esp-idf/components/freertos/test/test_freertos_task_utilities.c
Darian Leung 289730820b freertos: Add missing INCLUDE_ configurations for some functions
This commit adds missing INCLUDE_ configurations to FreeRTOSConfig.h for
the following functions:

- xTaskAbortDelay()
- xTaskGetHandle()

Unit tests for these functions were also added.

Closes https://github.com/espressif/esp-idf/issues/7902
2021-11-25 00:04:07 +08:00

104 lines
3.3 KiB
C

/*
* SPDX-FileCopyrightText: 2021 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
}