uORBTest_UnitTest.cpp

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#include "uORBTest_UnitTest.hpp"
#include "../uORBCommon.hpp"
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/time.h>
#include <stdio.h>
#include <errno.h>
#include <poll.h>
#include <math.h>
#include <lib/cdev/CDev.hpp>

ORB_DEFINE(orb_test, struct orb_test, sizeof(orb_test), "ORB_TEST:int val;hrt_abstime time;");
ORB_DEFINE(orb_multitest, struct orb_test, sizeof(orb_test), "ORB_MULTITEST:int val;hrt_abstime time;");

ORB_DEFINE(orb_test_medium, struct orb_test_medium, sizeof(orb_test_medium),
       "ORB_TEST_MEDIUM:int val;hrt_abstime time;char[64] junk;");
ORB_DEFINE(orb_test_medium_multi, struct orb_test_medium, sizeof(orb_test_medium),
       "ORB_TEST_MEDIUM_MULTI:int val;hrt_abstime time;char[64] junk;");
ORB_DEFINE(orb_test_medium_queue, struct orb_test_medium, sizeof(orb_test_medium),
       "ORB_TEST_MEDIUM_MULTI:int val;hrt_abstime time;char[64] junk;");
ORB_DEFINE(orb_test_medium_queue_poll, struct orb_test_medium, sizeof(orb_test_medium),
       "ORB_TEST_MEDIUM_MULTI:int val;hrt_abstime time;char[64] junk;");

ORB_DEFINE(orb_test_large, struct orb_test_large, sizeof(orb_test_large),
       "ORB_TEST_LARGE:int val;hrt_abstime time;char[512] junk;");

uORBTest::UnitTest &uORBTest::UnitTest::instance()
{
    static uORBTest::UnitTest t;
    return t;
}

int uORBTest::UnitTest::pubsublatency_main()
{
    /* poll on test topic and output latency */
    float latency_integral = 0.0f;

    /* wakeup source(s) */
    px4_pollfd_struct_t 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);

    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;
    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;
    int current_value = t.val;
    int num_missed = 0;

    // timings has to be on the heap to keep frame size below 2048 bytes
    unsigned *timings = new unsigned[maxruns];
    unsigned timing_min = 9999999, timing_max = 0;

    for (unsigned i = 0; i < maxruns; i++) {
        /* wait for up to 500ms for data */
        int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 500);

        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) {
            PX4_ERR("poll error %d, %d", pret, errno);
            continue;
        }

        num_missed += t.val - current_value - 1;
        current_value = t.val;

        unsigned elt = (unsigned)hrt_elapsed_time_atomic(&t.time);
        latency_integral += elt;
        timings[i] = elt;

        if (elt > timing_max) {
            timing_max = elt;
        }

        if (elt < timing_min) {
            timing_min = elt;
        }
    }

    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, PX4_STORAGEDIR"/uorb_timings%u.txt", timingsgroup);
        FILE *f = fopen(fname, "w");

        if (f == nullptr) {
            PX4_ERR("Error opening file!");
            delete[] timings;
            return PX4_ERROR;
        }

        for (unsigned i = 0; i < maxruns; i++) {
            fprintf(f, "%u\n", timings[i]);
        }

        fclose(f);
    }


    float std_dev = 0.f;
    float mean = latency_integral / maxruns;

    for (unsigned i = 0; i < maxruns; i++) {
        float diff = (float)timings[i] - mean;
        std_dev += diff * diff;
    }

    delete[] timings;

    PX4_INFO("mean:    %8.4f us", static_cast<double>(mean));
    PX4_INFO("std dev: %8.4f us", static_cast<double>(sqrtf(std_dev / (maxruns - 1))));
    PX4_INFO("min:     %3i us", timing_min);
    PX4_INFO("max:     %3i us", timing_max);
    PX4_INFO("missed topic updates: %i", num_missed);

    pubsubtest_passed = true;

    if (static_cast<float>(latency_integral / maxruns) > 100.0f) {
        pubsubtest_res = PX4_ERROR;

