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   *
   *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
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   * 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
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   *    used to endorse or promote products derived from this software
   *    without specific prior written permission.
   *
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   * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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   * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
   * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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   ****************************************************************************/
  
  #include "uORBTest_UnitTest.hpp"
  #include "../uORBCommon.hpp"
  #include <px4_platform_common/px4_config.h>
  #include <px4_platform_common/time.h>
  #include <stdio.h>
  #include <errno.h>
  #include <math.h>
  #include <lib/cdev/CDev.hpp>
  #include <uORB/PublicationMulti.hpp>
  #include <uORB/SubscriptionMultiArray.hpp>
  
  uORBTest::UnitTest &uORBTest::UnitTest::instance()
  {
  	static uORBTest::UnitTest t;
  	return t;
  }
  
  int uORBTest::UnitTest::pubsublatency_main()
  {
  	/* poll on test topic and output latency */
  	float latency_integral = 0.0f;
  
  	/* wakeup source(s) */
  	px4_pollfd_struct_t fds[1] {};
  
  	int test_multi_sub = orb_subscribe_multi(ORB_ID(orb_test_medium), 0);
  
  	orb_test_medium_s t{};
  
  	/* clear all ready flags */
  	orb_copy(ORB_ID(orb_test_medium), test_multi_sub, &t);
  
  	fds[0].fd = test_multi_sub;
  	fds[0].events = POLLIN;
  
  	static constexpr unsigned MAX_RUNS = 1000;
  	unsigned timingsgroup = 0;
  	int current_value = t.val;
  	int num_missed = 0;
  
  	// timings has to be on the heap to keep frame size below 2048 bytes
  	unsigned *timings = new unsigned[MAX_RUNS] {};
  	unsigned timing_min = 9999999;
  	unsigned timing_max = 0;
  
  	for (unsigned i = 0; i < MAX_RUNS; i++) {
  		/* wait for up to 500ms for data */
  		int pret = px4_poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 500);
  
  		if (fds[0].revents & POLLIN) {
  			orb_copy(ORB_ID(orb_test_medium), test_multi_sub, &t);
  
  			unsigned elt = (unsigned)hrt_elapsed_time_atomic(&t.timestamp);
  			latency_integral += elt;
  			timings[i] = elt;
  
  			if (elt > timing_max) {
  				timing_max = elt;
  			}
  
  			if (elt < timing_min) {
  				timing_min = elt;
  			}
  
  			timingsgroup = 0;
  
  			num_missed += t.val - current_value - 1;
  			current_value = t.val;
  		}
  
  		if (pret < 0) {
  			PX4_ERR("poll error %d, %d", pret, errno);
  			continue;
  		}
  	}
  
  	orb_unsubscribe(test_multi_sub);
  
  	if (pubsubtest_print && timings) {
  		char fname[32] {};
  		sprintf(fname, PX4_STORAGEDIR"/uorb_timings%u.txt", timingsgroup);
  		FILE *f = fopen(fname, "w");
  
  		if (f == nullptr) {
  			PX4_ERR("Error opening file!");
  			delete[] timings;
  			return PX4_ERROR;
  		}
  
  		for (unsigned i = 0; i < MAX_RUNS; i++) {
  			fprintf(f, "%u\n", timings[i]);
  		}
  
  		fclose(f);
  	}
  
  
  	float std_dev = 0.f;
  	float mean = latency_integral / MAX_RUNS;
  
  	for (unsigned i = 0; i < MAX_RUNS; i++) {
  		float diff = (float)timings[i] - mean;
  		std_dev += diff * diff;
  	}
  
  	delete[] timings;
  
  	PX4_INFO("mean:    %8.4f us", static_cast<double>(mean));
  	PX4_INFO("std dev: %8.4f us", static_cast<double>(sqrtf(std_dev / (MAX_RUNS - 1))));
  	PX4_INFO("min:     %3i us", timing_min);
  	PX4_INFO("max:     %3i us", timing_max);
  	PX4_INFO("missed topic updates: %i", num_missed);
  
  	pubsubtest_passed = true;
  
  	if (static_cast<float>(latency_integral / MAX_RUNS) > 100.0f) {
  		pubsubtest_res = PX4_ERROR;
  
