testing/ostest: add hrtimer API functional tests

Add functional tests for the newly added hrtimer APIs,
including hrtimer_init(), hrtimer_start(), and hrtimer_cancel().

Signed-off-by: Chengdong Wang <wangchengdong@lixiang.com>

testing/ostest/CMakeLists.txt

@@ -153,6 +153,10 @@ if(CONFIG_TESTING_OSTEST)
     list(APPEND SRCS nxevent.c)
   endif()
 
+  if(CONFIG_HRTIMER AND CONFIG_BUILD_FLAT)
+    list(APPEND SRCS hrtimer.c)
+  endif()
+
   if(CONFIG_BUILD_FLAT)
     list(APPEND SRCS wdog.c)
   endif()

testing/ostest/Makefile

@@ -150,6 +150,12 @@ CSRCS += nxevent.c
 endif
 endif
 
+ifeq ($(CONFIG_HRTIMER),y)
+ifeq ($(CONFIG_BUILD_FLAT),y)
+CSRCS += hrtimer.c
+endif
+endif
+
 ifeq ($(CONFIG_BUILD_FLAT),y)
 CSRCS += wdog.c
 endif

testing/ostest/hrtimer.c

@@ -0,0 +1,228 @@
+/****************************************************************************
+ * apps/testing/ostest/hrtimer.c
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * 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/config.h>
+#include <nuttx/hrtimer.h>
+
+#include <stdio.h>
+#include <sched.h>
+
+#include "ostest.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define NSEC_PER_50MS (50 * NSEC_PER_MSEC)
+
+/* Set a 1ms margin to allow hrtimertest to pass in QEMU.
+ *
+ * QEMU is a virtual platform, and its timer resolution and scheduling
+ * latency may be less precise than on real hardware. Using a larger
+ * margin ensures that tests do not fail due to timing inaccuracies.
+ *
+ * On real hardware (verified on the a2g-tc397-5v-tft board), this
+ * margin can be reduced to less than 5 ns because timers are precise
+ * and deterministic.
+ */
+
+#define HRTIMER_TEST_MARGIN    (NSEC_PER_MSEC)
+
+/* Simple assertion macro for HRTimer test cases */
+#define HRTIMER_TEST(expr, value)                                   \
+  do                                                                \
+    {                                                               \
+      ret = (expr);                                                 \
+      if (ret != (value))                                           \
+        {                                                           \
+          printf("ERROR: HRTimer test failed, line=%d ret=%d\n",   \
+                 __LINE__, ret);                                    \
+          ASSERT(false);                                            \
+        }                                                           \
+    }                                                               \
+  while (0)
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/* Structure for HRTimer test tracking */
+
+struct hrtimer_test_s
+{
+  hrtimer_t timer;    /* HRTimer instance */
+  uint64_t  previous; /* Previous timestamp in nanoseconds */
+  uint32_t  count;    /* Number of timer expirations */
+  uint32_t  period;   /* Expected period between expirations */
+  bool      active;   /* True while the test is still running */
+};
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: hrtimer_test_init
+ *
+ * Description:
+ *   Initialize a hrtimer_test_s structure for a new test.
+ *
+ * Input Parameters:
+ *   hrtimer_test - Pointer to the test structure to initialize
+ *   period       - Expected timer period in nanoseconds
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+
+static void hrtimer_test_init(FAR struct hrtimer_test_s *hrtimer_test,
+                              uint32_t period)
+{
+  hrtimer_test->previous = 0;
+  hrtimer_test->count = 0;
+  hrtimer_test->active = true;
+  hrtimer_test->period = period;
+}
+
+/****************************************************************************
+ * Name: test_hrtimer_callback
+ *
+ * Description:
+ *   HRTimer callback function for test.
+ *
+ *   - Verifies the timer interval is exactly 500ms (nanosecond precision)
+ *   - Stops the test after 15 expirations
+ *   - Re-arms the timer in absolute mode
+ *
+ * Input Parameters:
+ *   hrtimer - Pointer to the expired HRTimer instance
+ *
+ * Returned Value:
+ *   Timer period in nanoseconds (NSEC_PER_50MS)
+ *
+ ****************************************************************************/
+
+static uint32_t test_hrtimer_callback(FAR hrtimer_t *hrtimer)
+{
+  struct timespec ts;
+  uint32_t diff;
+  uint64_t now;
+  int ret;
+
+  FAR struct hrtimer_test_s *test =
+    (FAR struct hrtimer_test_s *)hrtimer;
+
+  /* Increment expiration count */
+
+  test->count++;
+
+  /* Get current system time */
+
+  clock_systime_timespec(&ts);
+  now = clock_time2nsec(&ts);
+
+  /* Skip comparison for first two invocations */
+
+  if (test->count > 2)
+    {
+      /* Verify the timer interval is exactly
+       * 500ms with nsec resolution
+       */
+
+      diff = (uint32_t)(now - test->previous);
+
+      HRTIMER_TEST(NSEC_PER_50MS < diff + HRTIMER_TEST_MARGIN, true);
+      HRTIMER_TEST(NSEC_PER_50MS > diff - HRTIMER_TEST_MARGIN, true);
+    }
+
+  test->previous = now;
+
+  /* Stop the test after 15 expirations */
+
+  if (test->count >= 15)
+    {
+      ret = hrtimer_cancel(hrtimer);
+      HRTIMER_TEST(ret, 0);
+
+      test->active = false;
+    }
+
+  return test->period;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: hrtimer_test
+ *
+ * Description:
+ *   Entry point for high-resolution timer functional test.
+ *
+ *   - Initializes a HRTimer
+ *   - Starts it with a 500ms relative timeout
+ *   - Verifies subsequent expirations occur at 500ms intervals
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+
+void hrtimer_test(void)
+{
+  int ret;
+  struct hrtimer_test_s hrtimer_test;
+
+  /* Initialize test structure */
+
+  hrtimer_test_init(&hrtimer_test, NSEC_PER_50MS);
+
+  /* Initialize the high-resolution timer */
+
+  hrtimer_init(&hrtimer_test.timer,
+               test_hrtimer_callback,
+               NULL);
+
+  /* Start the timer with 500ms relative timeout */
+
+  ret = hrtimer_start(&hrtimer_test.timer,
+                      hrtimer_test.period,
+                      HRTIMER_MODE_REL);
+
+  HRTIMER_TEST(ret, OK);
+
+  /* Wait until the test completes */
+
+  while (hrtimer_test.active)
+    {
+      usleep(USEC_PER_MSEC);
+    }
+}