    } else {
        pubsubtest_res = PX4_OK;
    }

    return pubsubtest_res;
}

int uORBTest::UnitTest::test()
{
    int ret = test_single();

    if (ret != OK) {
        return ret;
    }

    ret = test_multi();

    if (ret != OK) {
        return ret;
    }

    ret = test_multi_reversed();

    if (ret != OK) {
        return ret;
    }

    ret = test_unadvertise();

    if (ret != OK) {
        return ret;
    }

    ret = test_multi2();

    if (ret != OK) {
        return ret;
    }

    ret = test_queue();

    if (ret != OK) {
        return ret;
    }

    return test_queue_poll_notify();
}

int uORBTest::UnitTest::test_unadvertise()
{
    test_note("Testing unadvertise");

    //we still have the advertisements from the previous test_multi calls.
    for (int i = 0; i < 4; ++i) {
        int ret = orb_unadvertise(_pfd[i]);

        if (ret != PX4_OK) {
            return test_fail("orb_unadvertise failed (%i)", ret);
        }
    }

    //try to advertise and see whether we get the right instance
    int instance_test[4];
    struct orb_test t;

    for (int i = 0; i < 4; ++i) {
        _pfd[i] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance_test[i], ORB_PRIO_MAX);

        if (instance_test[i] != i) {
            return test_fail("got wrong instance (should be %i, is %i)", i, instance_test[i]);
        }
    }

    for (int i = 0; i < 4; ++i) {
        orb_unadvertise(_pfd[i]);
    }

    return test_note("PASS unadvertise");
}


int uORBTest::UnitTest::info()
{
    return OK;
}

int uORBTest::UnitTest::test_single()
{
    test_note("try single-topic support");

    struct orb_test t, u;
    int sfd;
    orb_advert_t ptopic;
    bool updated;

    t.val = 0;
    ptopic = orb_advertise(ORB_ID(orb_test), &t);

    if (ptopic == nullptr) {
        return test_fail("advertise failed: %d", errno);
    }

    test_note("publish handle %p", ptopic);
    sfd = orb_subscribe(ORB_ID(orb_test));

    if (sfd < 0) {
        return test_fail("subscribe failed: %d", errno);
    }

    test_note("subscribe fd %d", sfd);
    u.val = 1;

    if (PX4_OK != orb_copy(ORB_ID(orb_test), sfd, &u)) {
        return test_fail("copy(1) failed: %d", errno);
    }

    if (u.val != t.val) {
        return test_fail("copy(1) mismatch: %d expected %d", u.val, t.val);
    }

    if (PX4_OK != orb_check(sfd, &updated)) {
        return test_fail("check(1) failed");
    }

    if (updated) {
        return test_fail("spurious updated flag");
    }

    t.val = 2;
    test_note("try publish");

    if (PX4_OK != orb_publish(ORB_ID(orb_test), ptopic, &t)) {
        return test_fail("publish failed");
    }

    if (PX4_OK != orb_check(sfd, &updated)) {
        return test_fail("check(2) failed");
    }

    if (!updated) {
        return test_fail("missing updated flag");
    }

    if (PX4_OK != orb_copy(ORB_ID(orb_test), sfd, &u)) {
        return test_fail("copy(2) failed: %d", errno);
    }

    if (u.val != t.val) {
        return test_fail("copy(2) mismatch: %d expected %d", u.val, t.val);
    }

    orb_unsubscribe(sfd);

    int ret = orb_unadvertise(ptopic);

    if (ret != PX4_OK) {
        return test_fail("orb_unadvertise failed: %i", ret);
    }

    return test_note("PASS single-topic test");
}

int uORBTest::UnitTest::test_multi()
{
    /* this routine tests the multi-topic support */
    test_note("try multi-topic support");

    struct orb_test t {}, u {};
    t.val = 0;
    int instance0;
    _pfd[0] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance0, ORB_PRIO_MAX);

