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feat: 添加CM3/4/7的硬件与软件浮点单元构建矩阵，变更api接口为dr_*

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7iwind
2026-07-26 23:34:11 +08:00
parent e8ee92110b
commit 7ba20659b2
16 changed files with 773 additions and 440 deletions
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tests/test_datarouter.c
+98 -98
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@@ -16,14 +16,14 @@ static const char *_cur_name;
#define FIXTURE_MAX 16
typedef struct {
datarouter_port_t ports[FIXTURE_MAX];
dr_port_t ports[FIXTURE_MAX];
int count;
} fixture_t;
#define FIXTURE_INIT(f) memset((f), 0, sizeof(*(f)))
#define FIXTURE_PUSH(f, p) do { if ((f)->count < FIXTURE_MAX) (f)->ports[(f)->count++] = (p); } while (0)
#define FIXTURE_CLEAN(f) do { for (int _i = 0; _i < (f)->count; _i++) datarouter_port_delete((f)->ports[_i]); } while (0)
#define FIXTURE_CREATE(f) ({ datarouter_port_t _p = datarouter_port_create(); FIXTURE_PUSH(f, _p); _p; })
#define FIXTURE_CLEAN(f) do { for (int _i = 0; _i < (f)->count; _i++) dr_port_delete((f)->ports[_i]); } while (0)
#define FIXTURE_CREATE(f) ({ dr_port_t _p = dr_port_create(); FIXTURE_PUSH(f, _p); _p; })
#define TEST_START(name) \
static void test_##name(void) \
@@ -68,7 +68,7 @@ static void reset_h(void) { _h_cnt = 0; _h_pos = 0; }
* ================================================================ */
TEST_START(error_uninit)
CHECK(datarouter_send_sensor("d", 1) == -1, "expected -1");
CHECK(dr_send_sensor("d", 1) == -1, "expected -1");
TEST_END()
/* ================================================================
@@ -82,22 +82,22 @@ TEST_END()
TEST_START(port_create_max)
int c = 0;
for (int i = 0; i < 64; i++) {
datarouter_port_t p = datarouter_port_create();
if (p == DATAROUTER_INVALID_PORT) break;
dr_port_t p = dr_port_create();
if (p == DR_INVALID_PORT) break;
FIXTURE_PUSH(&_fix, p); c++;
}
CHECK(c >= 64, "got %d", c);
CHECK(datarouter_port_create() == DATAROUTER_INVALID_PORT, NULL);
CHECK(dr_port_create() == DR_INVALID_PORT, NULL);
TEST_END()
TEST_START(port_delete_invalid)
datarouter_port_delete(-1); datarouter_port_delete(999);
dr_port_delete(-1); dr_port_delete(999);
TEST_END()
TEST_START(port_default_state)
datarouter_port_t p = FIXTURE_CREATE(&_fix);
CHECK(datarouter_port_get_send_type(p) == -1, NULL);
CHECK(datarouter_port_handler_count(p) == 0, NULL);
dr_port_t p = FIXTURE_CREATE(&_fix);
CHECK(dr_port_get_send_type(p) == -1, NULL);
CHECK(dr_port_handler_count(p) == 0, NULL);
TEST_END()
/* ================================================================
@@ -105,26 +105,26 @@ TEST_END()
* ================================================================ */
TEST_START(send_type_set_get)
datarouter_port_t p = FIXTURE_CREATE(&_fix);
datarouter_port_set_send_type(p, DATAROUTER_SEND_sensor);
CHECK(datarouter_port_get_send_type(p) == DATAROUTER_SEND_sensor, NULL);
datarouter_port_set_send_type(p, -1);
CHECK(datarouter_port_get_send_type(p) == -1, NULL);
dr_port_t p = FIXTURE_CREATE(&_fix);
dr_port_set_send_type(p, DR_SEND_sensor);
CHECK(dr_port_get_send_type(p) == DR_SEND_sensor, NULL);
dr_port_set_send_type(p, -1);
CHECK(dr_port_get_send_type(p) == -1, NULL);