  	} else {
  		pubsubtest_res = PX4_OK;
  	}
  
  	return pubsubtest_res;
  }
  
  int uORBTest::UnitTest::test()
  {
  	int ret = test_single();
  
  	if (ret != OK) {
  		return ret;
  	}
  
  	ret = test_SubscriptionMulti();
  
  	if (ret != OK) {
  		return ret;
  	}
  
  	ret = test_multi();
  
  	if (ret != OK) {
  		return ret;
  	}
  
  	ret = test_multi_reversed();
  
  	if (ret != OK) {
  		return ret;
  	}
  
  	ret = test_unadvertise();
  
  	if (ret != OK) {
  		return ret;
  	}
  
  	ret = test_multi2();
  
  	if (ret != OK) {
  		return ret;
  	}
  
  	ret = test_wrap_around();
  
  	if (ret != OK) {
  		return ret;
  	}
  
  	ret = test_queue();
  
  	if (ret != OK) {
  		return ret;
  	}
  
  	return test_queue_poll_notify();
  }
  
  int uORBTest::UnitTest::test_unadvertise()
  {
  	test_note("Testing unadvertise");
  
  	//we still have the advertisements from the previous test_multi calls.
  	for (int i = 0; i < 4; ++i) {
  		int ret = orb_unadvertise(_pfd[i]);
  
  		if (ret != PX4_OK) {
  			return test_fail("orb_unadvertise failed (%i)", ret);
  		}
  	}
  
  	//try to advertise and see whether we get the right instance
  	int instance_test[4] {};
  	orb_test_s t{};
  
  	for (int i = 0; i < 4; ++i) {
  		_pfd[i] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance_test[i]);
  
  		if (instance_test[i] != i) {
  			return test_fail("got wrong instance (should be %i, is %i)", i, instance_test[i]);
  		}
  	}
  
  	for (int i = 0; i < 4; ++i) {
  		orb_unadvertise(_pfd[i]);
  	}
  
  	return test_note("PASS unadvertise");
  }
  
  
  int uORBTest::UnitTest::info()
  {
  	return OK;
  }
  
  int uORBTest::UnitTest::test_single()
  {
  	test_note("try single-topic support");
  
  	orb_advert_t ptopic{};
  	bool updated{false};
  
  	orb_test_s t{};
  	t.val = 0;
  	ptopic = orb_advertise(ORB_ID(orb_test), &t);
  
  	if (ptopic == nullptr) {
  		return test_fail("advertise failed: %d", errno);
  	}
  
  	int sfd = orb_subscribe(ORB_ID(orb_test));
  
  	if (sfd < 0) {
  		return test_fail("subscribe failed: %d", errno);
  	}
  
  	orb_test_s u{};
  	u.val = 1;
  
  	if (PX4_OK != orb_copy(ORB_ID(orb_test), sfd, &u)) {
  		return test_fail("copy(1) failed: %d", errno);
  	}
  
  	if (u.val != t.val) {
  		return test_fail("copy(1) mismatch: %d expected %d", u.val, t.val);
  	}
  
  	if (PX4_OK != orb_check(sfd, &updated)) {
  		return test_fail("check(1) failed");
  	}
  
  	if (updated) {
  		return test_fail("spurious updated flag");
  	}
  
  	t.val = 2;
  
  	if (PX4_OK != orb_publish(ORB_ID(orb_test), ptopic, &t)) {
  		return test_fail("publish failed");
  	}
  
  	if (PX4_OK != orb_check(sfd, &updated)) {
  		return test_fail("check(2) failed");
  	}
  
  	if (!updated) {
  		return test_fail("missing updated flag");
  	}
  
  	if (PX4_OK != orb_copy(ORB_ID(orb_test), sfd, &u)) {
  		return test_fail("copy(2) failed: %d", errno);
  	}
  
  	if (u.val != t.val) {
  		return test_fail("copy(2) mismatch: %d expected %d", u.val, t.val);
  	}
  
  	orb_unsubscribe(sfd);
  
  	int ret = orb_unadvertise(ptopic);
  
  	if (ret != PX4_OK) {
  		return test_fail("orb_unadvertise failed: %i", ret);
  	}
  
  	return test_note("PASS single-topic test");
  }
  
  int uORBTest::UnitTest::test_multi()
  {
  	/* this routine tests the multi-topic support */
  	test_note("try multi-topic support");
  
  	orb_test_s t{};
  	orb_test_s u{};
  
  	int instance0;
  	_pfd[0] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance0);
  
  	int instance1;
  	_pfd[1] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance1);
  
  	if (instance0 != 0) {
  		return test_fail("mult. id0: %d", instance0);
  	}
  
  	if (instance1 != 1) {
  		return test_fail("mult. id1: %d", instance1);
  	}
  
  	t.val = 103;
  
  	if (PX4_OK != orb_publish(ORB_ID(orb_multitest), _pfd[0], &t)) {
  		return test_fail("mult. pub0 fail");
  	}
  
  	t.val = 203;
  
  	if (PX4_OK != orb_publish(ORB_ID(orb_multitest), _pfd[1], &t)) {
  		return test_fail("mult. pub1 fail");
  	}
  
