Merge branch 'refactor/esp_event_unit_tests' into 'master'

refactor(esp_event): improved esp_event unit tests

Closes IDFGH-10628

See merge request espressif/esp-idf!25217

components/esp_event/.build-test-rules.yml

@@ -2,5 +2,5 @@
 
 components/esp_event/test_apps:
   enable:
-    - if: IDF_TARGET in ["esp32", "esp32s2", "esp32c3"]
+    - if: IDF_TARGET in ["esp32", "esp32s2", "esp32c3", "linux"]
       reason: covers all major arch types, xtensa vs riscv, single vs dual-core

components/esp_event/esp_event.c

@@ -778,7 +778,7 @@ esp_err_t esp_event_handler_unregister_with_internal(esp_event_loop_handle_t eve
 
     if (event_base == ESP_EVENT_ANY_BASE && event_id != ESP_EVENT_ANY_ID) {
         ESP_LOGE(TAG, "unregistering to any event base with specific id unsupported");
-        return ESP_FAIL;
+        return ESP_ERR_INVALID_ARG;
     }
 
     if (event_base == ESP_EVENT_ANY_BASE) {

components/esp_event/test_apps/README.md

@@ -1,2 +1,4 @@
-| Supported Targets | ESP32 | ESP32-C3 | ESP32-S2 |
-| ----------------- | ----- | -------- | -------- |
+| Supported Targets | ESP32 | ESP32-C3 | ESP32-S2 | Linux |
+| ----------------- | ----- | -------- | -------- | ----- |
+
+For testing on linux, please deactivate the task stack overflow watchpoint

components/esp_event/test_apps/main/CMakeLists.txt

@@ -1,8 +1,19 @@
-set(srcs "test_event_main.c"
-         "test_default_loop.c"
-         "test_event.c")
+idf_build_get_property(target IDF_TARGET)
+
+set(srcs "test_event_main.c" "test_event_common.cpp")
+set(priv_requires "esp_event unity")
+
+if(NOT ${target} STREQUAL "linux")
+    list(APPEND srcs
+        "test_event_target.c")
+
+    list(APPEND priv_requires
+        "driver"
+        "esp_timer"
+        "test_utils")
+endif()
 
 idf_component_register(SRCS ${srcs}
                        PRIV_INCLUDE_DIRS . ../../private_include
-                       PRIV_REQUIRES esp_event driver esp_timer unity test_utils
+                       PRIV_REQUIRES ${priv_requires}
                        WHOLE_ARCHIVE)

