The CAN framework has minimal Rx implementation, so to test loopback
driver the test application is modified to write and read atomically
---
testsuites/libtests/can01/init.c | 71 ++++++++++++++------------------
1 file changed, 31 insertions(+), 40 deletions(-)
diff --git a/testsuites/libtests/can01/init.c b/testsuites/libtests/can01/init.c
index 0675fe606f..f70e68fb51 100644
--- a/testsuites/libtests/can01/init.c
+++ b/testsuites/libtests/can01/init.c
@@ -48,7 +48,7 @@
if (c3 == '9') { \
if (c2 == 'z') { \
if (c1 == 'z') { \
- printf("not enough task letters for names !!!\n"); \
+ CAN_ERR("not enough task letters for names !!!\n"); \
exit( 1 ); \
} else \
c1++; \
@@ -63,6 +63,10 @@
else \
c4++ \
+struct test_thread {
+ rtems_mutex mutex;
+};
+
static void test_task(rtems_task_argument);
int can_loopback_init(const char *);
int create_task(int);
@@ -70,60 +74,54 @@ int create_task(int);
static rtems_id task_id[TASKS];
static rtems_id task_test_status[TASKS] = {[0 ... (TASKS - 1)] = false};
+static struct test_thread thread;
+
const char rtems_test_name[] = "CAN test TX, RX with CAN loopback driver";
-/*FIXME: Should Implement one more test application for the
- * RTR support
- *
- * For testing, the number of successful read and write
- * count is verified.
- */
static void test_task(rtems_task_argument data)
{
- //sleep so that other tasks will be created.
sleep(1);
int fd, task_num = (uint32_t)data;
uint32_t count = 0, msg_size;
- struct can_msg msg;
+ struct can_msg send_msg, recv_msg;
printf("CAN tx and rx for %s\n", CAN_DEV_FILE);
fd = open(CAN_DEV_FILE, O_RDWR);
if (fd < 0) {
- printf("open error: task = %u %s: %s\n", task_num, CAN_DEV_FILE,
strerror(errno));
+ CAN_ERR("open error: task = %u %s: %s\n", task_num, CAN_DEV_FILE,
strerror(errno));
}
rtems_test_assert(fd >= 0);
for (int i = 0; i < NUM_TEST_MSGS; i++) {
- printf("test_task %u\n", task_num);
-
- msg.id = task_num;
- //FIXME: Implement Test cases for other flags also.
- msg.flags = 0;
- msg.len = (i + 1) % 9;
+ send_msg.id = task_num;
+ send_msg.flags = 0;
+ send_msg.len = (i + 1) % 9;
- for (int j = 0; j < msg.len; j++) {
- msg.data[j] = 'a' + j;
+ for (int j = 0; j < send_msg.len; j++) {
+ send_msg.data[j] = 'a' + j;
}
- msg_size = ((char *)&msg.data[msg.len] - (char *)&msg);
+ msg_size = ((char *)&send_msg.data[send_msg.len] - (char *)&send_msg);
- printf("calling write task = %u\n", task_num);
+ rtems_mutex_lock(&thread.mutex);
- count = write(fd, &msg, sizeof(msg));
+ count = write(fd, &send_msg, sizeof(send_msg));
rtems_test_assert(count == msg_size);
- printf("task = %u write count = %u\n", task_num, count);
- printf("calling read task = %u\n", task_num);
- count = read(fd, &msg, sizeof(msg));
- rtems_test_assert(count > 0);
- printf("task = %u read count = %u\n", task_num, count);
+ count = read(fd, &recv_msg, sizeof(recv_msg));
+ rtems_test_assert(send_msg.len == recv_msg.len);
+
+ for (int i = 0; i < recv_msg.len; i++) {
+ rtems_test_assert(send_msg.data[i] == recv_msg.data[i]);
+ }
- printf("received message\n");
- can_print_msg(&msg);
+ rtems_mutex_unlock(&thread.mutex);
+
+ can_print_msg(&recv_msg);
sleep(1);
}
@@ -131,14 +129,11 @@ static void test_task(rtems_task_argument data)
task_test_status[task_num] = true;
- printf("task exited = %u\n", task_num);
rtems_task_exit();
}
int create_task(int i)
{
- printf("Creating task %d\n", i);
-
rtems_status_code result;
rtems_name name;
@@ -156,21 +151,18 @@ int create_task(int i)
RTEMS_FIFO | RTEMS_FLOATING_POINT,
&task_id[i]);
if (result != RTEMS_SUCCESSFUL) {
- printf("rtems_task_create error: %s\n", rtems_status_text(result));
+ CAN_ERR("rtems_task_create error: %s\n", rtems_status_text(result));
rtems_test_assert(result == RTEMS_SUCCESSFUL);
}
- printf("number = %3" PRIi32 ", id = %08" PRIxrtems_id ", starting, ", i,
task_id[i]);
-
fflush(stdout);
- printf("starting task\n");
result = rtems_task_start(task_id[i],
test_task,
(rtems_task_argument)i);
if (result != RTEMS_SUCCESSFUL) {
- printf("rtems_task_start failed %s\n", rtems_status_text(result));
+ CAN_ERR("rtems_task_start failed %s\n", rtems_status_text(result));
rtems_test_assert(result == RTEMS_SUCCESSFUL);
}
@@ -183,8 +175,6 @@ static rtems_task Init(
rtems_task_argument ignored
)
{
- printf("Init\n");
-
int ret;
rtems_print_printer_fprintf_putc(&rtems_test_printer);
@@ -199,10 +189,12 @@ static rtems_task Init(
ret = can_loopback_init(CAN_DEV_FILE);
if (ret != RTEMS_SUCCESSFUL) {
- printf("%s failed\n", rtems_test_name);
+ CAN_ERR("%s failed\n", rtems_test_name);
rtems_test_assert(ret == RTEMS_SUCCESSFUL);
}
+ rtems_mutex_init(&thread.mutex, "CAN test");
+
for (int i = 0; i < TASKS; i++) {
create_task(i);
}
@@ -212,7 +204,6 @@ static rtems_task Init(
int flag = 0;
for (int i = 0; i < TASKS; i++) {
if (task_test_status[i] == false) {
- printf("task not exited = %d\n", i);
sleep(1);
flag = 1;
break;
--
2.25.1
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