  	/* subscribe to both topics and ensure valid data is received */
  	int sfd0 = orb_subscribe_multi(ORB_ID(orb_multitest), 0);
  
  	if (PX4_OK != orb_copy(ORB_ID(orb_multitest), sfd0, &u)) {
  		return test_fail("sub #0 copy failed: %d", errno);
  	}
  
  	if (u.val != 103) {
  		return test_fail("sub #0 val. mismatch: %d", u.val);
  	}
  
  	int sfd1 = orb_subscribe_multi(ORB_ID(orb_multitest), 1);
  
  	if (PX4_OK != orb_copy(ORB_ID(orb_multitest), sfd1, &u)) {
  		return test_fail("sub #1 copy failed: %d", errno);
  	}
  
  	if (u.val != 203) {
  		return test_fail("sub #1 val. mismatch: %d", u.val);
  	}
  
  	if (PX4_OK != latency_test(false)) {
  		return test_fail("latency test failed");
  	}
  
  	orb_unsubscribe(sfd0);
  	orb_unsubscribe(sfd1);
  
  	return test_note("PASS multi-topic test");
  }
  
  int uORBTest::UnitTest::pub_test_multi2_entry(int argc, char *argv[])
  {
  	uORBTest::UnitTest &t = uORBTest::UnitTest::instance();
  	return t.pub_test_multi2_main();
  }
  
  int uORBTest::UnitTest::pub_test_multi2_main()
  {
  	int data_next_idx = 0;
  	const int num_instances = 3;
  	orb_advert_t orb_pub[num_instances] {};
  	orb_test_medium_s data_topic{};
  
  	for (int i = 0; i < num_instances; ++i) {
  		orb_advert_t &pub = orb_pub[i];
  		int idx = i;
  //		PX4_WARN("advertise %i, t=%" PRIu64, i, hrt_absolute_time());
  		pub = orb_advertise_multi(ORB_ID(orb_test_medium_multi), &data_topic, &idx);
  
  		if (idx != i) {
  			_thread_should_exit = true;
  			PX4_ERR("Got wrong instance! should be: %i, but is %i", i, idx);
  			return -1;
  		}
  	}
  
  	px4_usleep(100 * 1000);
  
  	int message_counter = 0;
  	int num_messages = 50 * num_instances;
  
  	while (message_counter++ < num_messages) {
  		px4_usleep(2); //make sure the timestamps are different
  		orb_advert_t &pub = orb_pub[data_next_idx];
  
  		data_topic.timestamp = hrt_absolute_time();
  		data_topic.val = data_next_idx;
  
  		orb_publish(ORB_ID(orb_test_medium_multi), pub, &data_topic);
  //		PX4_WARN("publishing msg (idx=%i, t=%" PRIu64 ")", data_next_idx, data_topic.time);
  
  		data_next_idx = (data_next_idx + 1) % num_instances;
  
  		if (data_next_idx == 0) {
  			px4_usleep(50 * 1000);
  		}
  	}
  
  	px4_usleep(100 * 1000);
  	_thread_should_exit = true;
  
  	for (int i = 0; i < num_instances; ++i) {
  		orb_unadvertise(orb_pub[i]);
  	}
  
  	return 0;
  }
  
  int uORBTest::UnitTest::test_multi2()
  {
  	test_note("Testing multi-topic 2 test (queue simulation)");
  	//test: first subscribe, then advertise
  
