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https://github.com/espressif/esp-idf.git
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Merge branch 'refactor/freertos_yielding_tests' into 'master'
freertos: refactor yield tests for freertos Closes IDF-3343, IDFCI-1250, IDFCI-1251, IDFCI-1252, IDFCI-1253, IDFCI-1254, IDFCI-1255, and IDFCI-1256 See merge request espressif/esp-idf!18369
This commit is contained in:
Sudeep Mohanty
commit
ff185f737c
@ -927,7 +927,7 @@ UT_046:
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UT_047:
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extends: .unit_test_esp32s2_template
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parallel: 5
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parallel: 6
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tags:
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- ESP32S2_IDF
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- UT_T1_1
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@ -946,7 +946,7 @@ UT_S2_SDSPI:
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UT_C2:
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extends: .unit_test_esp32c2_template
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parallel: 19
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parallel: 20
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tags:
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- ESP32C2_IDF
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- UT_T1_1
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@ -11,14 +11,34 @@
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/semphr.h"
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#include "freertos/queue.h"
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#include "unity.h"
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#include "test_utils.h"
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#include <string.h>
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static QueueHandle_t yield_task_sequence;
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// Array to store the task ids of the test threads being yielded
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static volatile uint32_t task_yield_sequence[3];
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// Index variable to access the yield sequence array
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static volatile uint32_t idx = 0;
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// Lock to protect the shared variables to store task id
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static portMUX_TYPE idx_lock;
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// Synchronization variable to have a deterministic dispatch sequence of the test threads
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static volatile bool task_sequence_ready;
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// Synchronization variable between the test threads and the unity task
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static volatile uint32_t count;
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static SemaphoreHandle_t mutex;
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// Lock variable to create a blocked task scenario
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static volatile SemaphoreHandle_t task_mutex;
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// This helper macro is used to store the task id atomically
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#define STORE_TASK_ID(task_id) ({ \
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portENTER_CRITICAL(&idx_lock); \
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task_yield_sequence[idx++] = task_id; \
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portEXIT_CRITICAL(&idx_lock); \
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})
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/*
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* Test yielding for same priority tasks on the same core.
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@ -30,13 +50,13 @@ static SemaphoreHandle_t mutex;
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*/
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static void yield_task1(void *arg)
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{
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/* Set the task sequence flag once yield_task1 runs */
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task_sequence_ready = true;
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uint32_t task_id = (uint32_t)arg;
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/* Store task_id on queue */
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TEST_ASSERT_EQUAL(pdTRUE, xQueueSend(yield_task_sequence, &task_id, 0));
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/* Store task_id in the sequence array */
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STORE_TASK_ID(task_id);
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/* Notify the yield_task2 to run */
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task_sequence_ready = true;
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/* Yield */
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taskYIELD();
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@ -44,21 +64,21 @@ static void yield_task1(void *arg)
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/* Increment task count to notify unity task */
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count++;
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/* Delete itself */
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/* Delete self */
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vTaskDelete(NULL);
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}
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static void yield_task2(void *arg)
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{
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uint32_t task_id = (uint32_t)arg;
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/* Wait for the other task to run for the test to begin */
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while (!task_sequence_ready) {
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taskYIELD();
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};
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uint32_t task_id = (uint32_t)arg;
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/* Store task_id on queue */
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TEST_ASSERT_EQUAL(pdTRUE, xQueueSend(yield_task_sequence, &task_id, 0));
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/* Store task_id in the sequence array */
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STORE_TASK_ID(task_id);
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/* Yield */
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taskYIELD();
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@ -66,22 +86,27 @@ static void yield_task2(void *arg)
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/* Increment task count to notify unity task */
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count++;
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/* Delete itself */
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/* Delete self */
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vTaskDelete(NULL);
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}
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TEST_CASE("Task yield must run the next ready task of the same priority", "[freertos][ignore]")
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TEST_CASE("Task yield must run the next ready task of the same priority", "[freertos]")