    test_note("advertised");

    int instance1;
    _pfd[1] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance1, ORB_PRIO_MIN);

    if (instance0 != 0) {
        return test_fail("mult. id0: %d", instance0);
    }

    if (instance1 != 1) {
        return test_fail("mult. id1: %d", instance1);
    }

    t.val = 103;

    if (PX4_OK != orb_publish(ORB_ID(orb_multitest), _pfd[0], &t)) {
        return test_fail("mult. pub0 fail");
    }

    test_note("published");

    t.val = 203;

    if (PX4_OK != orb_publish(ORB_ID(orb_multitest), _pfd[1], &t)) {
        return test_fail("mult. pub1 fail");
    }

    /* subscribe to both topics and ensure valid data is received */
    int sfd0 = orb_subscribe_multi(ORB_ID(orb_multitest), 0);

    if (PX4_OK != orb_copy(ORB_ID(orb_multitest), sfd0, &u)) {
        return test_fail("sub #0 copy failed: %d", errno);
    }

    if (u.val != 103) {
        return test_fail("sub #0 val. mismatch: %d", u.val);
    }

    int sfd1 = orb_subscribe_multi(ORB_ID(orb_multitest), 1);

    if (PX4_OK != orb_copy(ORB_ID(orb_multitest), sfd1, &u)) {
        return test_fail("sub #1 copy failed: %d", errno);
    }

    if (u.val != 203) {
        return test_fail("sub #1 val. mismatch: %d", u.val);
    }

    /* test priorities */
    int prio;

    if (PX4_OK != orb_priority(sfd0, &prio)) {
        return test_fail("prio #0");
    }

    if (prio != ORB_PRIO_MAX) {
        return test_fail("prio: %d", prio);
    }

    if (PX4_OK != orb_priority(sfd1, &prio)) {
        return test_fail("prio #1");
    }

    if (prio != ORB_PRIO_MIN) {
        return test_fail("prio: %d", prio);
    }

    if (PX4_OK != latency_test<struct orb_test>(ORB_ID(orb_test), false)) {
        return test_fail("latency test failed");
    }

    orb_unsubscribe(sfd0);
    orb_unsubscribe(sfd1);

    return test_note("PASS multi-topic test");
}



int uORBTest::UnitTest::pub_test_multi2_entry(int argc, char *argv[])
{
    uORBTest::UnitTest &t = uORBTest::UnitTest::instance();
    return t.pub_test_multi2_main();
}

int uORBTest::UnitTest::pub_test_multi2_main()
{
    int data_next_idx = 0;
    const int num_instances = 3;
    orb_advert_t orb_pub[num_instances];
    struct orb_test_medium data_topic;

    for (int i = 0; i < num_instances; ++i) {
        orb_advert_t &pub = orb_pub[i];
        int idx = i;
//      PX4_WARN("advertise %i, t=%" PRIu64, i, hrt_absolute_time());
        pub = orb_advertise_multi(ORB_ID(orb_test_medium_multi), &data_topic, &idx, ORB_PRIO_DEFAULT);

        if (idx != i) {
            _thread_should_exit = true;
            PX4_ERR("Got wrong instance! should be: %i, but is %i", i, idx);
            return -1;
        }
    }

    px4_usleep(100 * 1000);

    int message_counter = 0, num_messages = 50 * num_instances;

    while (message_counter++ < num_messages) {
        px4_usleep(2); //make sure the timestamps are different
        orb_advert_t &pub = orb_pub[data_next_idx];

        data_topic.time = hrt_absolute_time();
        data_topic.val = data_next_idx;

        orb_publish(ORB_ID(orb_test_medium_multi), pub, &data_topic);
//      PX4_WARN("publishing msg (idx=%i, t=%" PRIu64 ")", data_next_idx, data_topic.time);

        data_next_idx = (data_next_idx + 1) % num_instances;

        if (data_next_idx == 0) {
            px4_usleep(50 * 1000);
        }
    }

    px4_usleep(100 * 1000);
    _thread_should_exit = true;

    for (int i = 0; i < num_instances; ++i) {
        orb_unadvertise(orb_pub[i]);
    }

    return 0;
}

int uORBTest::UnitTest::test_multi2()
{

    test_note("Testing multi-topic 2 test (queue simulation)");
    //test: first subscribe, then advertise