  	_thread_should_exit = false;
  	const int num_instances = 3;
  	int orb_data_fd[num_instances] {-1, -1, -1};
  	int orb_data_next = 0;
  
  	for (int i = 0; i < num_instances; ++i) {
  //		PX4_WARN("subscribe %i, t=%" PRIu64, i, hrt_absolute_time());
  		orb_data_fd[i] = orb_subscribe_multi(ORB_ID(orb_test_medium_multi), i);
  	}
  
  	char *const args[1] = { nullptr };
  	int pubsub_task = px4_task_spawn_cmd("uorb_test_multi",
  					     SCHED_DEFAULT,
  					     SCHED_PRIORITY_MAX - 5,
  					     2000,
  					     (px4_main_t)&uORBTest::UnitTest::pub_test_multi2_entry,
  					     args);
  
  	if (pubsub_task < 0) {
  		return test_fail("failed launching task");
  	}
  
  	hrt_abstime last_time = 0;
  
  	while (!_thread_should_exit) {
  
  		px4_usleep(1000);
  
  		bool updated = false;
  		int orb_data_cur_fd = orb_data_fd[orb_data_next];
  		orb_check(orb_data_cur_fd, &updated);
  
  		if (updated) {
  			orb_test_medium_s msg{};
  			orb_copy(ORB_ID(orb_test_medium_multi), orb_data_cur_fd, &msg);
  
  			if (last_time >= msg.timestamp && last_time != 0) {
  				return test_fail("Timestamp not increasing! (%" PRIu64 " >= %" PRIu64 ")", last_time, msg.timestamp);
  			}
  
  			last_time = msg.timestamp;
  
  			PX4_DEBUG("got message (val=%i, idx=%i, t=%" PRIu64 ")", msg.val, orb_data_next, msg.timestamp);
  			orb_data_next = (orb_data_next + 1) % num_instances;
  		}
  	}
  
  	for (int i = 0; i < num_instances; ++i) {
  		orb_unsubscribe(orb_data_fd[i]);
  	}
  
  	return test_note("PASS multi-topic 2 test (queue simulation)");
  }
  
  int uORBTest::UnitTest::test_multi_reversed()
  {
  	test_note("try multi-topic support subscribing before publishing");
  
  	/* For these tests 0 and 1 instances are taken from before, therefore continue with 2 and 3. */
  
  	/* Subscribe first and advertise afterwards. */
  	int sfd2 = orb_subscribe_multi(ORB_ID(orb_multitest), 2);
  
  	if (sfd2 < 0) {
  		return test_fail("sub. id2: ret: %d", sfd2);
  	}
  
  	orb_test_s t{};
  	orb_test_s u{};
  
  	int instance2;
  	_pfd[2] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance2);
  
  	int instance3;
  	_pfd[3] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance3);
  
  	if (instance2 != 2) {
  		return test_fail("mult. id2: %d", instance2);
  	}
  
  	if (instance3 != 3) {
  		return test_fail("mult. id3: %d", instance3);
  	}
  
  	t.val = 204;
  
  	if (PX4_OK != orb_publish(ORB_ID(orb_multitest), _pfd[2], &t)) {
  		return test_fail("mult. pub0 fail");
  	}
  
  	t.val = 304;
  
  	if (PX4_OK != orb_publish(ORB_ID(orb_multitest), _pfd[3], &t)) {
  		return test_fail("mult. pub1 fail");
  	}
  
  	if (PX4_OK != orb_copy(ORB_ID(orb_multitest), sfd2, &u)) {
  		return test_fail("sub #2 copy failed: %d", errno);
  	}
  
  	if (u.val != 204) {
  		return test_fail("sub #3 val. mismatch: %d", u.val);
  	}
  
  	int sfd3 = orb_subscribe_multi(ORB_ID(orb_multitest), 3);
  
  	if (PX4_OK != orb_copy(ORB_ID(orb_multitest), sfd3, &u)) {
  		return test_fail("sub #3 copy failed: %d", errno);
  	}
  
  	if (u.val != 304) {
  		return test_fail("sub #3 val. mismatch: %d", u.val);
  	}
  
  	return test_note("PASS multi-topic reversed");
  }
  
  int uORBTest::UnitTest::test_wrap_around()
  {
  	test_note("Testing orb wrap-around");
  
  	orb_test_medium_s t{};
  	orb_test_medium_s u{};
  	orb_advert_t ptopic{nullptr};
  	bool updated{false};
  
