/* * SPDX-FileCopyrightText: 2021-2022 Espressif Systems (Shanghai) CO LTD * * SPDX-License-Identifier: Apache-2.0 */ #include "freertos/FreeRTOS.h" #include "freertos/task.h" #include "freertos/queue.h" #include "freertos/semphr.h" #include "freertos/stream_buffer.h" #include "freertos/event_groups.h" #include "unity.h" #include "test_utils.h" /* Test that we can get a task's handle via the task's name using xTaskGetHandle() */ static void test_task_get_handle(void *arg) { vTaskSuspend(NULL); } TEST_CASE("FreeRTOS xTaskGetHandle()", "[freertos]") { vTaskDelay(10); //Small delay to let init/daemon tasks finish running for (int core = 0; core < configNUM_CORES; core++) { TaskHandle_t test_task_hdl; TaskHandle_t ret_task_hdl; TEST_ASSERT_EQUAL(pdTRUE, xTaskCreatePinnedToCore(test_task_get_handle, "test0", 1024, NULL, UNITY_FREERTOS_PRIORITY + 1, &test_task_hdl, core)); vTaskDelay(10); //Delay to let task call vTaskSuspend() ret_task_hdl = xTaskGetHandle("test0"); TEST_ASSERT_EQUAL(test_task_hdl, ret_task_hdl); vTaskDelete(test_task_hdl); vTaskDelay(10); //Delay to let IDLE task clean up } } /* Test that a blocked task (either on a delay or an event object) can be unblocked using xTaskAbortDelay() */ #define QUEUE_LEN 1 #define STREAM_BUFFER_LEN (sizeof(uint32_t)) typedef struct { QueueHandle_t queue; SemaphoreHandle_t sem; SemaphoreHandle_t mux; StreamBufferHandle_t stream_buffer; EventGroupHandle_t evt_grp; } abort_delay_test_obj_t; static void test_task_abort_delay(void *arg) { abort_delay_test_obj_t *test_objs = (abort_delay_test_obj_t *)arg; //Block indefinitely on an empty queue. Delay should be aborted so we expect a failure to be returned uint32_t data = 0; TEST_ASSERT_EQUAL(pdFALSE, xQueueReceive(test_objs->queue, &data, portMAX_DELAY)); TEST_ASSERT_EQUAL(pdFALSE, xSemaphoreTake(test_objs->sem, portMAX_DELAY)); TEST_ASSERT_EQUAL(pdFALSE, xSemaphoreTake(test_objs->mux, portMAX_DELAY)); uint32_t RxData; size_t xReceivedBytes = xStreamBufferReceive(test_objs->stream_buffer, (void *)&RxData, STREAM_BUFFER_LEN, portMAX_DELAY); TEST_ASSERT_EQUAL(0, xReceivedBytes); EventBits_t uxBits = xEventGroupWaitBits(test_objs->evt_grp, 0xFF, pdTRUE, pdTRUE, portMAX_DELAY); TEST_ASSERT_EQUAL(0, uxBits); vTaskDelete(NULL); } TEST_CASE("FreeRTOS xTaskAbortDelay()", "[freertos]") { abort_delay_test_obj_t test_objs; test_objs.queue = xQueueCreate(QUEUE_LEN, sizeof(uint32_t)); test_objs.sem = xSemaphoreCreateBinary(); test_objs.mux = xSemaphoreCreateMutex(); test_objs.stream_buffer = xStreamBufferCreate(STREAM_BUFFER_LEN, 1); test_objs.evt_grp = xEventGroupCreate(); for (int core = 0; core < configNUM_CORES; core++) { //Take the MUX so that test task will block on it TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreTake(test_objs.mux, 0)); TaskHandle_t task_hdl; xTaskCreatePinnedToCore(test_task_abort_delay, "test", 1024, (void *)&test_objs, UNITY_FREERTOS_PRIORITY + 1, &task_hdl, core); for (int i = 0; i < 5; i++) { vTaskDelay(10); TEST_ASSERT_EQUAL(pdPASS, xTaskAbortDelay(task_hdl)); } TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreGive(test_objs.mux)); } vTaskDelay(10); //Delay to let IDLE task clean up }