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Merge branch 'bugfix/freertos_smp_queue_sets_thread_safety' into 'master'
FreeRTOS: Fix queue set tests for SMP FreeRTOS See merge request espressif/esp-idf!18169
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Darian
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@ -10,134 +10,178 @@
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#include "freertos/task.h"
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#include "freertos/queue.h"
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#include "freertos/semphr.h"
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#include "freertos/idf_additions.h"
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#include "unity.h"
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#include "test_utils.h"
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#define QUEUE_LEN 4
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static void allocate_resources(int num_queues, int queue_len, QueueHandle_t *queue_list_ret, QueueSetHandle_t *queue_set_ret)
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{
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// Create queue set
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*queue_set_ret = xQueueCreateSet(num_queues * queue_len);
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TEST_ASSERT_NOT_EQUAL(NULL, *queue_set_ret);
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// Create queues and add them to the queue set
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for (int i = 0; i < num_queues; i++) {
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queue_list_ret[i] = xQueueCreate(queue_len, sizeof(BaseType_t));
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TEST_ASSERT_NOT_EQUAL(NULL, queue_list_ret[i]);
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TEST_ASSERT_EQUAL(pdPASS, xQueueAddToSet(queue_list_ret[i], *queue_set_ret));
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}
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}
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static void free_resources(int num_queues, QueueHandle_t *queue_list, QueueSetHandle_t queue_set)
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{
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// Remove queues form queue set and delete the queues
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for (int i = 0; i < num_queues; i++) {
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TEST_ASSERT_EQUAL(pdPASS, xQueueRemoveFromSet(queue_list[i], queue_set));
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vQueueDelete(queue_list[i]);
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}
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vQueueDelete(queue_set);
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}
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/*
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* Basic queue set tests. Multiple queues are added to a queue set then each
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* queue is filled in a sequential order. The members returned from the queue
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* set must adhered to the order in which the queues were filled.
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*/
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#define NO_OF_QUEUES 5
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#define QUEUE_LEN 4
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#define ITEM_SIZE sizeof(uint32_t)
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Test queue sets basic
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static QueueHandle_t handles[NO_OF_QUEUES];
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static QueueSetHandle_t set_handle;
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Purpose:
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- Test that queue set works as expected
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Procedure:
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- Create NUM_QUEUES queues and add them to the same queue set
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- Fill each queue sequentially with QUEUE_LEN items
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Expected:
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- Each call to xQueueSend() should generate a member in the queue set
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- The order of the members should match the order in which xQueueSend() was called
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- The item sent by the xQueueSend() is correct when read
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*/
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#define NUM_QUEUES 5
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TEST_CASE("Test Queue sets", "[freertos]")
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{
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//Create queue set, queues, and add queues to queue set
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set_handle = xQueueCreateSet(NO_OF_QUEUES * QUEUE_LEN);
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for (int i = 0; i < NO_OF_QUEUES; i++) {
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handles[i] = xQueueCreate(QUEUE_LEN, ITEM_SIZE);
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TEST_ASSERT_MESSAGE(handles[i] != NULL, "Failed to create queue");
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TEST_ASSERT_MESSAGE(xQueueAddToSet(handles[i], set_handle) == pdPASS, "Failed to add to queue set");
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}
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// Create queues and queue set
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QueueHandle_t queues[NUM_QUEUES];
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QueueSetHandle_t queue_set;
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allocate_resources(NUM_QUEUES, QUEUE_LEN, queues, &queue_set);
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//Fill queue set via filling each queue
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for (int i = 0; i < NO_OF_QUEUES; i++) {
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// Fill each queue sequentially with QUEUE_LEN items
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for (int i = 0; i < NUM_QUEUES; i++) {
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for (int j = 0; j < QUEUE_LEN; j++) {
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uint32_t item_num = (i * QUEUE_LEN) + j;
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TEST_ASSERT_MESSAGE(xQueueSendToBack(handles[i], &item_num, portMAX_DELAY) == pdTRUE, "Failed to send to queue");
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BaseType_t item = j;
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TEST_ASSERT_EQUAL(pdTRUE, xQueueSend(queues[i], &item, 0));
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}
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}
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//Check queue set is notified in correct order
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for (int i = 0; i < NO_OF_QUEUES; i++) {
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for (int i = 0; i < NUM_QUEUES; i++) {
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for (int j = 0; j < QUEUE_LEN; j++) {
