utest: workq测试

Signed-off-by: 无烬 <[email protected]>

Author: AlexHAHA

apps/utest/test_workq/sim_imu_sensor.cpp

@@ -23,7 +23,8 @@ using namespace nextpilot::workq;
 using namespace nextpilot;
 
 /**
- * @brief 模拟IMU，用ScheduleOnInterval()定周期发布角速率数据vehicle_angular_velocity
+ * @brief 模拟IMU
+ * 用ScheduleOnInterval()定周期发布角速率数据vehicle_angular_velocity
  *
  */
 class SimIMU : public ModuleCommand<SimIMU>, public WorkItemScheduled {
@@ -54,6 +55,7 @@ class SimIMU : public ModuleCommand<SimIMU>, public WorkItemScheduled {
     }
 
     int init() override {
+        LOG_I("sim imu sensor initilized");
         ScheduleOnInterval(5_ms); // 200 Hz
         return 0;
     }
@@ -76,7 +78,7 @@ class SimIMU : public ModuleCommand<SimIMU>, public WorkItemScheduled {
         if ((_instance == 0) && (cnt % 20 == 0)) {
             rt_tick_t current_tick = rt_tick_get();
             uint64_t  _start       = hrt_absolute_time();
-            LOG_I("[SimIMU]>>>instance=%d, t=%ld, dt=%ld, cnt=%d\n", _instance, current_tick, current_tick - _last_tick, cnt);
+            // LOG_I("[SimIMU]>>>instance=%d, t=%ld, dt=%ld, cnt=%d\n", _instance, current_tick, current_tick - _last_tick, cnt);
 
             uint64_t _delta = hrt_absolute_time() - _start;
             _last_tick      = current_tick;
@@ -106,4 +108,24 @@ int sim_imu_start() {
 }
 
 // INIT_APP_EXPORT(sim_imu_start);
-MSH_CMD_EXPORT_ALIAS(sim_imu_start, utest_imu_sensor, sim imu rate sensor);
+// MSH_CMD_EXPORT_ALIAS(sim_imu_start, utest_imu_sensor, sim imu rate sensor);
+
+/**
+ * @brief 命令入口函数
+ * 启动: utest_imu_sensor start 0
+ * 退出: utest_imu_sensor stop
+ * 使用说明: utest_imu_sensor usage
+ * 查看状态: utest_imu_sensor status
+ *
+ * @param argc
+ * @param argv
+ * @return int
+ */
+extern "C" int sim_imu_sensor_main(int argc, char *argv[]) {
+    int ret;
+    ret = SimIMU::main(argc, (char **)argv);
+
+    return ret;
+}
+
+MSH_CMD_EXPORT_ALIAS(sim_imu_sensor_main, utest_imu_sensor, sim imu rate sensor);

apps/utest/test_workq/sim_rate_control.cpp

@@ -22,7 +22,8 @@ using namespace nextpilot::workq;
 using namespace nextpilot;
 
 /**
- * @brief 模拟角速率控制，基于vehicle_angular_velocity主题的callback驱动run
+ * @brief 模拟角速率控制
+ * 基于vehicle_angular_velocity主题的callback驱动run
  *
  */
 
@@ -54,6 +55,7 @@ class SimRateControl : public ModuleCommand<SimRateControl>, public WorkItem {
     }
 
     int init() override {
+        LOG_I("sim rate control initilized");
         if (!_vehicle_angular_velocity_sub.register_callback()) {
             LOG_E("callback registration failed");
             return -1;
@@ -99,4 +101,24 @@ int sim_rate_ctrl_start() {
 }
 