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{
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/* Reset yield sequence index */
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idx = 0;
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/* Reset yield sequence array */
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memset((void *)task_yield_sequence, 0, sizeof(task_yield_sequence));
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/* Initialize idx lock */
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portMUX_INITIALIZE(&idx_lock);
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/* Reset task count */
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count = 0;
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/* Reset task sequence flag */
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task_sequence_ready = false;
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/* Create task yielding sequence queue */
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yield_task_sequence = xQueueCreate(3, sizeof(uint32_t));
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TEST_ASSERT_NOT_EQUAL(NULL, yield_task_sequence);
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/* Create test tasks */
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xTaskCreatePinnedToCore(yield_task1, "yield_task1", 2048, (void *)1, UNITY_FREERTOS_PRIORITY - 1, NULL, UNITY_FREERTOS_CPU);
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xTaskCreatePinnedToCore(yield_task2, "yield_task2", 2048, (void *)2, UNITY_FREERTOS_PRIORITY - 1, NULL, UNITY_FREERTOS_CPU);
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@ -91,15 +116,11 @@ TEST_CASE("Task yield must run the next ready task of the same priority", "[free
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vTaskDelay(10);
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}
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/* Verify that the yield is successful and the next ready task is run */
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uint32_t task_id;
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TEST_ASSERT_EQUAL(pdTRUE, xQueueReceive(yield_task_sequence, &task_id, 0));
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TEST_ASSERT_EQUAL(1, task_id);
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TEST_ASSERT_EQUAL(pdTRUE, xQueueReceive(yield_task_sequence, &task_id, 0));
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TEST_ASSERT_EQUAL(2, task_id);
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idx = 0;
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/* Cleanup yield sequence queue */
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vQueueDelete(yield_task_sequence);
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/* Verify that the yield is successful and the next ready task is run */
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TEST_ASSERT_EQUAL(1, task_yield_sequence[idx++]);
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TEST_ASSERT_EQUAL(2, task_yield_sequence[idx++]);
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}
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/*
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@ -113,104 +134,96 @@ TEST_CASE("Task yield must run the next ready task of the same priority", "[free
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*/
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static void test_task1(void *arg)
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{
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/* Set the task sequence flag once test_task1 runs */
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task_sequence_ready = true;
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uint32_t task_id = (uint32_t)arg;
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/* Block on mutex taken by the unity task */
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TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreTake(mutex, portMAX_DELAY));
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TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreTake(task_mutex, portMAX_DELAY));
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/* Store task_id on queue */
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TEST_ASSERT_EQUAL(pdTRUE, xQueueSend(yield_task_sequence, &task_id, 0));
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/* Store task_id in the sequence array */
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STORE_TASK_ID(task_id);
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/* Increment task count to notify unity task */
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count++;
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/* Release mutex */
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TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreGive(mutex));
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TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreGive(task_mutex));
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/* Delete itself */
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/* Delete self */
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vTaskDelete(NULL);
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}
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static void test_task2(void *arg)
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{
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/* Wait for the other task to run for the test to begin */
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while (!task_sequence_ready) {
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taskYIELD();
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};
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uint32_t task_id = (uint32_t)arg;
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/* Store task_id on queue */
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TEST_ASSERT_EQUAL(pdTRUE, xQueueSend(yield_task_sequence, &task_id, 0));
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/* Store task_id in the sequence array */
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STORE_TASK_ID(task_id);
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/* Yield */
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taskYIELD();
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/* Store task_id on queue */
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TEST_ASSERT_EQUAL(pdTRUE, xQueueSend(yield_task_sequence, &task_id, 0));
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/* Store task_id in the sequence array */
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STORE_TASK_ID(task_id);
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/* Increment task count to notify unity task */
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count++;
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/* Delete itself */
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/* Delete self */
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vTaskDelete(NULL);
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}
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TEST_CASE("Task yield must not run a blocked task", "[freertos][ignore]")
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TEST_CASE("Task yield must not run a blocked task", "[freertos]")
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{
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/* Reset yield sequence index */
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idx = 0;
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/* Reset yield sequence array */
