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c41c02872f
Bugfix to prevent a self deleting no affinity task's memory from being freed by the idle task of the other core before the self deleting no affinity task is able to context switch out. prvCheckTasksWaitingTermination now checks if the task is still on pxCurrentTCB before freeing task memory.
84 lines
3.3 KiB
C
84 lines
3.3 KiB
C
/*
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* Test backported deletion behavior by creating tasks of various affinities and
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* check if the task memory is freed immediately under the correct conditions.
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*
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* The behavior of vTaskDelete() has been backported form FreeRTOS v9.0.0. This
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* results in the immediate freeing of task memory and the immediate execution
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* of deletion callbacks under the following conditions...
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* - When deleting a task that is not currently running on either core
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* - When deleting a task that is pinned to the same core (with respect to
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* the core that calls vTaskDelete()
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*
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* If the two conditions are not met, freeing of task memory and execution of
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* deletion callbacks will still be carried out by the Idle Task.
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*/
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#include <stdio.h>
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "esp_heap_caps.h"
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#include "rom/ets_sys.h"
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#include "unity.h"
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#define NO_OF_TSKS 3
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#define DELAY_TICKS 2
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#define HEAP_CAPS (MALLOC_CAP_INTERNAL|MALLOC_CAP_DEFAULT)
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#define DELAY_US_ITERATIONS 1000
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static void tsk_self_del(void *param)
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{
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vTaskDelete(NULL); //Deleting self means deleting currently running task
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}
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static void tsk_extern_del(void *param)
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{
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vTaskDelay(portMAX_DELAY); //Await external deletion
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}
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static void tsk_self_del_us_delay(void *param)
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{
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uint32_t delay = (uint32_t)param;
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ets_delay_us(delay);
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vTaskDelete(NULL);
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}
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TEST_CASE("FreeRTOS Delete Tasks", "[freertos]")
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{
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/* -------------- Test vTaskDelete() on currently running tasks ----------------*/
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uint32_t before_count = uxTaskGetNumberOfTasks();
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uint32_t before_heap = heap_caps_get_free_size(HEAP_CAPS);
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for(int i = 0; i < portNUM_PROCESSORS; i++){
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for(int j = 0; j < NO_OF_TSKS; j++){
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TEST_ASSERT_EQUAL(pdTRUE, xTaskCreatePinnedToCore(tsk_self_del, "tsk_self", 1024, NULL, configMAX_PRIORITIES - 1, NULL, i));
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}
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}
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vTaskDelay(DELAY_TICKS); //Minimal delay to see if Idle task cleans up all tasks awaiting deletion in a single tick
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TEST_ASSERT_EQUAL(before_count, uxTaskGetNumberOfTasks());
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TEST_ASSERT_EQUAL(before_heap, heap_caps_get_free_size(HEAP_CAPS));
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/* ------------- Test vTaskDelete() on not currently running tasks ------------ */
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TaskHandle_t handles[NO_OF_TSKS];
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before_heap = heap_caps_get_free_size(HEAP_CAPS);
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//Create task pinned to the same core that will not run during task deletion
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for(int j = 0 ; j < NO_OF_TSKS; j++){
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TEST_ASSERT_EQUAL(pdTRUE, xTaskCreatePinnedToCore(tsk_extern_del, "tsk_extern", 4096, NULL, configMAX_PRIORITIES - 1, &handles[j], xPortGetCoreID()));
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}
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TEST_ASSERT_NOT_EQUAL(before_heap, heap_caps_get_free_size(HEAP_CAPS)); //Check tasks have been created
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//Delete the tasks, memory should be freed immediately
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for(int j = 0; j < NO_OF_TSKS; j++){
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vTaskDelete(handles[j]);
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}
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TEST_ASSERT_EQUAL(before_heap, heap_caps_get_free_size(HEAP_CAPS));
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/* Test self deleting no affinity task is not removed by idle task of other core before context switch */
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for(int i = 0; i < DELAY_US_ITERATIONS; i+= 10){
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vTaskDelay(1); //Sync to next tick interrupt
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xTaskCreatePinnedToCore(tsk_self_del_us_delay, "delay", 1024, (void *)i, UNITY_FREERTOS_PRIORITY - 1, NULL, tskNO_AFFINITY);
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ets_delay_us(10); //Busy wait to ensure no affinity task runs on opposite core
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}
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}
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