TEST_END()
TEST_START(handler_add_remove)
datarouter_port_t p = FIXTURE_CREATE(&_fix);
CHECK(datarouter_port_add_handler(p, _h) == 0, NULL);
CHECK(datarouter_port_handler_count(p) == 1, NULL);
CHECK(datarouter_port_remove_handler(p, _h) == 0, NULL);
CHECK(datarouter_port_handler_count(p) == 0, NULL);
dr_port_t p = FIXTURE_CREATE(&_fix);
CHECK(dr_port_add_handler(p, _h) == 0, NULL);
CHECK(dr_port_handler_count(p) == 1, NULL);
CHECK(dr_port_remove_handler(p, _h) == 0, NULL);
CHECK(dr_port_handler_count(p) == 0, NULL);
TEST_END()
TEST_START(handler_clear)
datarouter_port_t p = FIXTURE_CREATE(&_fix);
datarouter_port_add_handler(p, _h);
datarouter_port_clear_handlers(p);
CHECK(datarouter_port_handler_count(p) == 0, NULL);
dr_port_t p = FIXTURE_CREATE(&_fix);
dr_port_add_handler(p, _h);
dr_port_clear_handlers(p);
CHECK(dr_port_handler_count(p) == 0, NULL);
TEST_END()
/* ================================================================
@@ -133,39 +133,39 @@ TEST_END()
TEST_START(send_no_match_port)
/* 没有端口配置该 send_type */
CHECK(datarouter_send_sensor("d", 1) == -2, "expected -2");
CHECK(dr_send_sensor("d", 1) == -2, "expected -2");
TEST_END()
TEST_START(send_one_port_one_handler)
datarouter_port_t p = FIXTURE_CREATE(&_fix);
datarouter_port_set_send_type(p, DATAROUTER_SEND_sensor);
datarouter_port_add_handler(p, _h);
dr_port_t p = FIXTURE_CREATE(&_fix);
dr_port_set_send_type(p, DR_SEND_sensor);
dr_port_add_handler(p, _h);
reset_h();
CHECK(datarouter_send_sensor("d", 1) == 0, NULL);
CHECK(dr_send_sensor("d", 1) == 0, NULL);
CHECK(_h_cnt == 1, "cnt=%d", _h_cnt);
CHECK(_h_port[0] == (int)p, "port=%d", _h_port[0]);
TEST_END()
TEST_START(send_one_port_multi_handler)
datarouter_port_t p = FIXTURE_CREATE(&_fix);
datarouter_port_set_send_type(p, DATAROUTER_SEND_sensor);
datarouter_port_add_handler(p, _h);
datarouter_port_add_handler(p, _h2);
dr_port_t p = FIXTURE_CREATE(&_fix);
dr_port_set_send_type(p, DR_SEND_sensor);
dr_port_add_handler(p, _h);
dr_port_add_handler(p, _h2);
reset_h();
CHECK(datarouter_send_sensor("d", 1) == 0, NULL);
CHECK(dr_send_sensor("d", 1) == 0, NULL);
CHECK(_h_cnt == 2, "cnt=%d", _h_cnt);
TEST_END()
TEST_START(send_multi_ports_same_type)
/* 两个端口同类型，各一个 handler */
datarouter_port_t p1 = FIXTURE_CREATE(&_fix);
datarouter_port_t p2 = FIXTURE_CREATE(&_fix);
datarouter_port_set_send_type(p1, DATAROUTER_SEND_sensor);
datarouter_port_set_send_type(p2, DATAROUTER_SEND_sensor);
datarouter_port_add_handler(p1, _h);
datarouter_port_add_handler(p2, _h);
dr_port_t p1 = FIXTURE_CREATE(&_fix);
dr_port_t p2 = FIXTURE_CREATE(&_fix);
dr_port_set_send_type(p1, DR_SEND_sensor);
dr_port_set_send_type(p2, DR_SEND_sensor);
dr_port_add_handler(p1, _h);
dr_port_add_handler(p2, _h);
reset_h();
CHECK(datarouter_send_sensor("d", 1) == 0, NULL);
CHECK(dr_send_sensor("d", 1) == 0, NULL);
CHECK(_h_cnt == 2, "cnt=%d", _h_cnt);
/* p1 和 p2 各触发一次 */
CHECK((_h_port[0]==p1 && _h_port[1]==p2) ||
@@ -173,80 +173,80 @@ TEST_START(send_multi_ports_same_type)
TEST_END()
TEST_START(send_multi_port_multi_handler)
datarouter_port_t p1 = FIXTURE_CREATE(&_fix);
datarouter_port_t p2 = FIXTURE_CREATE(&_fix);
datarouter_port_set_send_type(p1, DATAROUTER_SEND_sensor);