    _thread_should_exit = false;
    const int num_instances = 3;
    int orb_data_fd[num_instances];
    int orb_data_next = 0;

    for (int i = 0; i < num_instances; ++i) {
//      PX4_WARN("subscribe %i, t=%" PRIu64, i, hrt_absolute_time());
        orb_data_fd[i] = orb_subscribe_multi(ORB_ID(orb_test_medium_multi), i);
    }

    char *const args[1] = { nullptr };
    int pubsub_task = px4_task_spawn_cmd("uorb_test_multi",
                         SCHED_DEFAULT,
                         SCHED_PRIORITY_MAX - 5,
                         2000,
                         (px4_main_t)&uORBTest::UnitTest::pub_test_multi2_entry,
                         args);

    if (pubsub_task < 0) {
        return test_fail("failed launching task");
    }

    hrt_abstime last_time = 0;

    while (!_thread_should_exit) {

        bool updated = false;
        int orb_data_cur_fd = orb_data_fd[orb_data_next];
        orb_check(orb_data_cur_fd, &updated);

        if (updated) {
            struct orb_test_medium msg;
            orb_copy(ORB_ID(orb_test_medium_multi), orb_data_cur_fd, &msg);

// Relax timing requirement for Darwin CI system
#ifdef __PX4_DARWIN
            px4_usleep(10000);
#else
            px4_usleep(1000);
#endif

            if (last_time >= msg.time && last_time != 0) {
                return test_fail("Timestamp not increasing! (%" PRIu64 " >= %" PRIu64 ")", last_time, msg.time);
            }

            last_time = msg.time;

//          PX4_WARN("      got message (val=%i, idx=%i, t=%" PRIu64 ")", msg.val, orb_data_next, msg.time);
            orb_data_next = (orb_data_next + 1) % num_instances;
        }
    }

    for (int i = 0; i < num_instances; ++i) {
        orb_unsubscribe(orb_data_fd[i]);
    }

    return test_note("PASS multi-topic 2 test (queue simulation)");
}

int uORBTest::UnitTest::test_multi_reversed()
{
    test_note("try multi-topic support subscribing before publishing");

    /* For these tests 0 and 1 instances are taken from before, therefore continue with 2 and 3. */

    /* Subscribe first and advertise afterwards. */
    int sfd2 = orb_subscribe_multi(ORB_ID(orb_multitest), 2);

    if (sfd2 < 0) {
        return test_fail("sub. id2: ret: %d", sfd2);
    }

    struct orb_test t {}, u {};

    t.val = 0;

    int instance2;

    _pfd[2] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance2, ORB_PRIO_MAX);

    int instance3;

    _pfd[3] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance3, ORB_PRIO_MIN);

    test_note("advertised");

    if (instance2 != 2) {
        return test_fail("mult. id2: %d", instance2);
    }

    if (instance3 != 3) {
        return test_fail("mult. id3: %d", instance3);
    }

    t.val = 204;

    if (PX4_OK != orb_publish(ORB_ID(orb_multitest), _pfd[2], &t)) {
        return test_fail("mult. pub0 fail");
    }


    t.val = 304;

    if (PX4_OK != orb_publish(ORB_ID(orb_multitest), _pfd[3], &t)) {
        return test_fail("mult. pub1 fail");
    }

    test_note("published");

    if (PX4_OK != orb_copy(ORB_ID(orb_multitest), sfd2, &u)) {
        return test_fail("sub #2 copy failed: %d", errno);
    }