components/esp_event/test_apps/main/test_default_loop.c

@@ -1,158 +0,0 @@
-/*
- * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
- *
- * SPDX-License-Identifier: Unlicense OR CC0-1.0
- */
-
-#include <stdbool.h>
-#include <string.h>
-
-#include "esp_event.h"
-#include "sdkconfig.h"
-
-#include "freertos/FreeRTOS.h"
-#include "freertos/task.h"
-#include "esp_log.h"
-
-#include "esp_event.h"
-#include "esp_event_private.h"
-#include "esp_event_internal.h"
-
-#include "esp_heap_caps.h"
-
-#include "sdkconfig.h"
-#include "unity.h"
-
-typedef struct {
-    void* data;
-    SemaphoreHandle_t mutex;
-} simple_arg_t;
-
-static const char* TAG = "test_event";
-
-ESP_EVENT_DECLARE_BASE(s_default_test_base1);
-ESP_EVENT_DECLARE_BASE(s_default_test_base2);
-
-ESP_EVENT_DEFINE_BASE(s_default_test_base1);
-ESP_EVENT_DEFINE_BASE(s_default_test_base2);
-
-enum {
-    TEST_EVENT_BASE1_EV1,
-    TEST_EVENT_BASE1_EV2,
-    TEST_EVENT_BASE1_MAX
-};
-
-enum {
-    TEST_EVENT_BASE2_EV1,
-    TEST_EVENT_BASE2_EV2,
-    TEST_EVENT_BASE2_MAX
-};
-
-// The initial logging "initializing test" is to ensure mutex allocation is not counted against memory not being freed
-// during teardown.
-#define TEST_SETUP() \
-        ESP_LOGI(TAG, "initializing test");
-
-static void test_event_simple_handler(void* event_handler_arg, esp_event_base_t event_base, int32_t event_id, void* event_data)
-{
-    if (!event_handler_arg) {
-        return;
-    }
-    simple_arg_t* arg = (simple_arg_t*) event_handler_arg;
-    xSemaphoreTake(arg->mutex, portMAX_DELAY);
-
-    int* count = (int*) arg->data;
-
-    if (event_data == NULL) {
-        (*count)++;
-    } else {
-        (*count) += *((int*) event_data);
-    }
-
-    xSemaphoreGive(arg->mutex);
-}
-
-TEST_CASE("default loop: can create and delete loop", "[event]")
-{
-    TEST_SETUP();
-
-    TEST_ESP_OK(esp_event_loop_create_default());
-
-    TEST_ESP_OK(esp_event_loop_delete_default());
-}
-
-TEST_CASE("default loop: registering fails on uninitialized default loop", "[event]")
-{
-    TEST_SETUP();
-
-    esp_event_handler_instance_t instance;
-    TEST_ASSERT_EQUAL(ESP_ERR_INVALID_STATE, esp_event_handler_instance_register(s_default_test_base1,
-            TEST_EVENT_BASE1_EV1,
-            test_event_simple_handler,
-            NULL,
-            &instance));
-}
-
-TEST_CASE("default loop: registering/unregistering event works", "[event]")
-{
-    TEST_SETUP();
-
-    int count = 0;
-
-    simple_arg_t arg = {
-        .data = &count,
-        .mutex = xSemaphoreCreateMutex()
-    };
-
-    TEST_ESP_OK(esp_event_loop_create_default());
-
-    esp_event_handler_instance_t instance;
-    TEST_ESP_OK(esp_event_handler_instance_register(s_default_test_base1,
-            TEST_EVENT_BASE1_EV1,
-            test_event_simple_handler,
-            &arg,
-            &instance));
-    TEST_ASSERT(instance);
-    TEST_ESP_OK(esp_event_post(s_default_test_base1, TEST_EVENT_BASE1_EV1, NULL, 0, portMAX_DELAY));
-
-    vTaskDelay(10);
-
-    TEST_ASSERT_EQUAL(1, count);
-
-    TEST_ESP_OK(esp_event_handler_instance_unregister(s_default_test_base1,
-            TEST_EVENT_BASE1_EV1,
-            &instance));
-
-    vTaskDelay(10);
-
-    TEST_ASSERT_EQUAL(1, count);
-
-    TEST_ESP_OK(esp_event_loop_delete_default());
-
-    vSemaphoreDelete(arg.mutex);
-}
-
-TEST_CASE("default event loop: registering event handler instance without instance context works", "[event]") {
-    TEST_SETUP();
-
-    int count_1 = 0;
-
-    simple_arg_t arg_1 = {
-        .data = &count_1,
-        .mutex = xSemaphoreCreateMutex()
-    };
-
-    TEST_ESP_OK(esp_event_loop_create_default());
-
-    TEST_ESP_OK(esp_event_handler_instance_register(ESP_EVENT_ANY_BASE, ESP_EVENT_ANY_ID, test_event_simple_handler, &arg_1, NULL));
-
-    TEST_ESP_OK(esp_event_post(s_default_test_base1, TEST_EVENT_BASE1_EV1, NULL, 0, portMAX_DELAY));
-
-    vTaskDelay(10);
-
-    TEST_ASSERT_EQUAL(1, count_1);
-
-    TEST_ESP_OK(esp_event_loop_delete_default());
-
-    vSemaphoreDelete(arg_1.mutex);
-}

components/esp_event/test_apps/main/test_event_main.c

@@ -6,32 +6,15 @@
 
 #include "unity.h"
 #include "unity_test_runner.h"
-#include "esp_heap_caps.h"
+#include "unity_test_utils_memory.h"
 #include "esp_log.h"
 #ifdef CONFIG_HEAP_TRACING
 #include "memory_checks.h"
 #include "esp_heap_trace.h"
 #endif
 
