added test_thread

Author: WideAwakeTN

CMakeLists.txt

@@ -562,6 +562,14 @@ if(BUILD_TESTING)
     test/test_macros.cpp
   )
 
+  ament_add_gtest(test_thread
+    test/test_thread.cpp
+    src/thread.c # to test RCUTILS_LOCAL functions
+  )
+  if(TARGET test_thread)
+    target_link_libraries(test_thread ${PROJECT_NAME})
+  endif()
+
   add_performance_test(benchmark_logging test/benchmark/benchmark_logging.cpp)
   if(TARGET benchmark_logging)
     target_link_libraries(benchmark_logging ${PROJECT_NAME})

test/test_thread.cpp

@@ -0,0 +1,67 @@
+// Copyright 2020 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include "rcutils/thread.h"
+#include "rcutils/error_handling.h"
+
+#ifdef __linux__
+#include <pthread.h>
+#endif  // __linux__
+
+TEST(test_thread, config_rt_thread) {
+#ifdef __linux__
+  const unsigned cpu_id = 0;
+  const unsigned long cpu_bitmask = 1 << cpu_id;
+  const int priority = THREAD_PRIORITY_MEDIUM;
+  if (configure_native_realtime_thread(pthread_self(), priority, cpu_bitmask) != RCUTILS_RET_OK) {
+    GTEST_SKIP() << "Unable to set realtime thread priority.";
+    return;
+  }
+
+  struct sched_param params_self;
+  int policy_self;
+  EXPECT_EQ(0, pthread_getschedparam(pthread_self(), &policy_self, &params_self));
+  int prio_calculated;
+  EXPECT_EQ(RCUTILS_RET_OK, calculate_os_fifo_thread_priority(priority, &prio_calculated));
+  EXPECT_EQ(prio_calculated, params_self.sched_priority);
+  EXPECT_EQ(SCHED_FIFO, policy_self);
+
+  cpu_set_t cpuset_self;
+  EXPECT_EQ(0, pthread_getaffinity_np(pthread_self(), sizeof(cpuset_self), &cpuset_self));
+  cpu_set_t cpuset;
+  CPU_ZERO(&cpuset);
+  CPU_SET(cpu_id, &cpuset);
+  EXPECT_EQ(0, memcmp(&cpuset, &cpuset_self, sizeof(cpu_set_t)));
+#else
+  GTEST_SKIP() << "Testcase not implemented for this platform."
+#endif  // __linux__
+}
+
+TEST(test_thread, calculate_rt_priorities) {
+#ifdef __linux__
+  int prio = -1;
+  const int max_prio = sched_get_priority_max(SCHED_FIFO);
+  const int min_prio = sched_get_priority_min(SCHED_FIFO);
+  EXPECT_EQ(RCUTILS_RET_OK, calculate_os_fifo_thread_priority(THREAD_PRIORITY_LOWEST, &prio));
+  EXPECT_EQ(min_prio, prio);
+  EXPECT_EQ(RCUTILS_RET_OK, calculate_os_fifo_thread_priority(THREAD_PRIORITY_MEDIUM, &prio));
+  EXPECT_EQ((max_prio + min_prio) / 2 - 1, prio);
+  EXPECT_EQ(RCUTILS_RET_OK, calculate_os_fifo_thread_priority(THREAD_PRIORITY_HIGHEST, &prio));
+  EXPECT_EQ(max_prio, prio);
+#elif
+  GTEST_SKIP() << "Testcase not implemented for this platform."
+#endif  // __linux__
+}