datarouter_port_set_send_type(p2, DATAROUTER_SEND_sensor);
datarouter_port_add_handler(p1, _h);
datarouter_port_add_handler(p1, _h2); /* p1 两个 */
datarouter_port_add_handler(p2, _h3); /* p2 一个 */
dr_port_t p1 = FIXTURE_CREATE(&_fix);
dr_port_t p2 = FIXTURE_CREATE(&_fix);
dr_port_set_send_type(p1, DR_SEND_sensor);
dr_port_set_send_type(p2, DR_SEND_sensor);
dr_port_add_handler(p1, _h);
dr_port_add_handler(p1, _h2); /* p1 两个 */
dr_port_add_handler(p2, _h3); /* p2 一个 */
reset_h();
CHECK(datarouter_send_sensor("d", 1) == 0, NULL);
CHECK(dr_send_sensor("d", 1) == 0, NULL);
CHECK(_h_cnt == 3, "cnt=%d", _h_cnt);
TEST_END()
TEST_START(send_type_filter)
/* 两个端口不同类型，只触发匹配的 */
datarouter_port_t p1 = FIXTURE_CREATE(&_fix);
datarouter_port_t p2 = FIXTURE_CREATE(&_fix);
datarouter_port_set_send_type(p1, DATAROUTER_SEND_sensor);
datarouter_port_set_send_type(p2, DATAROUTER_SEND_status);
datarouter_port_add_handler(p1, _h);
datarouter_port_add_handler(p2, _h);
dr_port_t p1 = FIXTURE_CREATE(&_fix);
dr_port_t p2 = FIXTURE_CREATE(&_fix);
dr_port_set_send_type(p1, DR_SEND_sensor);
dr_port_set_send_type(p2, DR_SEND_status);
dr_port_add_handler(p1, _h);
dr_port_add_handler(p2, _h);
reset_h();
CHECK(datarouter_send_sensor("d", 1) == 0, NULL);
CHECK(dr_send_sensor("d", 1) == 0, NULL);
CHECK(_h_cnt == 1, "cnt=%d", _h_cnt);
CHECK(_h_port[0] == (int)p1, "only p1 should fire");
TEST_END()
TEST_START(send_after_remove_handler)
datarouter_port_t p = FIXTURE_CREATE(&_fix);
datarouter_port_set_send_type(p, DATAROUTER_SEND_sensor);
datarouter_port_add_handler(p, _h);
reset_h(); datarouter_send_sensor("d", 1); CHECK(_h_cnt == 1, NULL);
datarouter_port_remove_handler(p, _h);
CHECK(datarouter_send_sensor("d", 1) == -2, "expected -2 after remove");
dr_port_t p = FIXTURE_CREATE(&_fix);
dr_port_set_send_type(p, DR_SEND_sensor);
dr_port_add_handler(p, _h);
reset_h(); dr_send_sensor("d", 1); CHECK(_h_cnt == 1, NULL);
dr_port_remove_handler(p, _h);
CHECK(dr_send_sensor("d", 1) == -2, "expected -2 after remove");
TEST_END()
TEST_START(send_after_delete_port)
datarouter_port_t p = FIXTURE_CREATE(&_fix);
datarouter_port_set_send_type(p, DATAROUTER_SEND_sensor);
datarouter_port_add_handler(p, _h);
datarouter_port_delete(p);
CHECK(datarouter_send_sensor("d", 1) == -2, "expected -2");
dr_port_t p = FIXTURE_CREATE(&_fix);
dr_port_set_send_type(p, DR_SEND_sensor);
dr_port_add_handler(p, _h);
dr_port_delete(p);
CHECK(dr_send_sensor("d", 1) == -2, "expected -2");
_fix.count--;
TEST_END()
TEST_START(send_zero_length)
datarouter_port_t p = FIXTURE_CREATE(&_fix);
datarouter_port_set_send_type(p, DATAROUTER_SEND_sensor);
datarouter_port_add_handler(p, _h);
dr_port_t p = FIXTURE_CREATE(&_fix);
dr_port_set_send_type(p, DR_SEND_sensor);
dr_port_add_handler(p, _h);
reset_h();
CHECK(datarouter_send_sensor("x", 0) == 0, NULL);
CHECK(dr_send_sensor("x", 0) == 0, NULL);
CHECK(_h_cnt == 1, NULL);
TEST_END()
TEST_START(send_null_data)
datarouter_port_t p = FIXTURE_CREATE(&_fix);
datarouter_port_set_send_type(p, DATAROUTER_SEND_sensor);
datarouter_port_add_handler(p, _h);
dr_port_t p = FIXTURE_CREATE(&_fix);
dr_port_set_send_type(p, DR_SEND_sensor);
