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83 lines
2.4 KiB
C
83 lines
2.4 KiB
C
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/*
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* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include "FreeRTOS.h"
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#include "task.h"
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#include "unity.h"
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#include "portTestMacro.h"
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/* ------------------------------------------------------------------------------------------------------------------ */
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/*
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Test Priority Scheduling (Single Core)
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Purpose:
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- Test that the single-core scheduler always schedules the highest priority ready task
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Procedure:
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- Raise the unityTask priority to (configMAX_PRIORITIES - 1)
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- unityTask creates the following lower priority tasks
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- task_A (configMAX_PRIORITIES - 2)
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- task_B (configMAX_PRIORITIES - 3)
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- UnityTask blocks for a short period of time to allow task_A to run
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- Clean up and restore unityTask's original priority
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Expected:
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- task_A should run after unityTask blocks
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- task_B should never have run
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*/
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#if ( configNUM_CORES == 1 )
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#define UNITY_TASK_DELAY_TICKS 10
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static BaseType_t task_A_ran;
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static BaseType_t task_B_ran;
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static void task_A(void *arg)
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{
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task_A_ran = pdTRUE;
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/* Keeping spinning to prevent the lower priority task_B from running */
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while (1) {
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;
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}
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}
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static void task_B(void *arg)
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{
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/* The following should never run due to task_B having a lower priority */
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task_B_ran = pdTRUE;
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while (1) {
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;
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}
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}
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TEST_CASE("Tasks: Test priority scheduling", "[freertos]")
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{
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TaskHandle_t task_A_handle;
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TaskHandle_t task_B_handle;
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task_A_ran = pdFALSE;
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task_B_ran = pdFALSE;
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/* Raise the priority of the unityTask */
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vTaskPrioritySet(NULL, configMAX_PRIORITIES - 1);
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/* Create task_A and task_B */
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xTaskCreate(task_A, "task_A", configTEST_DEFAULT_STACK_SIZE, (void *)xTaskGetCurrentTaskHandle(), configMAX_PRIORITIES - 2, &task_A_handle);
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xTaskCreate(task_B, "task_B", configTEST_DEFAULT_STACK_SIZE, (void *)xTaskGetCurrentTaskHandle(), configMAX_PRIORITIES - 3, &task_B_handle);
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/* Block to allow task_A to be scheduled */
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vTaskDelay(UNITY_TASK_DELAY_TICKS);
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/* Test that only task_A has run */
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TEST_ASSERT_EQUAL(pdTRUE, task_A_ran);
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TEST_ASSERT_EQUAL(pdFALSE, task_B_ran);
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vTaskDelete(task_A_handle);
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vTaskDelete(task_B_handle);
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/* Restore the priority of the unityTask */
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vTaskPrioritySet(NULL, configTEST_UNITY_TASK_PRIORITY);
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}
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#endif /* configNUM_CORES == 1 */
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