    if (u.val != 204) {
        return test_fail("sub #3 val. mismatch: %d", u.val);
    }

    int sfd3 = orb_subscribe_multi(ORB_ID(orb_multitest), 3);

    if (PX4_OK != orb_copy(ORB_ID(orb_multitest), sfd3, &u)) {
        return test_fail("sub #3 copy failed: %d", errno);
    }

    if (u.val != 304) {
        return test_fail("sub #3 val. mismatch: %d", u.val);
    }

    return test_note("PASS multi-topic reversed");
}

int uORBTest::UnitTest::test_queue()
{
    test_note("Testing orb queuing");

    struct orb_test_medium t, u;
    int sfd;
    orb_advert_t ptopic;
    bool updated;

    sfd = orb_subscribe(ORB_ID(orb_test_medium_queue));

    if (sfd < 0) {
        return test_fail("subscribe failed: %d", errno);
    }


    const int queue_size = 11;
    t.val = 0;
    ptopic = orb_advertise_queue(ORB_ID(orb_test_medium_queue), &t, queue_size);

    if (ptopic == nullptr) {
        return test_fail("advertise failed: %d", errno);
    }

    orb_check(sfd, &updated);

    if (!updated) {
        return test_fail("update flag not set");
    }

    if (PX4_OK != orb_copy(ORB_ID(orb_test_medium_queue), sfd, &u)) {
        return test_fail("copy(1) failed: %d", errno);
    }

    if (u.val != t.val) {
        return test_fail("copy(1) mismatch: %d expected %d", u.val, t.val);
    }

    orb_check(sfd, &updated);

    if (updated) {
        return test_fail("spurious updated flag");
    }

#define CHECK_UPDATED(element) \
    orb_check(sfd, &updated); \
    if (!updated) { \
        return test_fail("update flag not set, element %i", element); \
    }
#define CHECK_NOT_UPDATED(element) \
    orb_check(sfd, &updated); \
    if (updated) { \
        return test_fail("update flag set, element %i", element); \
    }
#define CHECK_COPY(i_got, i_correct) \
    orb_copy(ORB_ID(orb_test_medium_queue), sfd, &u); \
    if (i_got != i_correct) { \
        return test_fail("got wrong element from the queue (got %i, should be %i)", i_got, i_correct); \
    }

    //no messages in the queue anymore

    test_note("  Testing to write some elements...");

    for (int i = 0; i < queue_size - 2; ++i) {
        t.val = i;
        orb_publish(ORB_ID(orb_test_medium_queue), ptopic, &t);
    }

    for (int i = 0; i < queue_size - 2; ++i) {
        CHECK_UPDATED(i);
        CHECK_COPY(u.val, i);
    }

    CHECK_NOT_UPDATED(queue_size);

    test_note("  Testing overflow...");
    int overflow_by = 3;

    for (int i = 0; i < queue_size + overflow_by; ++i) {
        t.val = i;
        orb_publish(ORB_ID(orb_test_medium_queue), ptopic, &t);
    }

    for (int i = 0; i < queue_size; ++i) {
        CHECK_UPDATED(i);
        CHECK_COPY(u.val, i + overflow_by);
    }

    CHECK_NOT_UPDATED(queue_size);

    test_note("  Testing underflow...");

    for (int i = 0; i < queue_size; ++i) {
        CHECK_NOT_UPDATED(i);
        CHECK_COPY(u.val, queue_size + overflow_by - 1);
    }

    t.val = 943;
    orb_publish(ORB_ID(orb_test_medium_queue), ptopic, &t);
    CHECK_UPDATED(-1);
    CHECK_COPY(u.val, t.val);

