esp-idf/components/unity/unity_utils_freertos.c

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/*
* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <string.h>
#include <stdbool.h>
#include "unity.h"
#include "unity_test_utils.h"
#include "freertos/FreeRTOS.h"
#include "freertos/semphr.h"
#include "freertos/task.h"
#include "sdkconfig.h"
#if !CONFIG_FREERTOS_UNICORE
#include "esp_ipc.h"
#include "esp_freertos_hooks.h"
#endif
#if !CONFIG_FREERTOS_UNICORE
static StaticSemaphore_t s_test_sem_buffer;
static SemaphoreHandle_t s_test_sem = NULL;
static bool idle_hook_func(void)
{
if (s_test_sem) {
xSemaphoreGive(s_test_sem);
}
return true;
}
static void task_delete_func(void *arg)
{
vTaskDelete(arg);
}
#define SEMAPHORE_COUNT_MAX 2
#define SEMAPHORE_COUNT_INITIAL 0
#endif // !CONFIG_FREERTOS_UNICORE
void unity_utils_task_delete(TaskHandle_t thandle)
{
/* Self deletion can not free up associated task dynamic memory immediately,
* hence not recommended for test scenarios */
TEST_ASSERT_NOT_NULL_MESSAGE(thandle, "unity_utils_task_delete: handle is NULL");
TEST_ASSERT_NOT_EQUAL_MESSAGE(thandle, xTaskGetCurrentTaskHandle(), "unity_utils_task_delete: handle is of currently executing task");
#if CONFIG_FREERTOS_UNICORE
vTaskDelete(thandle);
#else // CONFIG_FREERTOS_UNICORE
const BaseType_t tsk_affinity = xTaskGetCoreID(thandle);
const BaseType_t core_id = xPortGetCoreID();
printf("Task_affinity: 0x%x, current_core: %d\n", tsk_affinity, core_id);
if (tsk_affinity == tskNO_AFFINITY) {
// create the semaphore if not done yet, or else, make sure its count is 0
if (s_test_sem == NULL) {
s_test_sem = xSemaphoreCreateCountingStatic(SEMAPHORE_COUNT_MAX, SEMAPHORE_COUNT_INITIAL, &s_test_sem_buffer);
} else {
while (xSemaphoreTake(s_test_sem, 0) == pdTRUE) { }
}
/* For no affinity case, we wait for idle hook to trigger on different core */
esp_err_t ret = esp_register_freertos_idle_hook_for_cpu(idle_hook_func, !core_id);
TEST_ASSERT_EQUAL_MESSAGE(ret, ESP_OK, "unity_utils_task_delete: failed to register idle hook");
vTaskDelete(thandle);
// We want to make sure that the entire idle task has run (including the part that removes remaining
// memory of deleted tasks). Since we don't know where the idle task has been stopped, we need to
// wait until the idle hook has run twice. This makes sure that the entire idle task has run at least once.
xSemaphoreTake(s_test_sem, portMAX_DELAY);
xSemaphoreTake(s_test_sem, portMAX_DELAY);
esp_deregister_freertos_idle_hook_for_cpu(idle_hook_func, !core_id);
} else if (tsk_affinity != core_id) {
/* Task affinity and current core are differnt, schedule IPC call (to delete task)
* on core where task is pinned to */
esp_ipc_call_blocking(tsk_affinity, task_delete_func, thandle);
} else {
/* Task affinity and current core are same, so we can safely proceed for deletion */
vTaskDelete(thandle);
}
#endif // !CONFIG_FREERTOS_UNICORE
}