test_file.c

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/**
 * @file test_file.c
 * File write test.
 * @author Lorenz Meier <lm@inf.ethz.ch>
 */

#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/posix.h>

#include <sys/stat.h>
#include <poll.h>
#include <dirent.h>
#include <stdio.h>
#include <stddef.h>
#include <systemlib/err.h>
#include <perf/perf_counter.h>
#include <string.h>

#include <drivers/drv_hrt.h>

#include "tests_main.h"

static 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[])
{
    const unsigned iterations = 100;
    const unsigned alignments = 65;

    /* check if microSD card is mounted */
    struct stat buffer;

    if (stat(PX4_STORAGEDIR "/", &buffer)) {
        warnx("no microSD card mounted, aborting file test");
        return 1;
    }

    /* perform tests for a range of chunk sizes */
    int chunk_sizes[] = {1, 5, 8, 13, 16, 32, 33, 64, 70, 128, 133, 256, 300, 512, 555, 1024, 1500};

    for (unsigned c = 0; c < (sizeof(chunk_sizes) / sizeof(chunk_sizes[0])); c++) {

        printf("\n====== FILE TEST: %u bytes chunks ======\n", chunk_sizes[c]);

        for (unsigned a = 0; a < alignments; a++) {

            printf("\n");
            warnx("----- alignment test: %u bytes -----", a);

            uint8_t write_buf[chunk_sizes[c] + alignments] __attribute__((aligned(64)));

            /* fill write buffer with known values */
            for (size_t 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 = px4_open(PX4_STORAGEDIR "/testfile", O_TRUNC | O_WRONLY | O_CREAT);

            warnx("testing unaligned writes - please wait..");

            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;
                }

                fsync(fd);

                if (!check_user_abort(fd)) {
                    return OK;
                }

            }

            end = hrt_absolute_time();

            warnx("write took %" PRIu64 " us", (end - start));

            px4_close(fd);
            fd = open(PX4_STORAGEDIR "/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;
                }

                if (!check_user_abort(fd)) {
                    return OK;
                }

            }

            /*
             * ALIGNED WRITES AND UNALIGNED READS
             */

            close(fd);
            int ret = unlink(PX4_STORAGEDIR "/testfile");
            fd = px4_open(PX4_STORAGEDIR "/testfile", O_TRUNC | O_WRONLY | O_CREAT);

            warnx("testing aligned writes - please wait.. (CTRL^C to abort)");

            for (unsigned i = 0; i < iterations; i++) {
                int wret = write(fd, write_buf, chunk_sizes[c]);

                if (wret != chunk_sizes[c]) {
                    warnx("WRITE ERROR!");
                    return 1;
                }

                if (!check_user_abort(fd)) {
                    return OK;
                }

            }

            fsync(fd);

            warnx("reading data aligned..");

            px4_close(fd);
            fd = open(PX4_STORAGEDIR "/testfile", O_RDONLY);

            bool align_read_ok = true;

            /* read back data unaligned */
            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;
                }

                for (int j = 0; j < chunk_sizes[c]; j++) {
                    if (read_buf[j] != write_buf[j]) {
                        warnx("COMPARISON ERROR: byte %d: %u != %u", j, (unsigned int)read_buf[j], (unsigned int)write_buf[j]);
                        align_read_ok = false;
                        break;
                    }

                    if (!check_user_abort(fd)) {
                        return OK;
                    }
                }

                if (!align_read_ok) {
                    warnx("ABORTING FURTHER COMPARISON DUE TO ERROR");
                    return 1;
                }

            }

            warnx("align read result: %s\n", (align_read_ok) ? "OK" : "ERROR");

            warnx("reading data unaligned..");

            close(fd);
            fd = open(PX4_STORAGEDIR "/testfile", O_RDONLY);

            bool unalign_read_ok = true;
            int unalign_read_err_count = 0;

            memset(read_buf, 0, sizeof(read_buf));

            /* read back data unaligned */
            for (unsigned i = 0; i < iterations; i++) {
                int rret = read(fd, read_buf + a, chunk_sizes[c]);

                if (rret != chunk_sizes[c]) {
                    warnx("READ ERROR!");
                    return 1;
                }

                for (int j = 0; j < chunk_sizes[c]; j++) {

                    if ((read_buf + a)[j] != write_buf[j]) {
                        warnx("COMPARISON ERROR: byte %d, align shift: %d: %u != %u", j, a, (unsigned int)read_buf[j + a],
                              (unsigned int)write_buf[j]);
                        unalign_read_ok = false;
                        unalign_read_err_count++;

                        if (unalign_read_err_count > 10) {
                            break;
                        }
                    }

                    if (!check_user_abort(fd)) {
                        return OK;
                    }
                }

                if (!unalign_read_ok) {
                    warnx("ABORTING FURTHER COMPARISON DUE TO ERROR");
                    return 1;
                }

            }

            ret = unlink(PX4_STORAGEDIR "/testfile");
            close(fd);

            if (ret) {
                warnx("UNLINKING FILE FAILED");
                return 1;
            }
        }
    }

    /* list directory */
    DIR     *d;
    struct dirent   *dir;
    d = opendir(PX4_STORAGEDIR);

    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");
        return 1;
    }

    return 0;
}