#undef CHECK_COPY
#undef CHECK_UPDATED
#undef CHECK_NOT_UPDATED

    orb_unadvertise(ptopic);

    return test_note("PASS orb queuing");
}


int uORBTest::UnitTest::pub_test_queue_entry(int argc, char *argv[])
{
    uORBTest::UnitTest &t = uORBTest::UnitTest::instance();
    return t.pub_test_queue_main();
}

int uORBTest::UnitTest::pub_test_queue_main()
{
    struct orb_test_medium t;
    orb_advert_t ptopic;
    const int queue_size = 50;
    t.val = 0;

    if ((ptopic = orb_advertise_queue(ORB_ID(orb_test_medium_queue_poll), &t, queue_size)) == nullptr) {
        _thread_should_exit = true;
        return test_fail("advertise failed: %d", errno);
    }

    int message_counter = 0, num_messages = 20 * queue_size;
    ++t.val;

    while (message_counter < num_messages) {

        //simulate burst
        int burst_counter = 0;

        while (burst_counter++ < queue_size / 2 + 7) { //make interval non-boundary aligned
            orb_publish(ORB_ID(orb_test_medium_queue_poll), ptopic, &t);
            ++t.val;
        }

        message_counter += burst_counter;
        px4_usleep(20 * 1000); //give subscriber a chance to catch up
    }

    _num_messages_sent = t.val;
    px4_usleep(100 * 1000);
    _thread_should_exit = true;
    orb_unadvertise(ptopic);

    return 0;
}

int uORBTest::UnitTest::test_queue_poll_notify()
{
    test_note("Testing orb queuing (poll & notify)");

    struct orb_test_medium t;
    int sfd;

    if ((sfd = orb_subscribe(ORB_ID(orb_test_medium_queue_poll))) < 0) {
        return test_fail("subscribe failed: %d", errno);
    }

    _thread_should_exit = false;

    char *const args[1] = { nullptr };
    int pubsub_task = px4_task_spawn_cmd("uorb_test_queue",
                         SCHED_DEFAULT,
                         SCHED_PRIORITY_MIN + 5,
                         1500,
                         (px4_main_t)&uORBTest::UnitTest::pub_test_queue_entry,
                         args);

    if (pubsub_task < 0) {
        return test_fail("failed launching task");
    }

    int next_expected_val = 0;
    px4_pollfd_struct_t fds[1];
    fds[0].fd = sfd;
    fds[0].events = POLLIN;

    while (!_thread_should_exit) {

        int poll_ret = px4_poll(fds, 1, 500);

        if (poll_ret == 0) {
            if (_thread_should_exit) {
                break;
            }

            return test_fail("poll timeout");

        } else if (poll_ret < 0) {
            return test_fail("poll error (%d, %d)", poll_ret, errno);
        }

        if (fds[0].revents & POLLIN) {
            orb_copy(ORB_ID(orb_test_medium_queue_poll), sfd, &t);

            if (next_expected_val != t.val) {
                return test_fail("copy mismatch: %d expected %d", t.val, next_expected_val);
            }

            ++next_expected_val;
        }
    }

    if (_num_messages_sent != next_expected_val) {
        return test_fail("number of sent and received messages mismatch (sent: %i, received: %i)",
                 _num_messages_sent, next_expected_val);
    }

    return test_note("PASS orb queuing (poll & notify), got %i messages", next_expected_val);
}


int uORBTest::UnitTest::test_fail(const char *fmt, ...)
{
    va_list ap;

    fprintf(stderr, "uORB FAIL: ");
    va_start(ap, fmt);
    vfprintf(stderr, fmt, ap);
    va_end(ap);
    fprintf(stderr, "\n");
    fflush(stderr);

    return PX4_ERROR;
}

int uORBTest::UnitTest::test_note(const char *fmt, ...)
{
    va_list ap;

    fprintf(stderr, "uORB note: ");
    va_start(ap, fmt);
    vfprintf(stderr, fmt, ap);
    va_end(ap);
    fprintf(stderr, "\n");
    fflush(stderr);
    return OK;
}

int uORBTest::UnitTest::pubsubtest_threadEntry(int argc, char *argv[])
{
    uORBTest::UnitTest &t = uORBTest::UnitTest::instance();
    return t.pubsublatency_main();
}