test_dataman.c

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/**
 * @file test_dataman.c
 * Tests for the data manager.
 */

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

#include <sys/types.h>

#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>

#include <arch/board/board.h>

#include <drivers/drv_board_led.h>
#include <drivers/drv_hrt.h>
#include <semaphore.h>

#include "tests_main.h"

#include "dataman/dataman.h"

static px4_sem_t *sems;
static bool *task_returned_error;
int test_dataman(int argc, char *argv[]);

#define NUM_MISSIONS_TEST 50

#define DM_MAX_DATA_SIZE sizeof(struct mission_s)

static int
task_main(int argc, char *argv[])
{
    char buffer[DM_MAX_DATA_SIZE];

    PX4_INFO("Starting dataman test task %s", argv[1]);
    /* try to read an invalid item */
    int my_id = atoi(argv[1]);

    /* try to read an invalid item */
    if (dm_read(DM_KEY_NUM_KEYS, 0, buffer, sizeof(buffer)) >= 0) {
        PX4_ERR("%d read an invalid item failed", my_id);
        goto fail;
    }

    /* try to read an invalid index */
    if (dm_read(DM_KEY_SAFE_POINTS, DM_KEY_SAFE_POINTS_MAX, buffer, sizeof(buffer)) >= 0) {
        PX4_ERR("%d read an invalid index failed", my_id);
        goto fail;
    }

    srand(hrt_absolute_time() ^ my_id);
    unsigned hit = 0, miss = 0;
    hrt_abstime wstart = hrt_absolute_time();

    for (unsigned i = 0; i < NUM_MISSIONS_TEST; i++) {
        memset(buffer, my_id, sizeof(buffer));
        buffer[1] = i;
        unsigned hash = i ^ my_id;
        unsigned len = (hash % (DM_MAX_DATA_SIZE / 2)) + 2;

        int ret = dm_write(DM_KEY_WAYPOINTS_OFFBOARD_1, hash, DM_PERSIST_IN_FLIGHT_RESET, buffer, len);
        //PX4_INFO("ret: %d", ret);

        if (ret != len) {
            PX4_WARN("task %d: write failed, index %d, length %d", my_id, hash, len);
            goto fail;
        }

        if (i % (NUM_MISSIONS_TEST / 10) == 0) {
            PX4_INFO("task %d: %.0f%%", my_id, (double)i * 100.0f / NUM_MISSIONS_TEST);
        }

        px4_usleep(rand() & ((64 * 1024) - 1));
    }

    hrt_abstime rstart = hrt_absolute_time();
    hrt_abstime wend = rstart;

    for (unsigned i = 0; i < NUM_MISSIONS_TEST; i++) {
        unsigned hash = i ^ my_id;
        unsigned len2;
        unsigned len = (hash % (DM_MAX_DATA_SIZE / 2)) + 2;

        if ((len2 = dm_read(DM_KEY_WAYPOINTS_OFFBOARD_1, hash, buffer, sizeof(buffer))) < 2) {
            PX4_WARN("task %d: read failed length test, index %d", my_id, hash);
            goto fail;
        }

        if (buffer[0] == my_id) {
            hit++;

            if (len2 != len) {
                PX4_WARN("task %d: read failed length test, index %d, wanted %d, got %d", my_id, hash, len, len2);
                goto fail;
            }

            if (buffer[1] != i) {
                PX4_WARN("task %d: data verification failed, index %d, wanted %d, got %d", my_id, hash, my_id, buffer[1]);
                goto fail;
            }

        } else {
            miss++;
        }
    }

    hrt_abstime rend = hrt_absolute_time();
    PX4_INFO("task %d pass, hit %d, miss %d, io time read %" PRIu64 "ms. write %" PRIu64 "ms.",
         my_id, hit, miss, (rend - rstart) / NUM_MISSIONS_TEST / 1000, (wend - wstart) / NUM_MISSIONS_TEST / 1000);
    px4_sem_post(sems + my_id);
    return 0;

fail:
    PX4_ERR("test_dataman FAILED: task %d, buffer %02x %02x %02x %02x %02x %02x",
        my_id, buffer[0], buffer[1], buffer[2], buffer[3], buffer[4], buffer[5]);
    px4_sem_post(sems + my_id);
    task_returned_error[my_id] = true;
    return -1;
}

int test_dataman(int argc, char *argv[])
{
    int i = 0;
    unsigned num_tasks = 4;
    char buffer[DM_MAX_DATA_SIZE];

    if (argc > 1) {
        num_tasks = atoi(argv[1]);
    }

    sems = (px4_sem_t *)malloc(num_tasks * sizeof(px4_sem_t));
    task_returned_error = (bool *)calloc(num_tasks, sizeof(bool));
    PX4_INFO("Running %d tasks", num_tasks);

    for (i = 0; i < num_tasks; i++) {
        int task;

        char a[16];
        snprintf(a, 16, "%d", i);

        char *av[] = {"tests_dataman", a, NULL};

        px4_sem_init(sems + i, 1, 0);
        /* sems use case is a signal */
        px4_sem_setprotocol(sems, SEM_PRIO_NONE);

        /* start the task */
        if ((task = px4_task_spawn_cmd("dataman", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 2048, task_main, av)) <= 0) {
            PX4_ERR("task start failed");
        }
    }

    for (i = 0; i < num_tasks; i++) {
        px4_sem_wait(sems + i);
        px4_sem_destroy(sems + i);
    }

    free(sems);

    bool got_error = false;

    for (i = 0; i < num_tasks; i++) {
        if (task_returned_error[i]) {
            got_error = true;
            break;
        }
    }

    free(task_returned_error);

    if (got_error) {
        return -1;
    }

    dm_restart(DM_INIT_REASON_IN_FLIGHT);

    for (i = 0; i < NUM_MISSIONS_TEST; i++) {
        if (dm_read(DM_KEY_WAYPOINTS_OFFBOARD_1, i, buffer, sizeof(buffer)) != 0) {
            break;
        }
    }

    if (i >= NUM_MISSIONS_TEST) {
        PX4_ERR("Restart in-flight failed");
        return -1;

    }

    dm_restart(DM_INIT_REASON_POWER_ON);

    for (i = 0; i < NUM_MISSIONS_TEST; i++) {
        if (dm_read(DM_KEY_WAYPOINTS_OFFBOARD_1, i, buffer, sizeof(buffer)) != 0) {
            PX4_ERR("Restart power-on failed");
            return -1;
        }
    }

    return 0;
}