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memset((void *)task_yield_sequence, 0, sizeof(task_yield_sequence));
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/* Initialize idx lock */
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portMUX_INITIALIZE(&idx_lock);
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/* Reset task count */
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count = 0;
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/* Reset task sequence flag */
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task_sequence_ready = false;
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/* Create mutex and acquire it */
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mutex = xSemaphoreCreateMutex();
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TEST_ASSERT_NOT_EQUAL(NULL, mutex);
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TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreTake(mutex, portMAX_DELAY));
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task_mutex = xSemaphoreCreateMutex();
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TEST_ASSERT_NOT_EQUAL(NULL, task_mutex);
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TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreTake(task_mutex, portMAX_DELAY));
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/* Create task yielding sequence queue */
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yield_task_sequence = xQueueCreate(3, sizeof(uint32_t));
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TEST_ASSERT_NOT_EQUAL(NULL, yield_task_sequence);
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/* Create test tasks */
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/* Create test_task1. This gets blocked. */
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xTaskCreatePinnedToCore(test_task1, "test_task1", 2048, (void *)1, UNITY_FREERTOS_PRIORITY - 1, NULL, UNITY_FREERTOS_CPU);
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/* Wait for test_task1 to start up and get blocked */
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vTaskDelay(10);
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/* Create test_task2. This issues the yield. */
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xTaskCreatePinnedToCore(test_task2, "test_task2", 2048, (void *)2, UNITY_FREERTOS_PRIORITY - 1, NULL, UNITY_FREERTOS_CPU);
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/* Wait for at least one of the tasks to finish up */
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while (count == 0) {
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/* Wait for test_task2 to finish up */
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while (count != 1) {
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vTaskDelay(10);
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}
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/* Release mutex. This should unblock test_task1. */
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TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreGive(task_mutex));
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/* Wait for test_task1 to finish up */
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vTaskDelay(10);
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idx = 0;
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/* Verify that the yield results in the same task running again and not the blocked task */
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uint32_t task_id;
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TEST_ASSERT_EQUAL(pdTRUE, xQueueReceive(yield_task_sequence, &task_id, 0));
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TEST_ASSERT_EQUAL(2, task_id);
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TEST_ASSERT_EQUAL(2, task_yield_sequence[idx++]);
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/* Verify that the task yield did not result in a context switch */
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TEST_ASSERT_EQUAL(pdTRUE, xQueueReceive(yield_task_sequence, &task_id, 0));
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TEST_ASSERT_EQUAL(2, task_id);
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TEST_ASSERT_EQUAL(2, task_yield_sequence[idx++]);
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/* Release mutex */
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TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreGive(mutex));
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/* Verify that the other task is scheduled once it is unblocked */
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TEST_ASSERT_EQUAL(1, task_yield_sequence[idx++]);
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/* Wait for the second task to finish up */
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while (count != 2) {
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vTaskDelay(10);
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}
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/* Verify that the second task is scheduled once it is unblocked */
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TEST_ASSERT_EQUAL(pdTRUE, xQueueReceive(yield_task_sequence, &task_id, 0));
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TEST_ASSERT_EQUAL(1, task_id);
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/* Cleanup mutex */
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vSemaphoreDelete(mutex);
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/* Cleanup yield sequence queue */
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vQueueDelete(yield_task_sequence);
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/* Cleanup task mutex */
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vSemaphoreDelete(task_mutex);
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}
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/*
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@ -223,22 +236,24 @@ TEST_CASE("Task yield must not run a blocked task", "[freertos][ignore]")
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*/
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static void test_critical_task1(void *arg)
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{
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/* Set the task sequence flag once test_critical_task1 runs */
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task_sequence_ready = true;
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uint32_t task_id = (uint32_t)arg;
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/* Store task_id on queue */
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TEST_ASSERT_EQUAL(pdTRUE, xQueueSend(yield_task_sequence, &task_id, 0));
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/* Store task_id in the sequence array */
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STORE_TASK_ID(task_id);
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/* Suspend scheduler */
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vTaskSuspendAll();
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/* Set the task sequence flag once test_critical_task1 runs */
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task_sequence_ready = true;
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/* Yield */
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taskYIELD();
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/* Store task_id on queue again */
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TEST_ASSERT_EQUAL(pdTRUE, xQueueSend(yield_task_sequence, &task_id, 0));
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/* Store task_id in the sequence array.
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* No need for a lock when the scheduler is suspended.