dr_port_add_handler(p, _h);
reset_h();
CHECK(datarouter_send_sensor(NULL, 0) == 0, NULL);
CHECK(dr_send_sensor(NULL, 0) == 0, NULL);
CHECK(_h_cnt == 1, NULL);
TEST_END()
TEST_START(send_multi_cap)
/* 发送 status 不影响 sensor 端口 */
datarouter_port_t p1 = FIXTURE_CREATE(&_fix);
datarouter_port_t p2 = FIXTURE_CREATE(&_fix);
datarouter_port_set_send_type(p1, DATAROUTER_SEND_sensor);
datarouter_port_set_send_type(p2, DATAROUTER_SEND_status);
datarouter_port_add_handler(p1, _h);
datarouter_port_add_handler(p2, _h);
dr_port_t p1 = FIXTURE_CREATE(&_fix);
dr_port_t p2 = FIXTURE_CREATE(&_fix);
dr_port_set_send_type(p1, DR_SEND_sensor);
dr_port_set_send_type(p2, DR_SEND_status);
dr_port_add_handler(p1, _h);
dr_port_add_handler(p2, _h);
reset_h();
CHECK(datarouter_send_sensor("d", 1) == 0, NULL);
CHECK(dr_send_sensor("d", 1) == 0, NULL);
CHECK(_h_cnt == 1, "sensor: cnt=%d", _h_cnt);
CHECK(datarouter_send_status("d", 1) == 0, NULL);
CHECK(dr_send_status("d", 1) == 0, NULL);
CHECK(_h_cnt == 2, "status: cnt=%d", _h_cnt);
TEST_END()
@@ -255,12 +255,12 @@ TEST_END()
* ================================================================ */
static int _rx_r;
void datarouter_on_recv_rtcm(uint32_t p, const void *d, size_t l)
void dr_on_recv_rtcm(uint32_t p, const void *d, size_t l)
{ (void)p; (void)d; (void)l; _rx_r++; }
TEST_START(recv_callback)
_rx_r = 0;
datarouter_on_recv_rtcm(0, "d", 1);
dr_on_recv_rtcm(0, "d", 1);
CHECK(_rx_r == 1, "cnt=%d", _rx_r);
TEST_END()
@@ -269,19 +269,19 @@ TEST_END()
* ================================================================ */
TEST_START(send_cap_meta)
CHECK(datarouter_send_cap_count() == 2, NULL);
CHECK(strcmp(datarouter_send_cap_name(0), "sensor") == 0, NULL);
CHECK(strcmp(datarouter_send_cap_desc(0), "Sensor data report") == 0, NULL);
CHECK(datarouter_send_cap_name(-1) == NULL, NULL);
CHECK(datarouter_send_cap_name(99) == NULL, NULL);
CHECK(dr_send_cap_count() == 2, NULL);
CHECK(strcmp(dr_send_cap_name(0), "sensor") == 0, NULL);
CHECK(strcmp(dr_send_cap_desc(0), "Sensor data report") == 0, NULL);
CHECK(dr_send_cap_name(-1) == NULL, NULL);
CHECK(dr_send_cap_name(99) == NULL, NULL);
TEST_END()
TEST_START(recv_cap_meta)
CHECK(datarouter_recv_cap_count() == 2, NULL);
CHECK(strcmp(datarouter_recv_cap_name(0), "rtcm") == 0, NULL);
CHECK(strcmp(datarouter_recv_cap_desc(0), "RTCM correction data") == 0, NULL);
CHECK(datarouter_recv_cap_name(-1) == NULL, NULL);
CHECK(datarouter_recv_cap_desc(99) == NULL, NULL);
CHECK(dr_recv_cap_count() == 2, NULL);
CHECK(strcmp(dr_recv_cap_name(0), "rtcm") == 0, NULL);
CHECK(strcmp(dr_recv_cap_desc(0), "RTCM correction data") == 0, NULL);
CHECK(dr_recv_cap_name(-1) == NULL, NULL);
CHECK(dr_recv_cap_desc(99) == NULL, NULL);
TEST_END()
/* ================================================================
@@ -297,7 +297,7 @@ int main(void)
printf("[uninitialized]\n");
RUN(error_uninit);
datarouter_init();
dr_init();
printf("\n[port management]\n");
RUN(port_create_basic);
@@ -306,7 +306,7 @@ int main(void)
RUN(port_default_state);
printf("\n");
datarouter_reset(); datarouter_init();
dr_reset(); dr_init();
printf("[send_type & handler]\n");
RUN(send_type_set_get);
RUN(handler_add_remove);