  	// Advertise but not publish topics, only generate device_node, which is convenient for modifying DeviceNode::_generation
  	const int queue_size = 16;
  	ptopic = orb_advertise_queue(ORB_ID(orb_test_medium_wrap_around), nullptr, queue_size);
  
  	if (ptopic == nullptr) {
  		return test_fail("advertise failed: %d", errno);
  	}
  
  	auto node = uORB::Manager::get_instance()->get_device_master()->getDeviceNode(ORB_ID(orb_test_medium_wrap_around), 0);
  
  	if (node == nullptr) {
  		return test_fail("get device node failed.");
  	}
  
  	// Set generation
  	{
  		// Set generation to the location where wrap-around is about to be: (0 - queue_size / 2) => (UINT_MAX - queue_size / 2 + 1)
  		set_generation(*node, unsigned(-(queue_size / 2)));
  
  		if (node->updates_available(0) != unsigned(-(queue_size / 2))) {
  			return test_fail("set generation failed.");
  		}
  	}
  
  	t.val = 0;
  	orb_publish(ORB_ID(orb_test_medium_wrap_around), ptopic, &t);
  
  	int sfd = orb_subscribe(ORB_ID(orb_test_medium_wrap_around));
  
  	if (sfd < 0) {
  		return test_fail("subscribe failed: %d", errno);
  	}
  
  	orb_check(sfd, &updated);
  
  	if (!updated) {
  		return test_fail("update flag not set");
  	}
  
  	if (PX4_OK != orb_copy(ORB_ID(orb_test_medium_wrap_around), sfd, &u)) {
  		return test_fail("copy(1) failed: %d", errno);
  	}
  
  	if (u.val != t.val) {
  		return test_fail("copy(1) mismatch: %d expected %d", u.val, t.val);
  	}
  
  	orb_check(sfd, &updated);
  
  	if (updated) {
  		return test_fail("spurious updated flag");
  	}
  
  #define CHECK_UPDATED(element) \
  	orb_check(sfd, &updated); \
  	if (!updated) { \
  		return test_fail("update flag not set, element %i", element); \
  	}
  #define CHECK_NOT_UPDATED(element) \
  	orb_check(sfd, &updated); \
  	if (updated) { \
  		return test_fail("update flag set, element %i", element); \
  	}
  #define CHECK_COPY(i_got, i_correct) \
  	orb_copy(ORB_ID(orb_test_medium_wrap_around), sfd, &u); \
  	if (i_got != i_correct) { \
  		return test_fail("got wrong element from the queue (got %i, should be %i)", i_got, i_correct); \
  	}
  
  	//no messages in the queue anymore
  
  	test_note("  Testing to write some elements...");
  
  	for (int i = 0; i < queue_size - 2; ++i) {
  		t.val = i;
  		orb_publish(ORB_ID(orb_test_medium_wrap_around), ptopic, &t);
  	}
  
  	for (int i = 0; i < queue_size - 2; ++i) {
  		CHECK_UPDATED(i);
  		CHECK_COPY(u.val, i);
  	}
  
  	CHECK_NOT_UPDATED(queue_size);
  
  #define SET_GENERTATION() \
  	set_generation(*node, unsigned(-(queue_size / 2))); \
  	if (node->updates_available(0) != unsigned(-(queue_size / 2))) { \
  		return test_fail("set generation failed."); \
  	} \
  	for (int i = 0; i < queue_size; i++) { \
  		if (PX4_OK != orb_copy(ORB_ID(orb_test_medium_wrap_around), sfd, &u)) { \
  			break; \
  		} \
  	}
  
  	test_note("  Testing overflow...");
  	int overflow_by = 3;
  
  	SET_GENERTATION();
  
  	for (int i = 0; i < queue_size + overflow_by; ++i) {
  		t.val = i;
  		orb_publish(ORB_ID(orb_test_medium_wrap_around), ptopic, &t);
  	}
  
  	for (int i = 0; i < queue_size; ++i) {
  		CHECK_UPDATED(i);
  		CHECK_COPY(u.val, i + overflow_by);
  	}
  
  	CHECK_NOT_UPDATED(queue_size);
  
  	test_note("  Testing underflow...");
  
  	SET_GENERTATION();
  
  	t.val = queue_size;
  	orb_publish(ORB_ID(orb_test_medium_wrap_around), ptopic, &t);
  
  	CHECK_UPDATED(-1);
  	CHECK_COPY(u.val, t.val);
  
  	for (int i = 0; i < queue_size; ++i) {
  		CHECK_NOT_UPDATED(i);
  		CHECK_COPY(u.val, t.val);
  	}
  
  #undef SET_GENERTATION
  
  	t.val = 943;
  	orb_publish(ORB_ID(orb_test_medium_wrap_around), ptopic, &t);
  	CHECK_UPDATED(-1);
  	CHECK_COPY(u.val, t.val);
  