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*/
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task_yield_sequence[idx++] = task_id;
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/* Increment task count to notify unity task */
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count++;
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@ -246,70 +261,65 @@ static void test_critical_task1(void *arg)
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/* Resume scheduler */
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xTaskResumeAll();
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/* Delete itself */
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/* Delete self */
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vTaskDelete(NULL);
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}
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static void test_critical_task2(void *arg)
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{
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uint32_t task_id = (uint32_t)arg;
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/* Wait for the other task to run for the test to begin */
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while (!task_sequence_ready) {
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taskYIELD();
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};
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uint32_t task_id = (uint32_t)arg;
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/* Store task_id on queue */
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TEST_ASSERT_EQUAL(pdTRUE, xQueueSend(yield_task_sequence, &task_id, 0));
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/* Store task_id in the sequence array */
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STORE_TASK_ID(task_id);
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/* Increment task count to notify unity task */
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count++;
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/* Delete itself */
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/* Delete self */
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vTaskDelete(NULL);
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}
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TEST_CASE("Task yield must not happen when scheduler is suspended", "[freertos][ignore]")
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TEST_CASE("Task yield must not happen when scheduler is suspended", "[freertos]")
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{
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/* Reset yield sequence index */
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idx = 0;
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/* Reset yield sequence array */
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memset((void *)task_yield_sequence, 0, sizeof(task_yield_sequence));
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/* Initialize idx lock */
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portMUX_INITIALIZE(&idx_lock);
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/* Reset task count */
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count = 0;
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/* Reset task sequence flag */
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task_sequence_ready = false;
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/* Create task yielding sequence queue */
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yield_task_sequence = xQueueCreate(3, sizeof(uint32_t));
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TEST_ASSERT_NOT_EQUAL(NULL, yield_task_sequence);
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/* Create test tasks */
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xTaskCreatePinnedToCore(test_critical_task1, "test_critical_task1", 2048, (void *)1, UNITY_FREERTOS_PRIORITY - 1, NULL, UNITY_FREERTOS_CPU);
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xTaskCreatePinnedToCore(test_critical_task2, "test_critical_task2", 2048, (void *)2, UNITY_FREERTOS_PRIORITY - 1, NULL, UNITY_FREERTOS_CPU);
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/* Wait for at least one of the tasks to finish up */
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while (count == 0) {
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vTaskDelay(10);
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}
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/* Verify that the first task runs */
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uint32_t task_id;