 // INIT_APP_EXPORT(sim_rate_ctrl_start);
-MSH_CMD_EXPORT_ALIAS(sim_rate_ctrl_start, utest_rate_ctrl, sim rate control);
+// MSH_CMD_EXPORT_ALIAS(sim_rate_ctrl_start, utest_rate_ctrl, sim rate control);
+
+/**
+ * @brief 命令入口函数
+ * 启动: utest_rate_ctrl start 0
+ * 退出: utest_rate_ctrl stop
+ * 使用说明: utest_rate_ctrl usage
+ * 查看状态: utest_rate_ctrl status
+ *
+ * @param argc
+ * @param argv
+ * @return int
+ */
+extern "C" int sim_rate_ctrl_main(int argc, char *argv[]) {
+    int ret;
+    ret = SimRateControl::main(argc, (char **)argv);
+
+    return ret;
+}
+
+MSH_CMD_EXPORT_ALIAS(sim_rate_ctrl_main, utest_rate_ctrl, sim rate control);

apps/utest/test_workq/workq_scheduled.cpp

@@ -50,16 +50,15 @@ class UTestWorkqScheduled : public ModuleCommand<UTestWorkqScheduled, 6>, public
     }
 
     int init() override {
-        ScheduleOnInterval(100_ms); // 8 Hz
+        LOG_I("initialized {%d}", instance);
+        ScheduleOnInterval(100_ms); // 10 Hz
         return 0;
     }
 
     rt_tick_t _last_tick;
 
 private:
     void Run() override {
-        static uint32_t cnt   = 0;
-        static double   total = 0.0f;
         if (should_exit()) {
         }
         // rt_thread_mdelay(1000);
@@ -75,15 +74,17 @@ class UTestWorkqScheduled : public ModuleCommand<UTestWorkqScheduled, 6>, public
         //     total += 1.0 / sleep;
         // }
 
-        if (cnt % 10 == 0) {
+        if (cnt % 20 == 0) {
             rt_tick_t current_tick = rt_tick_get();
             rt_kprintf("[wq_scheduled]>>>instance=%d, t=%ld, dt=%ld, cnt=%d\n", instance, current_tick, current_tick - _last_tick, cnt);
             _last_tick = current_tick;
         }
         cnt++;
     }
 
-    int instance;
+    uint32_t cnt   = 0;
+    double   total = 0.0f;
+    int      instance;
 };
 
 int workq_scheduled_start() {
@@ -101,4 +102,24 @@ int workq_scheduled_start() {
 }
 
 // INIT_APP_EXPORT(workq_scheduled_start);
-MSH_CMD_EXPORT_ALIAS(workq_scheduled_start, utest_wq_1, test workq scheduled);
+// MSH_CMD_EXPORT_ALIAS(workq_scheduled_start, utest_create_instances, test workq scheduled);
+
+/**
+ * @brief 命令入口函数
+ * 创建实例: utest_create_instances start <id>, id取值[0,5]，例如utest_create_instances start 0
+ * 退出: utest_create_instances stop
+ * 使用说明: utest_create_instances usage
+ * 查看状态: utest_create_instances status
+ *
+ * @param argc
+ * @param argv
+ * @return int
+ */
+extern "C" int wq_create_instances_main(int argc, char *argv[]) {
+    int ret;
+    ret = UTestWorkqScheduled::main(argc, (char **)argv);
+
+    return ret;
+}
+
+MSH_CMD_EXPORT_ALIAS(wq_create_instances_main, utest_create_instances, create multi instances);

bsps/px4/fmu-v5/config/utest.config

@@ -1424,6 +1424,111 @@ CONFIG_BOARD_CONSTRAINED_FLASH=y
 # Nextpilot Peripheral Config
 #
 