-#define TEST_MEMORY_LEAK_THRESHOLD_DEFAULT 0
-static int leak_threshold = TEST_MEMORY_LEAK_THRESHOLD_DEFAULT;
-
-void set_leak_threshold(int threshold)
-{
-    leak_threshold = threshold;
-}
-
-static size_t before_free_8bit;
-static size_t before_free_32bit;
 static const char* TAG = "event_test_app";
 
-static void check_leak(size_t before_free, size_t after_free, const char *type)
-{
-    ssize_t delta = after_free - before_free;
-    printf("MALLOC_CAP_%s: Before %u bytes free, After %u bytes free (delta %d)\n", type, before_free, after_free, delta);
-    TEST_ASSERT_MESSAGE(delta >= leak_threshold, "memory leak");
-}
-
 void setUp(void)
 {
     // If heap tracing is enabled in kconfig, leak trace the test
@@ -40,10 +23,8 @@ void setUp(void)
     heap_trace_start(HEAP_TRACE_LEAKS);
 #endif
 
-    leak_threshold = TEST_MEMORY_LEAK_THRESHOLD_DEFAULT;
-
-    before_free_8bit = heap_caps_get_free_size(MALLOC_CAP_8BIT);
-    before_free_32bit = heap_caps_get_free_size(MALLOC_CAP_32BIT);
+    unity_utils_set_leak_level(0);
+    unity_utils_record_free_mem();
 }
 
 void tearDown(void)
@@ -53,11 +34,7 @@ void tearDown(void)
     heap_trace_dump();
 #endif
 
-    size_t after_free_8bit = heap_caps_get_free_size(MALLOC_CAP_8BIT);
-    size_t after_free_32bit = heap_caps_get_free_size(MALLOC_CAP_32BIT);
-    check_leak(before_free_8bit, after_free_8bit, "8BIT");
-    check_leak(before_free_32bit, after_free_32bit, "32BIT");
-
+    unity_utils_evaluate_leaks();
 }
 
 void app_main(void)