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TEST_ASSERT_EQUAL(pdTRUE, xQueueReceive(yield_task_sequence, &task_id, 0));
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TEST_ASSERT_EQUAL(1, task_id);
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/* Verify that the task yield when the scheduler is suspended did not result in a context switch */
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TEST_ASSERT_EQUAL(pdTRUE, xQueueReceive(yield_task_sequence, &task_id, 0));
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TEST_ASSERT_EQUAL(1, task_id);
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/* Wait for the second task to finish up */
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/* Wait for both the tasks to finish up */
|
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while (count != 2) {
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vTaskDelay(10);
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}
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/* Verify that the second task is scheduled once the scheduler is resumed */
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TEST_ASSERT_EQUAL(pdTRUE, xQueueReceive(yield_task_sequence, &task_id, 0));
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TEST_ASSERT_EQUAL(2, task_id);
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idx = 0;
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/* Cleanup yield sequence queue */
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vQueueDelete(yield_task_sequence);
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/* Verify that test_critical_task1 runs first */
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TEST_ASSERT_EQUAL(1, task_yield_sequence[idx++]);
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/* Verify that the task yield, when the scheduler is suspended, did not result in a context switch */
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TEST_ASSERT_EQUAL(1, task_yield_sequence[idx++]);
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/* Verify that test_critical_task2 is scheduled once the scheduler is resumed */
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TEST_ASSERT_EQUAL(2, task_yield_sequence[idx++]);
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}
|
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/*
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@ -323,48 +333,49 @@ static void high_prio_task(void *arg)
|
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{
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uint32_t task_id = (uint32_t)arg;
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/* Store task_id on queue */
|
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TEST_ASSERT_EQUAL(pdTRUE, xQueueSend(yield_task_sequence, &task_id, 0));
|
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/* Store task_id in the sequence array */
|
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STORE_TASK_ID(task_id);
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|
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/* Increment task count to notify unity task */
|
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count++;
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|
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/* Delete itself */
|
||||
/* Delete self */
|
||||
vTaskDelete(NULL);
|
||||
}
|
||||
|
||||
TEST_CASE("Lower priority task must yield immediately on creation of higher priority task", "[freertos][ignore]")
|
||||
TEST_CASE("Task yield must happen when a task creates a higher priority task", "[freertos]")
|
||||
{
|
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/* Reset yield sequence index */
|
||||
idx = 0;
|
||||
|
||||
/* Reset yield sequence array */
|
||||
memset((void *)task_yield_sequence, 0, sizeof(task_yield_sequence));
|
||||
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||||
/* Initialize idx lock */
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portMUX_INITIALIZE(&idx_lock);
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||||
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||||
/* Reset task count */
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count = 0;
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||||
|
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/* Create task yielding sequence queue */
|
||||
yield_task_sequence = xQueueCreate(3, sizeof(uint32_t));
|
||||
TEST_ASSERT_NOT_EQUAL(NULL, yield_task_sequence);
|
||||
|
||||
/* Create test tasks */
|
||||
/* Create test task */
|
||||
xTaskCreatePinnedToCore(high_prio_task, "high_prio_task", 2048, (void *)1, UNITY_FREERTOS_PRIORITY + 1, NULL, UNITY_FREERTOS_CPU);
