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Posted to commits@nuttx.apache.org by xi...@apache.org on 2020/10/22 16:43:55 UTC
[incubator-nuttx-apps] branch master updated: testing/sensortest:
add sensor driver test
This is an automated email from the ASF dual-hosted git repository.
xiaoxiang pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx-apps.git
The following commit(s) were added to refs/heads/master by this push:
new 60342ec testing/sensortest: add sensor driver test
60342ec is described below
commit 60342ec86223459c21fce255636fb66d90e91ab0
Author: dongjiuzhu <do...@xiaomi.com>
AuthorDate: Tue Oct 20 11:31:13 2020 +0800
testing/sensortest: add sensor driver test
Signed-off-by: dongjiuzhu <do...@xiaomi.com>
---
testing/sensortest/Kconfig | 29 ++++
testing/sensortest/Make.defs | 23 +++
testing/sensortest/Makefile | 30 ++++
testing/sensortest/sensortest.c | 314 ++++++++++++++++++++++++++++++++++++++++
4 files changed, 396 insertions(+)
diff --git a/testing/sensortest/Kconfig b/testing/sensortest/Kconfig
new file mode 100644
index 0000000..01f9242
--- /dev/null
+++ b/testing/sensortest/Kconfig
@@ -0,0 +1,29 @@
+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+config TESTING_SENSORTEST
+ tristate "Sensor driver test"
+ default n
+ ---help---
+ Enable the Sensor driver test
+
+if TESTING_SENSORTEST
+
+config TESTING_SENSORTEST_PROGNAME
+ string "Program name"
+ default "sensortest"
+ ---help---
+ This is the name of the program that will be used when the NSH ELF
+ program is installed.
+
+config TESTING_SENSORTEST_PRIORITY
+ int "Sensor driver test task priority"
+ default 100
+
+config TESTING_SENSORTEST_STACKSIZE
+ int "Sensor driver test stack size"
+ default DEFAULT_TASK_STACKSIZE
+
+endif
diff --git a/testing/sensortest/Make.defs b/testing/sensortest/Make.defs
new file mode 100644
index 0000000..3de46b1
--- /dev/null
+++ b/testing/sensortest/Make.defs
@@ -0,0 +1,23 @@
+############################################################################
+# testing/sensortest/Make.defs
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements. See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership. The
+# ASF licenses this file to you 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.
+#
+############################################################################
+
+ifneq ($(CONFIG_TESTING_SENSORTEST),)
+CONFIGURED_APPS += $(APPDIR)/testing/sensortest
+endif
diff --git a/testing/sensortest/Makefile b/testing/sensortest/Makefile
new file mode 100644
index 0000000..4130abe
--- /dev/null
+++ b/testing/sensortest/Makefile
@@ -0,0 +1,30 @@
+############################################################################
+# testing/sensortest/Makefile
+#
+# Licensed to the Apache Software Foundation (ASF) under one or more
+# contributor license agreements. See the NOTICE file distributed with
+# this work for additional information regarding copyright ownership. The
+# ASF licenses this file to you 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 $(APPDIR)/Make.defs
+
+PROGNAME = $(CONFIG_TESTING_SENSORTEST_PROGNAME)
+PRIORITY = $(CONFIG_TESTING_SENSORTEST_PRIORITY)
+STACKSIZE = $(CONFIG_TESTING_SENSORTEST_STACKSIZE)
+MODULE = $(CONFIG_TESTING_SENSORTEST)
+
+MAINSRC = sensortest.c
+
+include $(APPDIR)/Application.mk
diff --git a/testing/sensortest/sensortest.c b/testing/sensortest/sensortest.c
new file mode 100644
index 0000000..ccc2f5f
--- /dev/null
+++ b/testing/sensortest/sensortest.c
@@ -0,0 +1,314 @@
+/****************************************************************************
+ * testing/sensortest.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/sensors/sensor.h>