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QueueSetMemberHandle_t member = xQueueSelectFromSet(set_handle, portMAX_DELAY);
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TEST_ASSERT_EQUAL_MESSAGE(handles[i], member, "Incorrect queue set member returned");
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uint32_t item;
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xQueueReceive((QueueHandle_t)member, &item, 0);
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TEST_ASSERT_EQUAL_MESSAGE(((i * QUEUE_LEN) + j), item, "Incorrect item value");
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// Check the queue set member
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QueueSetMemberHandle_t member = xQueueSelectFromSet(queue_set, 0);
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TEST_ASSERT_EQUAL(queues[i], member);
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// Check the queue's items
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BaseType_t item;
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TEST_ASSERT_EQUAL(pdTRUE, xQueueReceive(member, &item, 0));
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TEST_ASSERT_EQUAL(j, item);
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}
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}
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// Check that there are no more members
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TEST_ASSERT_EQUAL(NULL, xQueueSelectFromSet(queue_set, 0));
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//Remove queues from queue set and delete queues
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for (int i = 0; i < NO_OF_QUEUES; i++) {
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TEST_ASSERT_MESSAGE(xQueueRemoveFromSet(handles[i], set_handle), "Failed to remove from queue set");
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vQueueDelete(handles[i]);
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}
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vQueueDelete(set_handle);
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// Cleanup queues and queue set
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free_resources(NUM_QUEUES, queues, queue_set);
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}
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/*
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* Queue set thread safety test. Test the SMP thread safety by adding two queues
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* to a queue set and have a task on each core send to the queues simultaneously.
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* Check returned queue set members are valid.
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*/
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#ifndef CONFIG_FREERTOS_UNICORE
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static volatile bool sync_flags[portNUM_PROCESSORS];
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static SemaphoreHandle_t sync_sem;
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/*
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Test queue set SMP thread safety
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static void send_task(void *arg)
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Purpose:
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- Test that queue set works when being used from different cores simultaneously
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Procedure:
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- Create a queue for each core and add them to the same queue set
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- Create a task on each core to send QUEUE_LEN items to their assigned queue
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- Synchronize the tasks so that the start sending at the same time
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Expected:
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- Each call to xQueueSend() should generate a member in the queue set
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- The item sent by the xQueueSend() is correct when read
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*/
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static volatile bool start_other_cores;
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static SemaphoreHandle_t done_sem = NULL;
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static void send_func(void *arg)
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{
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QueueHandle_t queue = (QueueHandle_t)arg;
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//Wait until task on the other core starts running
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xSemaphoreTake(sync_sem, portMAX_DELAY);
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sync_flags[xPortGetCoreID()] = true;
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while (!sync_flags[!xPortGetCoreID()]) {
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;
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}
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//Fill queue
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for (int i = 0; i < QUEUE_LEN; i++) {
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uint32_t item = i;
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xQueueSendToBack(queue, &item, portMAX_DELAY);
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}
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xSemaphoreGive(sync_sem);
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vTaskDelete(NULL);
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}
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TEST_CASE("Test Queue sets thread safety", "[freertos]")
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{
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//Create queue set, queues, and a send task on each core
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sync_sem = xSemaphoreCreateCounting(portNUM_PROCESSORS, 0);
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QueueHandle_t queue_handles[portNUM_PROCESSORS];
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QueueSetHandle_t queueset_handle = xQueueCreateSet(portNUM_PROCESSORS * QUEUE_LEN);
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for (int i = 0; i < portNUM_PROCESSORS; i++) {
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sync_flags[i] = false;
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queue_handles[i] = xQueueCreate(QUEUE_LEN, ITEM_SIZE);
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TEST_ASSERT_MESSAGE(xQueueAddToSet(queue_handles[i], queueset_handle) == pdPASS, "Failed to add to queue set");
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xTaskCreatePinnedToCore(send_task, "send", 2048, (void *)queue_handles[i], 10, NULL, i);
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}
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//Start both send tasks
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portDISABLE_INTERRUPTS();
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for (int i = 0; i < portNUM_PROCESSORS; i++) {
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xSemaphoreGive(sync_sem);
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}
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portENABLE_INTERRUPTS();
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vTaskDelay(2);