|
||||
|
||||
uint32_t unity_task_id = 2;
|
||||
/* Store task_id on queue */
|
||||
TEST_ASSERT_EQUAL(pdTRUE, xQueueSend(yield_task_sequence, &unity_task_id, 0));
|
||||
/* Store task_id in the sequence array */
|
||||
STORE_TASK_ID(unity_task_id);
|
||||
|
||||
/* Wait for the newly created task to finish up */
|
||||
/* Wait for the test task to finish up */
|
||||
while (count == 0) {
|
||||
vTaskDelay(10);
|
||||
}
|
||||
|
||||
idx = 0;
|
||||
|
||||
/* Verify that the unity task yields as soon as a higher prio task is created */
|
||||
uint32_t task_id;
|
||||
TEST_ASSERT_EQUAL(pdTRUE, xQueueReceive(yield_task_sequence, &task_id, 0));
|
||||
TEST_ASSERT_EQUAL(1, task_id);
|
||||
TEST_ASSERT_EQUAL(1, task_yield_sequence[idx++]);
|
||||
|
||||
/* Verify that the unity task_id is stored after the higher priority task runs */
|
||||
TEST_ASSERT_EQUAL(pdTRUE, xQueueReceive(yield_task_sequence, &task_id, 0));
|
||||
TEST_ASSERT_EQUAL(2, task_id);
|
||||
|
||||
/* Cleanup yield sequence queue */
|
||||
vQueueDelete(yield_task_sequence);
|
||||
TEST_ASSERT_EQUAL(2, task_yield_sequence[idx++]);
|
||||
}
|
||||
|
||||
/*
|
||||
@ -379,59 +390,59 @@ static void low_prio_task(void *arg)
|
||||
{
|
||||
uint32_t task_id = (uint32_t)arg;
|
||||
|
||||
/* Store task_id on queue */
|
||||
TEST_ASSERT_EQUAL(pdTRUE, xQueueSend(yield_task_sequence, &task_id, 0));
|
||||
/* Store task_id in the sequence array */
|
||||
STORE_TASK_ID(task_id);
|
||||
|
||||
/* Increment task count to notify unity task */
|
||||
count++;
|
||||
|
||||
/* Delete itself */
|
||||
/* Delete self */
|
||||
vTaskDelete(NULL);
|
||||
}
|
||||
|
||||
TEST_CASE("Lower priority task must yield immediately when the priority of another task is raised", "[freertos][ignore]")
|
||||
TEST_CASE("Task yield must happed when a task raises the priority of another priority task", "[freertos]")
|
||||
{
|
||||
/* Reset yield sequence index */
|
||||
idx = 0;
|
||||
|
||||
/* Reset yield sequence array */
|
||||
memset((void *)task_yield_sequence, 0, sizeof(task_yield_sequence));
|
||||
|
||||
/* Initialize idx lock */
|
||||
portMUX_INITIALIZE(&idx_lock);
|
||||
|
||||
/* Reset task count */
|
||||
count = 0;
|
||||
|
||||
/* Create task yielding sequence queue */
|
||||
yield_task_sequence = xQueueCreate(3, sizeof(uint32_t));
|
||||
TEST_ASSERT_NOT_EQUAL(NULL, yield_task_sequence);
|
||||
|
||||
/* Create test tasks */
|
||||
/* Create test task */
|
||||
TaskHandle_t task_handle;
|
||||
xTaskCreatePinnedToCore(low_prio_task, "low_prio_task", 2048, (void *)1, UNITY_FREERTOS_PRIORITY - 1, &task_handle, UNITY_FREERTOS_CPU);
|
||||
|
||||
uint32_t unity_task_id = 2;
|
||||
/* Store unity task_id on queue */
|
||||
TEST_ASSERT_EQUAL(pdTRUE, xQueueSend(yield_task_sequence, &unity_task_id, 0));
|
||||
/* Store task_id in the sequence array */
|
||||
STORE_TASK_ID(unity_task_id);
|
||||
|
||||
/* Raise the priority of the lower priority task */
|
||||
vTaskPrioritySet(task_handle, UNITY_FREERTOS_PRIORITY + 1);
|
||||
|
||||
/* Store unity task_id on queue again */
|
||||
TEST_ASSERT_EQUAL(pdTRUE, xQueueSend(yield_task_sequence, &unity_task_id, 0));
|
||||
/* Store unity task_id in the sequence array again */
|
||||
STORE_TASK_ID(unity_task_id);
|
||||
|
||||
/* Wait for at least the task to finish up */
|
||||
/* Wait for the test task to finish up */
|
||||
while (count == 0) {
|
||||
vTaskDelay(10);
|
||||
}
|
||||
|
||||
idx = 0;
|
||||
|
||||
/* Verify that the unity task does not yield to a lower priority task when it is created */
|
||||
uint32_t task_id;
|
||||
TEST_ASSERT_EQUAL(pdTRUE, xQueueReceive(yield_task_sequence, &task_id, 0));
|
||||
TEST_ASSERT_EQUAL(2, task_id);
|
||||
TEST_ASSERT_EQUAL(2, task_yield_sequence[idx++]);
|
||||
|
||||
/* Verify that the unity task_id yielded once the priority of the lower priority task is raised */
|
||||
TEST_ASSERT_EQUAL(pdTRUE, xQueueReceive(yield_task_sequence, &task_id, 0));
|
||||
TEST_ASSERT_EQUAL(1, task_id);
|
||||
TEST_ASSERT_EQUAL(1, task_yield_sequence[idx++]);
|
||||
|
||||
/* Verify that the unity task_id is stored again once the other task finishes up */
|
||||
TEST_ASSERT_EQUAL(pdTRUE, xQueueReceive(yield_task_sequence, &task_id, 0));
|
||||
TEST_ASSERT_EQUAL(2, task_id);
|
||||
|
||||
/* Cleanup yield sequence queue */
|
||||
vQueueDelete(yield_task_sequence);
|
||||
/* Verify that the unity task_id is stored again once the test task finishes up */
|
||||
TEST_ASSERT_EQUAL(2, task_yield_sequence[idx++]);
|
||||
}
|
||||
|
||||
#if (portNUM_PROCESSORS > 1) && !(CONFIG_FREERTOS_UNICORE)
|
||||
@ -446,44 +457,56 @@ TEST_CASE("Lower priority task must yield immediately when the priority of anoth