  #undef CHECK_COPY
  #undef CHECK_UPDATED
  #undef CHECK_NOT_UPDATED
  
  	orb_unadvertise(ptopic);
  	orb_unsubscribe(sfd);
  
  	return test_note("PASS orb wrap around");
  }
  
  int uORBTest::UnitTest::test_SubscriptionMulti()
  {
  
  	uORB::PublicationMulti<orb_test_s> orb_test_pub_multi[ORB_MULTI_MAX_INSTANCES] {
  		ORB_ID::orb_test,
  		ORB_ID::orb_test,
  		ORB_ID::orb_test,
  		ORB_ID::orb_test,
  		ORB_ID::orb_test,
  		ORB_ID::orb_test,
  		ORB_ID::orb_test,
  		ORB_ID::orb_test,
  		ORB_ID::orb_test,
  		ORB_ID::orb_test,
  	};
  
  	uORB::SubscriptionMultiArray<orb_test_s> orb_test_sub_multi_array{ORB_ID::orb_test};
  
  	// verify not advertised yet
  	for (auto &sub : orb_test_sub_multi_array) {
  		if (sub.advertised()) {
  			return test_fail("sub is advertised");
  		}
  	}
  
  	// advertise one at a time and verify instance
  	for (int i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) {
  		orb_test_pub_multi[i].advertise();
  
  		if (!orb_test_sub_multi_array[i].advertised()) {
  			return test_fail("sub %d advertise failed", i);
  		}
  
  		if (orb_test_sub_multi_array.advertised_count() != i + 1) {
  			return test_fail("SubscriptionMultiArray advertised_count() return %d, should be %d",
  					 orb_test_sub_multi_array.advertised_count(), i);
  		}
  
  		// verify instance numbering
  		if (orb_test_sub_multi_array[i].get_instance() != i) {
  			return test_fail("sub %d doesn't match instance %d", i, orb_test_sub_multi_array[i].get_instance());
  		}
  	}
  
  	// publish one at a time and verify
  	for (int t = 0; t < 2; t++) {
  		for (int i = 0; i < 10; i++) {
  			for (int instance = 0; instance < ORB_MULTI_MAX_INSTANCES; instance++) {
  				orb_test_s orb_test_pub{};
  				orb_test_pub.val = i * instance + t;
  				orb_test_pub.timestamp = hrt_absolute_time();
  				orb_test_pub_multi[instance].publish(orb_test_pub);
  			}
  
  			int sub_instance = 0;
  
  			for (auto &sub : orb_test_sub_multi_array) {
  
  				if (!sub.updated()) {
  					return test_fail("sub %d not updated", sub_instance);
  
  				} else {
  					const unsigned last_gen = sub.get_last_generation();
  
  					orb_test_s orb_test_copy{};
  
  					if (!sub.copy(&orb_test_copy)) {
  						return test_fail("sub %d copy failed", sub_instance);
  
  					} else {
  						if (orb_test_copy.val != (i * sub_instance + t)) {
  							return test_fail("sub %d invalid value %d", sub_instance, orb_test_copy.val);
  						}
  
  						if (sub.get_last_generation() != last_gen + 1) {
  							//return test_fail("sub %d generation should be %d + 1, but it's %d", sub_instance, last_gen, sub.get_last_generation());
  							PX4_ERR("sub %d generation should be %d + 1, but it's %d", sub_instance, last_gen, sub.get_last_generation());
  						}
  					}
  				}
  
  				sub_instance++;
  			}
  		}
  
  		// force unsubscribe all, then repeat
  		for (auto &sub : orb_test_sub_multi_array) {
  			sub.unsubscribe();
  		}
  	}
  
  	return test_note("PASS orb SubscriptionMulti");
  }
  
  int uORBTest::UnitTest::test_queue()
  {
  	test_note("Testing orb queuing");
  
  	orb_test_medium_s u{};
  	orb_advert_t ptopic{nullptr};
  	bool updated{false};
  
  	int sfd = orb_subscribe(ORB_ID(orb_test_medium_queue));
  
  	if (sfd < 0) {
  		return test_fail("subscribe failed: %d", errno);
  	}
  
  	const int queue_size = 16;
  	orb_test_medium_s t{};
  	ptopic = orb_advertise_queue(ORB_ID(orb_test_medium_queue), &t, queue_size);
  
  	if (ptopic == nullptr) {
  		return test_fail("advertise failed: %d", errno);
  	}
  
  	orb_check(sfd, &updated);
  
  	if (!updated) {
  		return test_fail("update flag not set");
  	}
  
  	if (PX4_OK != orb_copy(ORB_ID(orb_test_medium_queue), sfd, &u)) {
  		return test_fail("copy(1) failed: %d", errno);
  	}
  