testing/ostest/ostest.h

@@ -304,4 +304,8 @@ int sem_nfreeholders(void);
 void nxevent_test(void);
 #endif
 
+#if defined(CONFIG_SCHED_EVENTS) && defined(CONFIG_BUILD_FLAT)
+void hrtimer_test(void);
+#endif
+
 #endif /* __APPS_TESTING_OSTEST_OSTEST_H */

testing/ostest/ostest_main.c

@@ -625,6 +625,14 @@ static int user_main(int argc, char *argv[])
       check_test_memory_usage();
 #endif
 
+#if defined(CONFIG_HRTIMER) && defined(CONFIG_BUILD_FLAT)
+      /* Verify hrtimer */
+
+      printf("\nuser_main: hrtimer test\n");
+      hrtimer_test();
+      check_test_memory_usage();
+#endif
+
       /* Compare memory usage at time ostest_main started until
        * user_main exits.  These should not be identical, but should
        * be similar enough that we can detect any serious OS memory
@@ -705,7 +713,7 @@ int main(int argc, FAR char **argv)
   stdio_test();
 
 #ifdef SDCC
-  /* I am not yet certain why SDCC does not like the following initilizers.
+  /* I am not yet certain why SDCC does not like the following initializers.
    * It involves some issues with 2- vs 3-byte pointer types.
    */