|
||||
*/
|
||||
static void other_core_task1(void *arg)
|
||||
{
|
||||
/* Set the task sequence flag once other_core_task1 runs */
|
||||
task_sequence_ready = true;
|
||||
|
||||
uint32_t task_id = (uint32_t)arg;
|
||||
|
||||
/* Store task_id on queue */
|
||||
TEST_ASSERT_EQUAL(pdTRUE, xQueueSend(yield_task_sequence, &task_id, 0));
|
||||
/* Store task_id in the sequence array */
|
||||
STORE_TASK_ID(task_id);
|
||||
|
||||
while (1) { }
|
||||
while (1) {
|
||||
vTaskDelay(10);
|
||||
}
|
||||
}
|
||||
|
||||
static void other_core_task2(void *arg)
|
||||
{
|
||||
uint32_t task_id = (uint32_t)arg;
|
||||
|
||||
/* Wait for the other task to run for the test to begin */
|
||||
while (!task_sequence_ready) {
|
||||
taskYIELD();
|
||||
};
|
||||
|
||||
uint32_t task_id = (uint32_t)arg;
|
||||
/* Store task_id in the sequence array */
|
||||
STORE_TASK_ID(task_id);
|
||||
|
||||
/* Store task_id on queue */
|
||||
TEST_ASSERT_EQUAL(pdTRUE, xQueueSend(yield_task_sequence, &task_id, 0));
|
||||
/* Increment task count to notify unity task */
|
||||
count++;
|
||||
|
||||
while (1) { }
|
||||
while (1) {
|
||||
vTaskDelay(10);
|
||||
}
|
||||
}
|
||||
|
||||
TEST_CASE("Task yield on other core can go through", "[freertos][ignore]")
|
||||
TEST_CASE("Task yield must happen when issued from another core", "[freertos]")
|
||||
{
|
||||
TaskHandle_t other_core_taskhandle1;
|
||||
TaskHandle_t other_core_taskhandle2;
|
||||
|
||||
/* Reset yield sequence index */
|
||||
idx = 0;
|
||||
|
||||
/* Reset yield sequence array */
|
||||
memset((void *)task_yield_sequence, 0, sizeof(task_yield_sequence));
|
||||
|
||||
/* Initialize idx lock */
|
||||
portMUX_INITIALIZE(&idx_lock);
|
||||
|
||||
/* Reset task count */
|
||||
count = 0;
|
||||
|
||||
/* Reset task sequence flag */
|
||||
task_sequence_ready = false;
|
||||
|
||||
/* Create task yielding sequence queue */
|
||||
yield_task_sequence = xQueueCreate(3, sizeof(uint32_t));
|
||||
TEST_ASSERT_NOT_EQUAL(NULL, yield_task_sequence);
|
||||
|
||||
/* Create test tasks */
|
||||
xTaskCreatePinnedToCore(other_core_task1, "test_task1", 2048, (void *)1, UNITY_FREERTOS_PRIORITY - 1, &other_core_taskhandle1, !UNITY_FREERTOS_CPU);
|
||||
xTaskCreatePinnedToCore(other_core_task2, "test_task2", 2048, (void *)2, UNITY_FREERTOS_PRIORITY - 1, &other_core_taskhandle2, !UNITY_FREERTOS_CPU);
|
||||
@ -491,10 +514,13 @@ TEST_CASE("Task yield on other core can go through", "[freertos][ignore]")
|
||||
/* Wait for everything to be setup */
|
||||
vTaskDelay(10);
|
||||
|
||||
/* Verify that other_core_task1 runs */
|
||||
uint32_t task_id;
|
||||
TEST_ASSERT_EQUAL(pdTRUE, xQueueReceive(yield_task_sequence, &task_id, 0));
|
||||
TEST_ASSERT_EQUAL(1, task_id);
|
||||
uint32_t idx1 = 0;
|
||||
|
||||
/* Verify that other_core_task1 runs first */
|
||||
TEST_ASSERT_EQUAL(1, task_yield_sequence[idx1++]);
|
||||
|
||||
/* Set the task sequence flag once other_core_task1 runs */
|
||||
task_sequence_ready = true;
|
||||
|
||||
/* Force an yield on the other core */
|
||||
#if CONFIG_FREERTOS_SMP
|
||||
@ -503,12 +529,13 @@ TEST_CASE("Task yield on other core can go through", "[freertos][ignore]")
|
||||
vPortYieldOtherCore(!UNITY_FREERTOS_CPU);
|
||||
#endif
|
||||
|
||||
/* Verify that other_core_task1 yields and other_core_task2 runs */
|
||||
TEST_ASSERT_EQUAL(pdTRUE, xQueueReceive(yield_task_sequence, &task_id, 0));
|
||||
TEST_ASSERT_EQUAL(2, task_id);
|
||||
/* Wait for the test task to finish up */
|
||||
while (count == 0) {
|
||||
vTaskDelay(10);
|
||||
}
|
||||
|
||||
/* Cleanup yield sequence queue */
|
||||
vQueueDelete(yield_task_sequence);
|
||||
/* Verify that other_core_task1 yields and other_core_task2 runs */
|
||||
TEST_ASSERT_EQUAL(2, task_yield_sequence[idx1++]);
|
||||
|
||||
/* Cleanup test tasks */
|
||||
vTaskDelete(other_core_taskhandle1);
|
||||
@ -532,19 +559,21 @@ static volatile bool yield_triggered = false;
|
||||
*/
|
||||
static void other_core_critical_task1(void *arg)
|
||||
{
|
||||
/* Set the task sequence flag once other_core_critical_task1 runs */
|
||||
task_sequence_ready = true;
|
||||
|
||||
uint32_t task_id = (uint32_t)arg;
|
||||
|
||||
/* Store task_id on queue */
|
||||
TEST_ASSERT_EQUAL(pdTRUE, xQueueSend(yield_task_sequence, &task_id, 0));
|
||||
/* Store task_id in the sequence array */
|
||||
STORE_TASK_ID(task_id);
|
||||
|
||||
/* Suspend scheduler*/
|
||||
vTaskSuspendAll();
|
||||
|
||||
/* Store task_id on queue again */
|
||||
TEST_ASSERT_EQUAL(pdTRUE, xQueueSend(yield_task_sequence, &task_id, 0));
|
||||
/* Store task_id in the sequence array again.
|
||||
* No need for a lock when the scheduler is supended.