+#
+# actuator
+#
+# CONFIG_DRV_USING_PWM_OUT is not set
+# end of actuator
+
+#
+# battery
+#
+# CONFIG_DRIVERS_BATT_SMBUS is not set
+# CONFIG_DRV_USING_BATTERY_STATUS is not set
+# CONFIG_MODULES_ESC_BATTERY is not set
+# end of battery
+
+#
+# notification
+#
+
+#
+# rgbled
+#
+# CONFIG_DRV_USING_RGBLED_PWM is not set
+# CONFIG_DRV_USING_RGBLED_TCA62724 is not set
+# end of rgbled
+
+# CONFIG_DRV_USING_SAFETY_BUTTON is not set
+# CONFIG_DRV_USING_TONE_ALARM is not set
+# end of notification
+
+#
+# payload
+#
+# CONFIG_DRIVERS_CAMERA_CAPTURE is not set
+# CONFIG_MODULES_CAMERA_FEEDBACK is not set
+# CONFIG_DRIVERS_CAMERA_TRIGGER is not set
+# CONFIG_MODULES_GIMBAL is not set
+# CONFIG_MODULES_PAYLOAD_DELIVERER is not set
+# end of payload
+
+#
+# radio control
+#
+# CONFIG_DRIVERS_RC_INPUT is not set
+# end of radio control
+
+#
+# sensor
+#
+
+#
+# airspeed sensors
+#
+# CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4525DO is not set
+# CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS5525DSO is not set
+# end of airspeed sensors
+
+#
+# baro sensors
+#
+# CONFIG_DRIVERS_BAROMETER_BMP388 is not set
+# CONFIG_DRIVERS_BAROMETER_MS5611 is not set
+# end of baro sensors
+
+#
+# gnss sensors
+#
+# CONFIG_DRV_USING_GPS is not set
+# CONFIG_DRIVERS_PPS_CAPTURE is not set
+# end of gnss sensors
+
+#
+# imu sensors
+#
+# CONFIG_DRV_USING_BOSCH_BMI055 is not set
+# CONFIG_DRV_USING_BMI088 is not set
+# CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P is not set
+# end of imu sensors
+
+#
+# ins sensors
+#
+# CONFIG_DRV_USING_PA_GS02B is not set
+# end of ins sensors
+
+#
+# mag sensors
+#
+# CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150 is not set
+# CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310 is not set
+# CONFIG_DRIVERS_MAGNETOMETER_RM3100 is not set
+# end of mag sensors
+
+#
+# Optical flow
+#
+# CONFIG_COMMON_OPTICAL_FLOW is not set
+# CONFIG_DRIVERS_OPTICAL_FLOW_PAA3905 is not set
+# CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902 is not set
+# CONFIG_DRIVERS_OPTICAL_FLOW_PMW3901 is not set
+# CONFIG_DRIVERS_OPTICAL_FLOW_PX4FLOW is not set
+# CONFIG_DRIVERS_OPTICAL_FLOW_THONEFLOW is not set
+# end of Optical flow
+# end of sensor
+# end of Nextpilot Peripheral Config
+
 #
 # Nextpilot Simulation Config
 #
@@ -1456,8 +1561,10 @@ CONFIG_BOARD_CONSTRAINED_FLASH=y
 #
 # NextPilot UnitTest Config
 #
+# CONFIG_TEST_PKG_HRTIMER is not set
+# CONFIG_TEST_MC_CTRL is not set
 CONFIG_TEST_CREATE_THREAD=y
-CONFIG_TEST_UORB=y
+# CONFIG_TEST_PKG_UORB is not set
 CONFIG_TEST_WORK_QUEUE=y
 # end of NextPilot UnitTest Config
 # end of Nextpilot Firmware Config
@@ -1488,14 +1595,12 @@ CONFIG_PKG_USING_LIBCRC=y
 CONFIG_PKG_USING_MATHLIB=y
 CONFIG_PKG_USING_MATRIX=y
 CONFIG_PKG_USING_PARAM=y
-CONFIG_PARAM_USING_GLOBAL_AUTOGEN=y
-# CONFIG_PARAM_USING_LINKER_SECTION is not set
-# CONFIG_PARAM_USING_SIMULINK_CAPI is not set
-CONFIG_PARAM_USING_STORAGE_FILE=y
-# CONFIG_PARAM_USING_STORAGE_FM25V02 is not set
+# CONFIG_PKG_USING_PARAM_V1 is not set
+CONFIG_PKG_USING_PARAM_V2=y
 CONFIG_PARAM_DEFAULT_FILE_PATH="/param.bin"
 CONFIG_PARAM_USING_DEVICE_FILE=y
 # CONFIG_PARAM_USING_DEVICE_FM25V02 is not set
+# CONFIG_PARAM_USING_USER_CONIFG_FILE is not set
 CONFIG_PKG_USING_PERF=y
 CONFIG_PKG_USING_QUEUE=y
 CONFIG_PKG_USING_RING_BUFFER=y