.h @@ -110,6 +110,7 @@ extern int test_file(int argc, char *argv[]); extern int test_mixer(int argc, char *argv[]); extern int test_rc(int argc, char *argv[]); extern int test_conv(int argc, char *argv[]); +extern int test_mount(int argc, char *argv[]); __END_DECLS diff --git a/src/systemcmds/tests/tests_main.c b/src/systemcmds/tests/tests_main.c index 1c717d3ea..0d3dabc00 100644 --- a/src/systemcmds/tests/tests_main.c +++ b/src/systemcmds/tests/tests_main.c @@ -107,6 +107,7 @@ const struct { {"mixer", test_mixer, OPT_NOJIGTEST | OPT_NOALLTEST}, {"rc", test_rc, OPT_NOJIGTEST | OPT_NOALLTEST}, {"conv", test_conv, OPT_NOJIGTEST | OPT_NOALLTEST}, + {"mount", test_mount, OPT_NOJIGTEST | OPT_NOALLTEST}, {"help", test_help, OPT_NOALLTEST | OPT_NOHELP | OPT_NOJIGTEST}, {NULL, NULL, 0} }; |