components/esp_event/test_apps/main/test_event_target.c

@@ -0,0 +1,765 @@
+/*
+ * SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Unlicense OR CC0-1.0
+ */
+
+/* This file contains tests only runnable on the chip targets */
+
+#include <stdbool.h>
+#include <string.h>
+
+#include "esp_event.h"
+#include "sdkconfig.h"
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "esp_log.h"
+#include "driver/gptimer.h"
+
+#include "esp_event.h"
+#include "esp_event_private.h"
+#include "esp_event_internal.h"
+
+#include "esp_heap_caps.h"
+#include "esp_timer.h"
+
+#include "sdkconfig.h"
+#include "unity.h"
+#include "unity_test_utils_memory.h"
+
+#include "test_utils.h"
+
+
+static const char* TAG = "test_event";
+
+static const TickType_t ZERO_DELAY = 0;
+
+#define TEST_CONFIG_ITEMS_TO_REGISTER        5
+#define TEST_CONFIG_TASKS_TO_SPAWN           2
+_Static_assert(TEST_CONFIG_TASKS_TO_SPAWN >= 2); // some tests test simultaneous posting of events, etc.
+
+/* Time used in tearDown function to wait for cleaning up memory in background tasks */
+#define TEST_CONFIG_TEARDOWN_WAIT           30
+
+typedef struct {
+    void* data;
+    SemaphoreHandle_t start;
+    SemaphoreHandle_t done;
+} task_arg_t;
+
+typedef struct {
+    esp_event_base_t base;
+    int32_t id;
+    esp_event_handler_t* handles;
+    int32_t num;
+    esp_event_loop_handle_t loop;
+    bool is_registration;
+} handler_registration_data_t;
+
+typedef struct {
+    esp_event_base_t base;
+    int32_t id;
+    esp_event_loop_handle_t loop;
+    int32_t num;
+} post_event_data_t;
+
+typedef struct {
+    int performed;
+    int expected;
+    SemaphoreHandle_t done;
+} performance_data_t;
+
+typedef struct {
+    void* data;
+    SemaphoreHandle_t mutex;
+} simple_arg_t;
+
+ESP_EVENT_DECLARE_BASE(s_test_base1);
+
+enum {
+    TEST_EVENT_BASE1_EV1,
+    TEST_EVENT_BASE1_MAX
+};
+
+static BaseType_t get_other_core(void)
+{
+    return (xPortGetCoreID() + 1) % portNUM_PROCESSORS;
+}
+
+static esp_event_loop_args_t test_event_get_default_loop_args(void)
+{
+    esp_event_loop_args_t loop_config = {
+        .queue_size = CONFIG_ESP_SYSTEM_EVENT_QUEUE_SIZE,
+        .task_name = "loop",
+        .task_priority = uxTaskPriorityGet(NULL),
+        .task_stack_size = 2048,
+        .task_core_id = get_other_core()
+    };
+
+    return loop_config;
+}
+
+static void test_event_simple_handler(void* event_handler_arg, esp_event_base_t event_base, int32_t event_id, void* event_data)
+{
+    if (!event_handler_arg) {
+        return;
+    }
+    simple_arg_t* arg = (simple_arg_t*) event_handler_arg;
+    xSemaphoreTake(arg->mutex, portMAX_DELAY);
+
+    int* count = (int*) arg->data;
+
+    if (event_data == NULL) {
+        (*count)++;
+    } else {
+        (*count) += *((int*) event_data);
+    }
+
+    xSemaphoreGive(arg->mutex);
+}
+
+static void test_event_performance_handler(void* event_handler_arg, esp_event_base_t event_base, int32_t event_id, void* event_data)
+{
+    performance_data_t* data = (performance_data_t*) event_handler_arg;
+
+    data->performed++;
+
+    if (data->performed >= data->expected) {
+        xSemaphoreGive(data->done);
+    }
+}
+
+static void test_event_post_task(void* args)
+{
+    task_arg_t* arg = (task_arg_t*) args;
+    post_event_data_t* data = arg->data;
+
+    xSemaphoreTake(arg->start, portMAX_DELAY);
+
+    for (int i = 0; i < data->num; i++) {
+        TEST_ESP_OK(esp_event_post_to(data->loop, data->base, data->id, NULL, 0, portMAX_DELAY));
+        vTaskDelay(1);
+    }
+
+    xSemaphoreGive(arg->done);
+
+    vTaskDelete(NULL);
+}
+
+static void test_event_simple_handler_registration_task(void* args)
+{
+    task_arg_t* arg = (task_arg_t*) args;
+    handler_registration_data_t* data = (handler_registration_data_t*) arg->data;
+
+    xSemaphoreTake(arg->start, portMAX_DELAY);
+
+    for(int i = 0; i < data->num; i++) {
+        if (data->is_registration) {
+            TEST_ESP_OK(esp_event_handler_register_with(data->loop, data->base, data->id, data->handles[i], NULL));
+        } else {
+            TEST_ESP_OK(esp_event_handler_unregister_with(data->loop, data->base, data->id, data->handles[i]));
+        }
+        vTaskDelay(1);
+    }
+
+    xSemaphoreGive(arg->done);
+
+    vTaskDelete(NULL);