  	if (u.val != t.val) {
  		return test_fail("copy(1) mismatch: %d expected %d", u.val, t.val);
  	}
  
  	orb_check(sfd, &updated);
  
  	if (updated) {
  		return test_fail("spurious updated flag");
  	}
  
  #define CHECK_UPDATED(element) \
  	orb_check(sfd, &updated); \
  	if (!updated) { \
  		return test_fail("update flag not set, element %i", element); \
  	}
  #define CHECK_NOT_UPDATED(element) \
  	orb_check(sfd, &updated); \
  	if (updated) { \
  		return test_fail("update flag set, element %i", element); \
  	}
  #define CHECK_COPY(i_got, i_correct) \
  	orb_copy(ORB_ID(orb_test_medium_queue), sfd, &u); \
  	if (i_got != i_correct) { \
  		return test_fail("got wrong element from the queue (got %i, should be %i)", i_got, i_correct); \
  	}
  
  	//no messages in the queue anymore
  
  	test_note("  Testing to write some elements...");
  
  	for (int i = 0; i < queue_size - 2; ++i) {
  		t.val = i;
  		orb_publish(ORB_ID(orb_test_medium_queue), ptopic, &t);
  	}
  
  	for (int i = 0; i < queue_size - 2; ++i) {
  		CHECK_UPDATED(i);
  		CHECK_COPY(u.val, i);
  	}
  
  	CHECK_NOT_UPDATED(queue_size);
  
  	test_note("  Testing overflow...");
  	int overflow_by = 3;
  
  	for (int i = 0; i < queue_size + overflow_by; ++i) {
  		t.val = i;
  		orb_publish(ORB_ID(orb_test_medium_queue), ptopic, &t);
  	}
  
  	for (int i = 0; i < queue_size; ++i) {
  		CHECK_UPDATED(i);
  		CHECK_COPY(u.val, i + overflow_by);
  	}
  
  	CHECK_NOT_UPDATED(queue_size);
  
  	test_note("  Testing underflow...");
  
  	for (int i = 0; i < queue_size; ++i) {
  		CHECK_NOT_UPDATED(i);
  		CHECK_COPY(u.val, queue_size + overflow_by - 1);
  	}
  
  	t.val = 943;
  	orb_publish(ORB_ID(orb_test_medium_queue), ptopic, &t);
  	CHECK_UPDATED(-1);
  	CHECK_COPY(u.val, t.val);
  
  #undef CHECK_COPY
  #undef CHECK_UPDATED
  #undef CHECK_NOT_UPDATED
  
  	orb_unadvertise(ptopic);
  
  	return test_note("PASS orb queuing");
  }
  
  
  int uORBTest::UnitTest::pub_test_queue_entry(int argc, char *argv[])
  {
  	uORBTest::UnitTest &t = uORBTest::UnitTest::instance();
  	return t.pub_test_queue_main();
  }
  
  int uORBTest::UnitTest::pub_test_queue_main()
  {
  	orb_test_medium_s t{};
  	orb_advert_t ptopic{nullptr};
  	const int queue_size = 50;
  
  	if ((ptopic = orb_advertise_queue(ORB_ID(orb_test_medium_queue_poll), &t, queue_size)) == nullptr) {
  		_thread_should_exit = true;
  		return test_fail("advertise failed: %d", errno);
  	}
  
  	int message_counter = 0;
  	int num_messages = 20 * queue_size;
  
  	++t.val;
  
  	while (message_counter < num_messages) {
  
  		//simulate burst
  		int burst_counter = 0;
  
  		while (burst_counter++ < queue_size / 2 + 7) { //make interval non-boundary aligned
  			orb_publish(ORB_ID(orb_test_medium_queue_poll), ptopic, &t);
  			++t.val;
  		}
  
  		message_counter += burst_counter;
  		px4_usleep(20 * 1000); //give subscriber a chance to catch up
  	}
  
  	_num_messages_sent = t.val;
  	px4_usleep(100 * 1000);
  	_thread_should_exit = true;
  	orb_unadvertise(ptopic);
  
  	return 0;
  }
  
  int uORBTest::UnitTest::test_queue_poll_notify()
  {
  	test_note("Testing orb queuing (poll & notify)");
  
  	orb_test_medium_s t{};
  	int sfd = -1;
  
  	if ((sfd = orb_subscribe(ORB_ID(orb_test_medium_queue_poll))) < 0) {
  		return test_fail("subscribe failed: %d", errno);
  	}
  