|
||||
*/
|
||||
task_yield_sequence[idx++] = task_id;
|
||||
|
||||
/* Set the task sequence flag once other_core_critical_task1 runs */
|
||||
task_sequence_ready = true;
|
||||
|
||||
/* Increment task count to notify unity task */
|
||||
count++;
|
||||
@ -554,41 +583,46 @@ static void other_core_critical_task1(void *arg)
|
||||
/* Resume scheduler */
|
||||
xTaskResumeAll();
|
||||
|
||||
/* Delete itself */
|
||||
/* Delete self */
|
||||
vTaskDelete(NULL);
|
||||
}
|
||||
|
||||
static void other_core_critical_task2(void *arg)
|
||||
{
|
||||
uint32_t task_id = (uint32_t)arg;
|
||||
|
||||
/* Wait for the other task to run for the test to begin */
|
||||
while (!task_sequence_ready) {
|
||||
taskYIELD();
|
||||
};
|
||||
|
||||
uint32_t task_id = (uint32_t)arg;
|
||||
|
||||
/* Store task_id on queue */
|
||||
TEST_ASSERT_EQUAL(pdTRUE, xQueueSend(yield_task_sequence, &task_id, 0));
|
||||
/* Store task_id in the sequence array */
|
||||
STORE_TASK_ID(task_id);
|
||||
|
||||
/* Increment task count to notify unity task */
|
||||
count++;
|
||||
|
||||
/* Delete itself */
|
||||
/* Delete self */
|
||||
vTaskDelete(NULL);
|
||||
}
|
||||
|
||||
TEST_CASE("Task yield on other core must not happen when scheduler is suspended", "[freertos][ignore]")
|
||||
TEST_CASE("Task yield on other core must not happen when scheduler is suspended", "[freertos]")
|
||||
{
|
||||
/* Reset yield sequence index */
|
||||
idx = 0;
|
||||
|
||||
/* Reset yield sequence array */
|
||||
memset((void *)task_yield_sequence, 0, sizeof(task_yield_sequence));
|
||||
|
||||
/* Initialize idx lock */
|
||||
portMUX_INITIALIZE(&idx_lock);
|
||||
|
||||
/* Reset task count */
|
||||
count = 0;
|
||||
|
||||
/* Reset task sequence flag */
|
||||
task_sequence_ready = false;
|
||||
|
||||
/* Create task yielding sequence queue */
|
||||
yield_task_sequence = xQueueCreate(3, sizeof(uint32_t));
|
||||
TEST_ASSERT_NOT_EQUAL(NULL, yield_task_sequence);
|
||||
|
||||
/* Create test tasks */
|
||||
xTaskCreatePinnedToCore(other_core_critical_task1, "other_core_critical_task1", 2048, (void *)1, UNITY_FREERTOS_PRIORITY - 1, NULL, !UNITY_FREERTOS_CPU);
|
||||
xTaskCreatePinnedToCore(other_core_critical_task2, "other_core_critical_task2", 2048, (void *)2, UNITY_FREERTOS_PRIORITY - 1, NULL, !UNITY_FREERTOS_CPU);
|
||||
@ -604,14 +638,13 @@ TEST_CASE("Task yield on other core must not happen when scheduler is suspended"
|
||||
/* Set yield triggered flag */
|
||||
yield_triggered = true;
|
||||
|
||||
uint32_t idx1 = 0;
|
||||
|
||||
/* Verify that the first task runs */
|
||||
uint32_t task_id;
|
||||
TEST_ASSERT_EQUAL(pdTRUE, xQueueReceive(yield_task_sequence, &task_id, 0));
|
||||
TEST_ASSERT_EQUAL(1, task_id);
|
||||
TEST_ASSERT_EQUAL(1, task_yield_sequence[idx1++]);
|
||||
|
||||
/* Verify that the task yield when the scheduler is suspended did not result in a context switch */
|
||||
TEST_ASSERT_EQUAL(pdTRUE, xQueueReceive(yield_task_sequence, &task_id, 0));
|
||||
TEST_ASSERT_EQUAL(1, task_id);
|
||||
TEST_ASSERT_EQUAL(1, task_yield_sequence[idx1++]);
|
||||
|
||||
/* Wait for the second task to finish up */
|
||||
while (count != 2) {
|
||||
@ -619,11 +652,7 @@ TEST_CASE("Task yield on other core must not happen when scheduler is suspended"
|
||||
}
|
||||
|
||||
/* Verify that the second task is scheduled once the critical section is over */
|
||||
TEST_ASSERT_EQUAL(pdTRUE, xQueueReceive(yield_task_sequence, &task_id, 0));
|
||||
TEST_ASSERT_EQUAL(2, task_id);
|
||||
|
||||
/* Cleanup yield sequence queue */
|
||||
vQueueDelete(yield_task_sequence);
|
||||
TEST_ASSERT_EQUAL(2, task_yield_sequence[idx1++]);
|
||||
}
|
||||
#endif // !CONFIG_FREERTOS_SMP
|
||||
#endif // (portNUM_PROCESSORS > 1) && !(CONFIG_FREERTOS_UNICORE)
|
||||
|
||||
Loading…
Reference in New Issue
Block a user