+#include <nuttx/config.h>
+#include <sys/ioctl.h>
+#include <unistd.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <fcntl.h>
+#include <poll.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define DEVNAME_FMT "/dev/sensor/%s"
+#define DEVNAME_MAX 64
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+typedef void (*data_print)(FAR const char *buffer, FAR const char *name);
+struct sensor_info
+{
+ data_print print;
+ const uint8_t esize;
+ FAR const char *name;
+};
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+static void print_vec3(FAR const char *buffer, FAR const char *name);
+static void print_valf3(FAR const char *buffer, FAR const char *name);
+static void print_valf2(FAR const char *buffer, FAR const char *name);
+static void print_valf(FAR const char *buffer, FAR const char *name);
+static void print_valb(FAR const char *buffer, FAR const char *name);
+static void print_gps(FAR const char *buffer, FAR const char *name);
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static bool g_should_exit = false;
+
+static const struct sensor_info g_sensor_info[] =
+{
+ {print_vec3, sizeof(struct sensor_event_accel), "accel"},
+ {print_vec3, sizeof(struct sensor_event_mag), "mag"},
+ {print_vec3, sizeof(struct sensor_event_gyro), "gyro"},
+ {print_valf2, sizeof(struct sensor_event_baro), "baro"},
+ {print_valf, sizeof(struct sensor_event_light), "light"},
+ {print_valf, sizeof(struct sensor_event_prox), "prox"},
+ {print_valf, sizeof(struct sensor_event_humi), "humi"},
+ {print_valf, sizeof(struct sensor_event_temp), "temp"},
+ {print_valf3, sizeof(struct sensor_event_rgb), "rgb"},
+ {print_valb, sizeof(struct sensor_event_hall), "hall"},
+ {print_valf, sizeof(struct sensor_event_ir), "ir"},
+ {print_gps, sizeof(struct sensor_event_gps), "gps"},
+ {print_valf, sizeof(struct sensor_event_uv), "uv"},
+ {print_valf, sizeof(struct sensor_event_noise), "noise"},
+ {print_valf, sizeof(struct sensor_event_pm25), "pm25"},
+ {print_valf, sizeof(struct sensor_event_pm1p0), "pm1p0"},
+ {print_valf, sizeof(struct sensor_event_pm10), "pm10"},
+ {print_valf, sizeof(struct sensor_event_co2), "co2"},
+ {print_valf, sizeof(struct sensor_event_hcho), "hcho"},
+ {print_valf, sizeof(struct sensor_event_tvoc), "tvoc"},
+ {print_valf, sizeof(struct sensor_event_ph), "ph"},
+ {print_valf, sizeof(struct sensor_event_dust), "dust"},
+ {print_valf, sizeof(struct sensor_event_hrate), "hrate"},
+ {print_valf, sizeof(struct sensor_event_hbeat), "hbeat"},
+};
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+static void print_vec3(const char *buffer, const char *name)
+{
+ struct sensor_event_accel *event = (struct sensor_event_accel *)buffer;
+ printf("%s: timestamp:%llu x:%.2f y:%.2f z:%.2f, temperature:%.2f\n",
+ name, event->timestamp, event->x, event->y,
+ event->z, event->temperature);
+}
+
+static void print_valb(const char *buffer, const char *name)
+{
+ struct sensor_event_hall *event = (struct sensor_event_hall *)buffer;
+ printf("%s: timestamp:%llu value:%d\n",
+ name, event->timestamp, event->hall);
+}
+
+static void print_valf(const char *buffer, const char *name)
+{
+ struct sensor_event_prox *event = (struct sensor_event_prox *)buffer;
+ printf("%s: timestamp:%llu value:%.2f\n",
+ name, event->timestamp, event->proximity);
+}
+
+static void print_valf2(const char *buffer, const char *name)
+{
+ struct sensor_event_baro *event = (struct sensor_event_baro *)buffer;
+ printf("%s: timestamp:%llu value1:%.2f value2:%.2f\n",
+ name, event->timestamp, event->pressure, event->temperature);
+}
+
+static void print_valf3(const char *buffer, const char *name)
+{
+ struct sensor_event_rgb *event = (struct sensor_event_rgb *)buffer;
