esp-idf/components/freertos/test/test_freertos_debug_functions.c

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/*
* Test FreeRTOS debug functions and utilities.
* - Queue registry functions vQueueAddToRegistry(), vQueueUnregisterQueue(),
* and pcQueueGetName(backported)
*
*
*/
#include <stdio.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/semphr.h"
#include "freertos/queue.h"
#include "unity.h"
#if (CONFIG_FREERTOS_QUEUE_REGISTRY_SIZE > 0)
#define NO_OF_QUEUES_PER_CORE ((int)((CONFIG_FREERTOS_QUEUE_REGISTRY_SIZE - 3)/portNUM_PROCESSORS)) //Save space for some preallocated tasks
#define NO_OF_QUEUES_TOTAL (NO_OF_QUEUES_PER_CORE * portNUM_PROCESSORS)
#define QUEUE_NAME_MAX_LENGTH 10
static SemaphoreHandle_t start_sem[portNUM_PROCESSORS];
static SemaphoreHandle_t done_sem = NULL;
static char *names[NO_OF_QUEUES_TOTAL];
static QueueHandle_t handles[NO_OF_QUEUES_TOTAL];
void test_queue_registry_task(void *arg)
{
int core = xPortGetCoreID();
int offset = core * NO_OF_QUEUES_PER_CORE;
//Create queues and accompanying queue names
for(int i = 0; i < NO_OF_QUEUES_PER_CORE; i++){
handles[i + offset] = xQueueCreate(1,1); //Create queues
names[i + offset] = calloc(QUEUE_NAME_MAX_LENGTH, sizeof(char));
sprintf(names[i + offset], "Queue%d%d", core, i);
}
xSemaphoreTake(start_sem[core], portMAX_DELAY); //Wait for start vQueueAddToRegistry()
for(int i = 0; i < NO_OF_QUEUES_PER_CORE; i++){
vQueueAddToRegistry(handles[i + offset] , names[i + offset]); //Register queues to queue registry
}
xSemaphoreGive(done_sem); //Signal that vQueueAddToRegistry() has completed
vTaskDelay(1);
xSemaphoreTake(start_sem[core], portMAX_DELAY); //Wait to start vQueueUnregisterQueue()
for(int i = 0; i < NO_OF_QUEUES_PER_CORE; i++){
vQueueDelete(handles[i + offset]); //Internally calls vQueueUnregisterQueue
}
xSemaphoreGive(done_sem); //Signal done
vTaskDelete(NULL); //Delete self
}
TEST_CASE("Test FreeRTOS Queue Registry", "[freertos]")
{
//Create synchronization semaphores and tasks to test queue registry
done_sem = xSemaphoreCreateCounting(portNUM_PROCESSORS, 0);
for(int i = 0; i < portNUM_PROCESSORS; i++){
start_sem[i] = xSemaphoreCreateBinary();
xTaskCreatePinnedToCore(test_queue_registry_task, "testing task", 4096, NULL, UNITY_FREERTOS_PRIORITY+1, NULL, i);
}
portDISABLE_INTERRUPTS();
for(int i = 0; i < portNUM_PROCESSORS; i++){
xSemaphoreGive(start_sem[i]); //Trigger start
}
portENABLE_INTERRUPTS();
for(int i = 0; i < portNUM_PROCESSORS; i++){
xSemaphoreTake(done_sem, portMAX_DELAY); //Wait for tasks to complete vQueueAddToRegistry
}
for(int i = 0; i < NO_OF_QUEUES_TOTAL; i++){
const char *addr = pcQueueGetName(handles[i]);
TEST_ASSERT(addr == names[i]) //Check vQueueAddToRegistry was successful
}
portDISABLE_INTERRUPTS();
for(int i = 0; i < portNUM_PROCESSORS; i++){
xSemaphoreGive(start_sem[i]); //Trigger start
}
portENABLE_INTERRUPTS();
for(int i = 0; i < portNUM_PROCESSORS; i++){
xSemaphoreTake(done_sem, portMAX_DELAY); //Wait for tasks to complete vQueueUnregisterQueue
}
for(int i = 0; i < NO_OF_QUEUES_TOTAL; i++){
const char *addr = pcQueueGetName(handles[i]);
TEST_ASSERT(addr == NULL) //Check vQueueUnregisterQueue was successful
handles[i] = NULL;
}
//Cleanup
for(int i = 0; i < NO_OF_QUEUES_TOTAL; i++){
free(names[i]);
names[i] = NULL;
}
for(int i = 0; i < portNUM_PROCESSORS; i++){
vSemaphoreDelete(start_sem[i]);
start_sem[i] = NULL;
}
vSemaphoreDelete(done_sem);
done_sem = NULL;
}
#endif //(CONFIG_FREERTOS_QUEUE_REGISTRY_SIZE > 0)