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

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/*
* Test backported deletion behavior by creating tasks of various affinities and
* check if the task memory is freed immediately under the correct conditions.
*
* The behavior of vTaskDelete() results in the immediate freeing of task memory
* and the immediate execution of deletion callbacks under the following conditions...
* - When deleting a task that is not currently running on either core
* - When deleting a task that is pinned to the same core (with respect to
* the core that calls vTaskDelete()
*
* If the two conditions are not met, freeing of task memory and execution of
* deletion callbacks will still be carried out by the Idle Task.
*/
#include <stdio.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/semphr.h"
#include "esp_heap_caps.h"
#include "unity.h"
#include "test_utils.h"
#include "esp_rom_sys.h"
#define NO_OF_TSKS 3
#define DELAY_TICKS 2
/* Caps of all memory which is allocated from when a task is created */
#define HEAP_CAPS (portTcbMemoryCaps | portStackMemoryCaps)
#define DELAY_US_ITERATIONS 1000
static void tsk_self_del(void *param)
{
vTaskDelete(NULL); //Deleting self means deleting currently running task
}
static void tsk_extern_del(void *param)
{
vTaskDelay(portMAX_DELAY); //Await external deletion
}
static void tsk_self_del_us_delay(void *param)
{
uint32_t delay = (uint32_t)param;
esp_rom_delay_us(delay);
vTaskDelete(NULL);
}
TEST_CASE("FreeRTOS Delete Tasks", "[freertos]")
{
/* -------------- Test vTaskDelete() on currently running tasks ----------------*/
uint32_t before_count = uxTaskGetNumberOfTasks();
uint32_t before_heap = heap_caps_get_free_size(HEAP_CAPS);
for(int i = 0; i < portNUM_PROCESSORS; i++){
for(int j = 0; j < NO_OF_TSKS; j++){
TEST_ASSERT_EQUAL(pdTRUE, xTaskCreatePinnedToCore(tsk_self_del, "tsk_self", 1024, NULL, configMAX_PRIORITIES - 1, NULL, i));
}
}
vTaskDelay(DELAY_TICKS); //Minimal delay to see if Idle task cleans up all tasks awaiting deletion in a single tick
TEST_ASSERT_EQUAL(before_count, uxTaskGetNumberOfTasks());
TEST_ASSERT_EQUAL(before_heap, heap_caps_get_free_size(HEAP_CAPS));
/* ------------- Test vTaskDelete() on not currently running tasks ------------ */
TaskHandle_t handles[NO_OF_TSKS];
before_heap = heap_caps_get_free_size(HEAP_CAPS);
//Create task pinned to the same core that will not run during task deletion
for(int j = 0 ; j < NO_OF_TSKS; j++){
TEST_ASSERT_EQUAL(pdTRUE, xTaskCreatePinnedToCore(tsk_extern_del, "tsk_extern", 4096, NULL, configMAX_PRIORITIES - 1, &handles[j], xPortGetCoreID()));
}
TEST_ASSERT_NOT_EQUAL(before_heap, heap_caps_get_free_size(HEAP_CAPS)); //Check tasks have been created
//Delete the tasks, memory should be freed immediately
for(int j = 0; j < NO_OF_TSKS; j++){
vTaskDelete(handles[j]);
}
TEST_ASSERT_EQUAL(before_heap, heap_caps_get_free_size(HEAP_CAPS));
/* Test self deleting no affinity task is not removed by idle task of other core before context switch */
for(int i = 0; i < DELAY_US_ITERATIONS; i+= 10){
vTaskDelay(1); //Sync to next tick interrupt
xTaskCreatePinnedToCore(tsk_self_del_us_delay, "delay", 1024, (void *)i, UNITY_FREERTOS_PRIORITY - 1, NULL, tskNO_AFFINITY);
esp_rom_delay_us(10); //Busy wait to ensure no affinity task runs on opposite core
}
}
typedef struct {
SemaphoreHandle_t sem;
volatile bool deleted; // Check the deleted task doesn't keep running after being deleted
} tsk_blocks_param_t;
/* Task blocks as often as possible
(two or more of these can share the same semaphore and "juggle" it around)
*/
static void tsk_blocks_frequently(void *param)
{
tsk_blocks_param_t *p = (tsk_blocks_param_t *)param;
SemaphoreHandle_t sem = p->sem;
srand(xTaskGetTickCount() ^ (int)xTaskGetCurrentTaskHandle());
while (1) {
assert(!p->deleted);
esp_rom_delay_us(rand() % 10);
assert(!p->deleted);
xSemaphoreTake(sem, portMAX_DELAY);
assert(!p->deleted);
esp_rom_delay_us(rand() % 10);
assert(!p->deleted);
xSemaphoreGive(sem);
}
}
TEST_CASE("FreeRTOS Delete Blocked Tasks", "[freertos]")
{
TaskHandle_t blocking_tasks[portNUM_PROCESSORS + 1]; // one per CPU, plus one unpinned task
tsk_blocks_param_t params[portNUM_PROCESSORS + 1] = { 0 };
unsigned before = heap_caps_get_free_size(MALLOC_CAP_8BIT);
printf("Free memory at start %u\n", before);
/* Any bugs will depend on relative timing of destroying the tasks, so create & delete many times.
Stop early if it looks like some resources have not been properly cleaned up.
(1000 iterations takes about 9 seconds on ESP32 dual core)
*/
for(unsigned iter = 0; iter < 1000; iter++) {
// Create everything
SemaphoreHandle_t sem = xSemaphoreCreateMutex();
for(unsigned i = 0; i < portNUM_PROCESSORS + 1; i++) {
params[i].deleted = false;
params[i].sem = sem;
TEST_ASSERT_EQUAL(pdTRUE,
xTaskCreatePinnedToCore(tsk_blocks_frequently, "tsk_block", 4096, &params[i],
UNITY_FREERTOS_PRIORITY - 1, &blocking_tasks[i],
i < portNUM_PROCESSORS ? i : tskNO_AFFINITY));
}
vTaskDelay(5); // Let the tasks juggle the mutex for a bit
for(unsigned i = 0; i < portNUM_PROCESSORS + 1; i++) {
vTaskDelete(blocking_tasks[i]);
params[i].deleted = true;
}
vTaskDelay(4); // Yield to the idle task for cleanup
vSemaphoreDelete(sem);
// Check we haven't leaked resources yet
TEST_ASSERT_GREATER_OR_EQUAL(before - 256, heap_caps_get_free_size(MALLOC_CAP_8BIT));
}
}