+ printf("%s: timestamp:%llu value1:%.2f value2:%.2f, value3:%.2f\n",
+ name, event->timestamp, event->r, event->g, event->b);
+}
+
+static void print_gps(const char *buffer, const char *name)
+{
+ struct sensor_event_gps *event = (struct sensor_event_gps *)buffer;
+
+ printf("%s: year: %d month: %d day: %d hour: %d min: %d sec: %d msec: %d",
+ name, event->year, event->month, event->day, event->hour,
+ event->min, event->sec, event->msec);
+ printf("%s: yaw: %.4f height: %.4f speed: %.4f latitude: %.4f"
+ "longitude: %.4f", name, event->yaw, event->height, event->speed,
+ event->latitude, event->longitude);
+}
+
+static void usage(void)
+{
+ printf("sensortest <command> [arguments...]\n");
+ printf(" Commands:\n");
+ printf("\t<sensor_node_name> ex, accel0(/dev/sensor/accel0)\n");
+
+ printf("\t[-h ] sensotest commands help\n");
+ printf("\t[-i <val>] The output data period of sensor in us\n");
+ printf("\t default: 1000000\n");
+ printf("\t[-b <val>] The maximum report latency of sensor in us\n");
+ printf("\t default: 0\n");
+}
+
+static void exit_handler(int signo)
+{
+ g_should_exit = true;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * sensortest_main
+ ****************************************************************************/
+
+int main(int argc, FAR char *argv[])
+{
+ unsigned int interval = 1000000;
+ unsigned int latency = 0;
+ char devname[PATH_MAX];
+ struct pollfd fds;
+ FAR char *buffer;
+ FAR char *name;
+ int len = 0;
+ int fd;
+ int idx;
+ int ret;
+
+ if (argc <= 1)
+ {
+ usage();
+ return -EINVAL;
+ }
+
+ if (signal(SIGINT, exit_handler) == SIG_ERR)
+ {
+ return -errno;
+ }
+
+ g_should_exit = false;
+ name = argv[1];
+ for (idx = 0; idx < SENSOR_TYPE_COUNT; idx++)
+ {
+ if (!strncmp(name, g_sensor_info[idx].name,
+ strlen(g_sensor_info[idx].name)))
+ {
+ len = g_sensor_info[idx].esize;
+ buffer = calloc(1, len);
+ break;
+ }
+ }
+
+ if (!len)
+ {
+ printf("The sensor node name:%s is invaild\n", name);
+ usage();
+ return -EINVAL;
+ }
+
+ if (!buffer)
+ {
+ return -ENOMEM;
+ }
+
+ while ((ret = getopt(argc, argv, "i:b:h")) != EOF)
+ {
+ switch (ret)
+ {
+ case 'i':
+ interval = strtol(optarg, NULL, 0);
+ break;
+
+ case 'b':
+ latency = strtol(optarg, NULL, 0);
+ break;
+
+ case 'h':
+ default:
+ usage();
+ goto opt_err;
+ break;
+ }
+ }
+
+ snprintf(devname, PATH_MAX, DEVNAME_FMT, name);
+ fd = open(devname, O_RDONLY | O_NONBLOCK);
+ if (fd < 0)
+ {
+ ret = -errno;
+ printf("Failed to open device:%s, ret:%s\n",
+ devname, strerror(errno));
+ goto opt_err;
+ }
+
+ ret = ioctl(fd, SNIOC_ACTIVATE, 1);
+ if (ret < 0)
+ {
+ ret = -errno;
+ printf("Failed to enable sensor:%s, ret:%s\n",
+ devname, strerror(errno));
+ goto ctl_err;
+ }
+
+ ret = ioctl(fd, SNIOC_SET_INTERVAL, &interval);
+ if (ret < 0)
+ {
+ ret = -errno;
+ snerr("Failed to set interval for sensor:%s, ret:%s\n",
+ devname, strerror(errno));
+ goto ctl_err;
+ }
+
+ ret = ioctl(fd, SNIOC_BATCH, &latency);
+ if (ret < 0)
+ {
+ ret = -errno;
+ snerr("Failed to batch for sensor:%s, ret:%s\n",
+ devname, strerror(errno));
+ goto ctl_err;
+ }
+
+ printf("SensorTest: Test %s with interval(%uus), latency(%uus)\n",
+ devname, interval, latency);
+
+ fds.fd = fd;
+ fds.events = POLLIN;
+
+ while (!g_should_exit)
+ {
+ if (poll(&fds, 1, -1) > 0)
+ {
+ if (read(fd, buffer, len) >= len)
+ {
+ g_sensor_info[idx].print(buffer, name);
+ }
+ }
+ }
+
+ ret = ioctl(fd, SNIOC_ACTIVATE, 0);
+ if (ret < 0)
+ {
+ ret = -errno;
+ printf("Failed to disable sensor:%s, ret:%s\n",
+ devname, strerror(errno));
+ goto ctl_err;
+ }
+
+ctl_err:
+ close(fd);
+opt_err:
+ free(buffer);
+ optind = 0;
+ return ret;
+}