  	_thread_should_exit = false;
  
  	char *const args[1] = { nullptr };
  	int pubsub_task = px4_task_spawn_cmd("uorb_test_queue",
  					     SCHED_DEFAULT,
  					     SCHED_PRIORITY_MIN + 5,
  					     2000,
  					     (px4_main_t)&uORBTest::UnitTest::pub_test_queue_entry,
  					     args);
  
  	if (pubsub_task < 0) {
  		return test_fail("failed launching task");
  	}
  
  	int next_expected_val = 0;
  	px4_pollfd_struct_t fds[1] {};
  	fds[0].fd = sfd;
  	fds[0].events = POLLIN;
  
  	while (!_thread_should_exit) {
  
  		int poll_ret = px4_poll(fds, 1, 500);
  
  		if (poll_ret == 0) {
  			if (_thread_should_exit) {
  				break;
  			}
  
  			return test_fail("poll timeout");
  
  		} else if (poll_ret < 0) {
  			return test_fail("poll error (%d, %d)", poll_ret, errno);
  		}
  
  		if (fds[0].revents & POLLIN) {
  			orb_copy(ORB_ID(orb_test_medium_queue_poll), sfd, &t);
  
  			if (next_expected_val != t.val) {
  				return test_fail("copy mismatch: %d expected %d", t.val, next_expected_val);
  			}
  
  			++next_expected_val;
  		}
  	}
  
  	if (_num_messages_sent != next_expected_val) {
  		return test_fail("number of sent and received messages mismatch (sent: %i, received: %i)",
  				 _num_messages_sent, next_expected_val);
  	}
  
  	return test_note("PASS orb queuing (poll & notify), got %i messages", next_expected_val);
  }
  
  int uORBTest::UnitTest::latency_test(bool print)
  {
  	test_note("---------------- LATENCY TEST ------------------");
  	orb_test_medium_s t{};
  	t.val = 308;
  	t.timestamp = hrt_absolute_time();
  
  	orb_advert_t pfd0 = orb_advertise(ORB_ID(orb_test_medium), &t);
  
  	if (pfd0 == nullptr) {
  		return test_fail("orb_advertise failed (%i)", errno);
  	}
  
  	char *const args[1] = { nullptr };
  
  	pubsubtest_print = print;
  	pubsubtest_passed = false;
  
  	/* test pub / sub latency */
  
  	// Can't pass a pointer in args, must be a null terminated
  	// array of strings because the strings are copied to
  	// prevent access if the caller data goes out of scope
  	int pubsub_task = px4_task_spawn_cmd("uorb_latency",
  					     SCHED_DEFAULT,
  					     SCHED_PRIORITY_MAX,
  					     2000,
  					     (px4_main_t)&uORBTest::UnitTest::pubsubtest_threadEntry,
  					     args);
  
  	/* give the test task some data */
  	while (!pubsubtest_passed) {
  		++t.val;
  		t.timestamp = hrt_absolute_time();
  
  		if (PX4_OK != orb_publish(ORB_ID(orb_test_medium), pfd0, &t)) {
  			return test_fail("mult. pub0 timing fail");
  		}
  
  		/* simulate >800 Hz system operation */
  		px4_usleep(1000);
  	}
  
  	if (pubsub_task < 0) {
  		return test_fail("failed launching task");
  	}
  
  	orb_unadvertise(pfd0);
  
  	return pubsubtest_res;
  }
  
  int uORBTest::UnitTest::test_fail(const char *fmt, ...)
  {
  	va_list ap;
  
  	fprintf(stderr, "uORB FAIL: ");
  	va_start(ap, fmt);
  	vfprintf(stderr, fmt, ap);
  	va_end(ap);
  	fprintf(stderr, "\n");
  	fflush(stderr);
  
  	return PX4_ERROR;
  }
  
  int uORBTest::UnitTest::test_note(const char *fmt, ...)
  {
  	va_list ap;
  
  	fprintf(stderr, "uORB note: ");
  	va_start(ap, fmt);
  	vfprintf(stderr, fmt, ap);
  	va_end(ap);
  	fprintf(stderr, "\n");
  	fflush(stderr);
  	return OK;
  }
  
  int uORBTest::UnitTest::pubsubtest_threadEntry(int argc, char *argv[])
  {
  	uORBTest::UnitTest &t = uORBTest::UnitTest::instance();
  	return t.pubsublatency_main();
  }
  