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//Check returned queue set members are valid
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uint32_t expect_0 = 0;
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uint32_t expect_1 = 0;
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for (int i = 0; i < (portNUM_PROCESSORS * QUEUE_LEN); i++) {
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QueueSetMemberHandle_t member = xQueueSelectFromSet(queueset_handle, portMAX_DELAY);
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uint32_t item;
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if (member == queue_handles[0]) {
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xQueueReceive((QueueHandle_t)member, &item, 0);
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TEST_ASSERT_EQUAL_MESSAGE(expect_0, item, "Incorrect item value");
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expect_0++;
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} else if (member == queue_handles[1]) {
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xQueueReceive((QueueHandle_t)member, &item, 0);
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TEST_ASSERT_EQUAL_MESSAGE(expect_1, item, "Incorrect item value");
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expect_1++;
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} else {
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TEST_ASSERT_MESSAGE(0, "Incorrect queue set member returned");
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BaseType_t core_id = xPortGetCoreID();
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if (core_id == 0) {
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// We are core 0. Trigger the other cores to start
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start_other_cores = true;
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} else {
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// Wait to be started by main core
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while (!start_other_cores) {
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;
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}
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}
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for (int i = 0; i < portNUM_PROCESSORS; i++) {
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xSemaphoreTake(sync_sem, portMAX_DELAY);
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// Fill the queue assigned to the current core
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for (int i = 0; i < QUEUE_LEN; i++) {
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TEST_ASSERT_EQUAL(pdTRUE, xQueueSend(queue, &core_id, 0));
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}
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for (int i = 0; i < portNUM_PROCESSORS; i++) {
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xQueueRemoveFromSet(queueset_handle, handles[i]);
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vQueueDelete(queue_handles[i]);
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if (core_id != 0) {
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// Indicate completion to core 0 and self delete
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xSemaphoreGive(done_sem);
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vTaskDelete(NULL);
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}
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vQueueDelete(queueset_handle);
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}
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#endif
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TEST_CASE("Test queue sets multi-core", "[freertos]")
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{
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// Create done semaphore
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done_sem = xSemaphoreCreateCounting(portNUM_PROCESSORS - 1, 0);
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TEST_ASSERT_NOT_EQUAL(NULL, done_sem);
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// Create queues and queue set
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QueueHandle_t queues[portNUM_PROCESSORS];
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QueueSetHandle_t queue_set;
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allocate_resources(portNUM_PROCESSORS, QUEUE_LEN, queues, &queue_set);
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// Create tasks of the same priority for all cores except for core 0
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for (int i = 1; i < portNUM_PROCESSORS; i++) {
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TEST_ASSERT_EQUAL(pdTRUE, xTaskCreatePinnedToCore(send_func, "send", 2048, (void *)queues[i], UNITY_FREERTOS_PRIORITY, NULL, i));
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}
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// Core 0 calls send_func as well triggering the simultaneous sends from all cores
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send_func((void *)queues[0]);
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// Wait for all other cores to be done
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for (int i = 1; i < portNUM_PROCESSORS; i++) {
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xSemaphoreTake(done_sem, portMAX_DELAY);
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}
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// Read queues from the queue set, then read an item from the queue
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uint32_t queues_check_count[portNUM_PROCESSORS] = {0};
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QueueSetMemberHandle_t member = xQueueSelectFromSet(queue_set, 0);
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while (member != NULL) {
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// Read the core ID from the queue, check that core ID is sane
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BaseType_t core_id;
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TEST_ASSERT_EQUAL(pdTRUE, xQueueReceive(member, &core_id, 0));
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TEST_ASSERT_LESS_THAN(portNUM_PROCESSORS, core_id);
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queues_check_count[core_id]++;
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// Get next member
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member = xQueueSelectFromSet(queue_set, 0);
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}
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// Check that all items from all queues have been read
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for (int i = 0; i < portNUM_PROCESSORS; i++) {
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TEST_ASSERT_EQUAL(QUEUE_LEN, queues_check_count[i]);
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}
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// Cleanup queues and queue set
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free_resources(portNUM_PROCESSORS, queues, queue_set);
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// Cleanup done sem
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vSemaphoreDelete(done_sem);
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done_sem = NULL;
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}
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#endif // CONFIG_FREERTOS_UNICORE
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