Add test module: rust_module_test

src/modules/rust_module_test/CMakeLists.txt

@@ -0,0 +1,40 @@
+# ###########################################################################
+#
+# Copyright (c) 2024 Technology Innovation Institute. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+# notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+# notice, this list of conditions and the following disclaimer in
+# the documentation and/or other materials provided with the
+# distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+# used to endorse or promote products derived from this software
+# without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+# ############################################################################
+
+px4_add_rust_module(
+	MODULE modules__rust_module_test
+	MAIN rust_module_test
+	RUST_LIB lib__rust_module_test
+	RUST_MOD
+		rust_mod
+	)

src/modules/rust_module_test/Kconfig

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+menuconfig MODULES_RUST_MODULE_TEST
+	bool "rust_module_test"
+	default n
+	---help---
+		Enable rust module test
+
+menuconfig USER_RUST_MODULE_TEST
+	bool "rust module test in user"
+	default y
+	depends on BOARD_PROTECTED && MODULES_RUST_MODULE_TEST
+	---help---
+		Put rust module test in userspace memory

src/modules/rust_module_test/rust_mod/Cargo.toml

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+[package]
+name = "rust_mod"
+version = "0.1.0"
+edition = "2021"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[lib]
+crate-type = ["staticlib"]
+
+[profile.dev]
+panic = "abort"
+
+[profile.release]
+panic = "abort"
+
+[dependencies]
+log = "0.4"
+px4_nuttx = { path = "../../../lib/rust_px4_nuttx" }
+px4_nuttx_macros = { path = "../../../lib/rust_px4_nuttx/px4_nuttx_macros" }

src/modules/rust_module_test/rust_mod/src/lib.rs

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+#![no_std]
+#![no_main]
+
+extern crate px4_nuttx;
+extern crate px4_nuttx_macros;
+
+use px4_nuttx::logger::{log_raw, LogLevel};
+use log::{info, warn};
+use px4_nuttx::px4_module_main;
+use px4_nuttx::nuttx::net::UdpSocket;
+use px4_nuttx::nuttx::time::{hrt_time, Duration};
+use px4_nuttx::alloc::vec::Vec;
+use px4_nuttx::alloc::string::String;
+
+
+#[px4_module_main]
+pub fn run(_args: &[&str]) -> Result<(), ()> {
+    info!("Hello from Rust module test!");
+
+    let mut count: u32 = 0;
+    for arg in _args {
+        info!("  arg[{}]: {}", count, arg);
+        count += 1;
+    }
+
+    if _args.len() > 1 {
+        let mode: u32 = _args[1].parse::<u32>().unwrap_or(0);
+        match mode {
+            1 => vector_test(),
+            2 => timer_test(),
+            3 => udp_send_test(),
+            4 => udp_recv_test(),
+            5 => generate_panic(),
+            6 => test_raw(),
+            _ => warn!("Invalid test. Use 1-6"),
+        }
+
+    } else {
+        vector_test();
+        timer_test();
+        udp_send_test();
+        udp_recv_test()
+    }
+
+    Ok(())
+}
+
+fn vector_test() {
+    // Test vector
+    info!("TEST: Vector");
+    let mut v1: Vec<u8> = Vec::new();
+    for i in 0..10 {
+        v1.push(i+3);
+    }
+    info!("This is new vector: {:?}", v1);
+}
+
+fn timer_test() {
+    // Test hrt_timer
+    info!("TEST: timer");
+    info!("System timer: {}", hrt_time());
+}
+
+fn udp_send_test() {
+    // Test udp socket send
+    info!("TEST: UDP socket send");
+    let socket = UdpSocket::bind("192.168.200.101:12222").unwrap();
+    info!("Created a socket which is bound to address 192.168.200.101:12222");
+    socket.send_to(b"Hello from Rust!\n", "192.168.200.100:12223").unwrap();
+    info!("Message sent to 192.168.200.100:12223");
+}
+
+fn udp_recv_test() {
+    let mut buf: [u8; 128] = [0; 128];
+    let timeout = 5;
+
+    // Test udp socket receive
+    info!("TEST: UDP socket receive");
+    let mut socket = UdpSocket::bind("192.168.200.101:12222").unwrap();
+    info!("Set read timeout {} secs", timeout);
+    socket.set_read_timeout(Some(Duration::from_secs(timeout))).unwrap();
+    info!("Created a socket which is bound to address 192.168.200.101:12222");
+    if let Ok(len) = socket.recv_from(&mut buf) {
+        info!("Receive {} bytes", len);
+        if let Ok(data) = core::str::from_utf8(&buf[..len]) {
+            info!("MSG: {}", data);
+        } else {
+            warn!("Can't read message data");
+        }
+    } else {
+        warn!("Receiving failed!")
+    }
+
+}
+
+fn test_raw() {
+    let message = String::from("hello from log_raw");
+    info!("Test raw print here");
+    log_raw(
+        LogLevel::Panic,
+        &message,
+    );
+}
+
+fn generate_panic() {
+    info!("This should cause panic");
+    let a: Option<u8> = None;
+    let _b = a.unwrap();
+}