From 19811bc73fb87662bd4e2a2145d3c4f5bc5aa201 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 27 Feb 2015 19:30:08 +0100 Subject: Better timing tests --- src/modules/uORB/uORB.cpp | 91 ++++++++++++++++++++++++++++++++++++++--------- 1 file changed, 75 insertions(+), 16 deletions(-) (limited to 'src/modules') diff --git a/src/modules/uORB/uORB.cpp b/src/modules/uORB/uORB.cpp index 93490f579..b4f81d429 100644 --- a/src/modules/uORB/uORB.cpp +++ b/src/modules/uORB/uORB.cpp @@ -695,6 +695,22 @@ struct orb_test { ORB_DEFINE(orb_test, struct orb_test); ORB_DEFINE(orb_multitest, struct orb_test); +struct orb_test_medium { + int val; + hrt_abstime time; + char junk[64]; +}; + +ORB_DEFINE(orb_test_medium, struct orb_test_medium); + +struct orb_test_large { + int val; + hrt_abstime time; + char junk[512]; +}; + +ORB_DEFINE(orb_test_large, struct orb_test_large); + int test_fail(const char *fmt, ...) { @@ -729,23 +745,44 @@ int pubsublatency_main(void) float latency_integral = 0.0f; /* wakeup source(s) */ - struct pollfd fds[1]; + struct pollfd fds[3]; + + int test_multi_sub = orb_subscribe_multi(ORB_ID(orb_test), 0); + int test_multi_sub_medium = orb_subscribe_multi(ORB_ID(orb_test_medium), 0); + int test_multi_sub_large = orb_subscribe_multi(ORB_ID(orb_test_large), 0); - int test_multi_sub = orb_subscribe_multi(ORB_ID(orb_multitest), 0); + struct orb_test_large t; + + /* clear all ready flags */ + orb_copy(ORB_ID(orb_test), test_multi_sub, &t); + orb_copy(ORB_ID(orb_test_medium), test_multi_sub_medium, &t); + orb_copy(ORB_ID(orb_test_large), test_multi_sub_large, &t); fds[0].fd = test_multi_sub; fds[0].events = POLLIN; - - struct orb_test t; + fds[1].fd = test_multi_sub_medium; + fds[1].events = POLLIN; + fds[2].fd = test_multi_sub_large; + fds[2].events = POLLIN; const unsigned maxruns = 1000; + unsigned timingsgroup = 0; unsigned *timings = new unsigned[maxruns]; for (unsigned i = 0; i < maxruns; i++) { /* wait for up to 500ms for data */ int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 500); - orb_copy(ORB_ID(orb_multitest), test_multi_sub, &t); + if (fds[0].revents & POLLIN) { + orb_copy(ORB_ID(orb_test), test_multi_sub, &t); + timingsgroup = 0; + } else if (fds[1].revents & POLLIN) { + orb_copy(ORB_ID(orb_test_medium), test_multi_sub_medium, &t); + timingsgroup = 1; + } else if (fds[2].revents & POLLIN) { + orb_copy(ORB_ID(orb_test_large), test_multi_sub_large, &t); + timingsgroup = 2; + } if (pret < 0) { warn("poll error %d, %d", pret, errno); @@ -758,11 +795,23 @@ int pubsublatency_main(void) } orb_unsubscribe(test_multi_sub); + orb_unsubscribe(test_multi_sub_medium); + orb_unsubscribe(test_multi_sub_large); if (pubsubtest_print) { + char fname[32]; + sprintf(fname, "/fs/microsd/timings%u.txt", timingsgroup); + FILE *f = fopen(fname, "w"); + if (f == NULL) { + warnx("Error opening file!\n"); + return ERROR; + } + for (unsigned i = 0; i < maxruns; i++) { - printf("%u\n", timings[i]); + fprintf(f, "%u\n", timings[i]); } + + fclose(f); } delete[] timings; @@ -780,7 +829,7 @@ int pubsublatency_main(void) return pubsubtest_res; } -int latency_test(bool print); +template int latency_test(orb_id_t T, bool print); int test() @@ -895,20 +944,20 @@ test() if (prio != ORB_PRIO_MIN) return test_fail("prio: %d", prio); - if (OK != latency_test(false)) + if (OK != latency_test(ORB_ID(orb_test), false)) return test_fail("latency test failed"); return test_note("PASS"); } -int -latency_test(bool print) +template int +latency_test(orb_id_t T, bool print) { - struct orb_test t; + S t; t.val = 308; t.time = hrt_absolute_time(); - int pfd0 = orb_advertise(ORB_ID(orb_multitest), &t); + int pfd0 = orb_advertise(T, &t); pubsubtest_print = print; @@ -927,13 +976,15 @@ latency_test(bool print) while (!pubsubtest_passed) { t.val = 308; t.time = hrt_absolute_time(); - if (OK != orb_publish(ORB_ID(orb_multitest), pfd0, &t)) + if (OK != orb_publish(T, pfd0, &t)) return test_fail("mult. pub0 timing fail"); /* simulate >800 Hz system operation */ usleep(1000); } + close(pfd0); + if (pubsub_task < 0) { return test_fail("failed launching task"); } @@ -998,8 +1049,16 @@ uorb_main(int argc, char *argv[]) /* * Test the latency. */ - if (!strcmp(argv[1], "latency_test")) - return latency_test(true); + if (!strcmp(argv[1], "latency_test")) { + + if (argc > 2 && !strcmp(argv[2], "medium")) { + return latency_test(ORB_ID(orb_test_medium), true); + } else if (argc > 2 && !strcmp(argv[2], "large")) { + return latency_test(ORB_ID(orb_test_large), true); + } else { + return latency_test(ORB_ID(orb_test), true); + } + } /* * Print driver information. @@ -1007,7 +1066,7 @@ uorb_main(int argc, char *argv[]) if (!strcmp(argv[1], "status")) return info(); - errx(-EINVAL, "unrecognized command, try 'start', 'test' or 'status'"); + errx(-EINVAL, "unrecognized command, try 'start', 'test', 'latency_test' or 'status'"); } /* -- cgit v1.2.3