+}
+
+// Ignore this test on QEMU for now since it relies on esp_timer which is based on the host run time on ESP32-QEMU
+TEST_CASE("can exit running loop at approximately the set amount of time", "[event][qemu-ignore]")
+{
+    /* this test aims to verify that running loop does not block indefinitely in cases where
+     * events are posted frequently */
+
+    esp_event_loop_handle_t loop;
+    esp_event_loop_args_t loop_args = test_event_get_default_loop_args();
+
+    loop_args.task_name = NULL;
+    TEST_ESP_OK(esp_event_loop_create(&loop_args, &loop));
+
+    performance_data_t handler_data = {
+        .performed = 0,
+        .expected = INT32_MAX,
+        .done = xSemaphoreCreateBinary()
+    };
+
+    TEST_ESP_OK(esp_event_handler_register_with(loop, s_test_base1, TEST_EVENT_BASE1_EV1, test_event_performance_handler, &handler_data));
+
+    post_event_data_t post_event_data = {
+        .base = s_test_base1,
+        .id = TEST_EVENT_BASE1_EV1,
+        .loop = loop,
+        .num  = INT32_MAX
+    };
+
+    task_arg_t post_event_arg = {
+        .data = &post_event_data,
+        .done = xSemaphoreCreateBinary(),
+        .start = xSemaphoreCreateBinary()
+    };
+
+    TaskHandle_t post_task;
+    xTaskCreatePinnedToCore(test_event_post_task, "post", 2048, &post_event_arg, uxTaskPriorityGet(NULL), &post_task, get_other_core());
+
+    int runtime_ms = 10;
+    int runtime_us = runtime_ms * 1000;
+
+    int64_t start, diff;
+    start = esp_timer_get_time();
+
+    xSemaphoreGive(post_event_arg.start);
+
+    // Run the loop for the runtime_ms set amount of time, regardless of whether events
+    // are still being posted to the loop.
+    TEST_ESP_OK(esp_event_loop_run(loop, pdMS_TO_TICKS(runtime_ms)));
+
+    diff = (esp_timer_get_time() - start);
+
+    // Threshold is 25 percent.
+    TEST_ASSERT_LESS_THAN_INT(runtime_us * 1.25f, diff);
+
+    // Verify that the post task still continues
+    TEST_ASSERT_NOT_EQUAL(pdTRUE, xSemaphoreTake(post_event_arg.done, pdMS_TO_TICKS(10)));
+
+    vSemaphoreDelete(post_event_arg.done);
+    vSemaphoreDelete(post_event_arg.start);
+    vSemaphoreDelete(handler_data.done);
+    vTaskDelete(post_task);
+
+    TEST_ESP_OK(esp_event_loop_delete(loop));
+
+    vTaskDelay(pdMS_TO_TICKS(TEST_CONFIG_TEARDOWN_WAIT));
+}
+
+TEST_CASE("can register/unregister handlers simultaneously", "[event]")
+{
+    /* this test aims to verify that the event handlers list remains consistent despite
+     * simultaneous access by differenct tasks */
+
+    const char* base = "base";
+    int32_t id = 0;
+
+    esp_event_loop_handle_t loop;
+    esp_event_loop_args_t loop_args = test_event_get_default_loop_args();
+
+    TEST_ESP_OK(esp_event_loop_create(&loop_args, &loop));
+
+    ESP_LOGI(TAG, "registering handlers");
+
+    handler_registration_data_t* registration_data = calloc(TEST_CONFIG_TASKS_TO_SPAWN, sizeof(*registration_data));
+    task_arg_t* registration_arg = calloc(TEST_CONFIG_TASKS_TO_SPAWN, sizeof(*registration_arg));
+
+    for (int i = 0; i < TEST_CONFIG_TASKS_TO_SPAWN; i++) {
+        registration_data[i].base = base;
+        registration_data[i].id = id;
+        registration_data[i].loop = loop;
+        registration_data[i].handles = calloc(TEST_CONFIG_ITEMS_TO_REGISTER, sizeof(esp_event_handler_t));
+        registration_data[i].num = TEST_CONFIG_ITEMS_TO_REGISTER;
+        registration_data[i].is_registration = true;
+
+        for (int j = 0; j < TEST_CONFIG_ITEMS_TO_REGISTER; j++) {
+            registration_data[i].handles[j] = (void*) (i * TEST_CONFIG_ITEMS_TO_REGISTER) + (j + TEST_CONFIG_ITEMS_TO_REGISTER);
+        }
+
+        registration_arg[i].start = xSemaphoreCreateBinary();
+        registration_arg[i].done = xSemaphoreCreateBinary();
+        registration_arg[i].data = &registration_data[i];
+
+        xTaskCreatePinnedToCore(test_event_simple_handler_registration_task, "register", 2048, &registration_arg[i], uxTaskPriorityGet(NULL), NULL, i % portNUM_PROCESSORS);
+    }
+
+    // Give the semaphores to the spawned registration task
+    for (int i = 0; i < TEST_CONFIG_TASKS_TO_SPAWN; i++) {
+        xSemaphoreGive(registration_arg[i].start);
+    }
+
+    // Take the same semaphores in order to proceed
+    for (int i = 0; i < TEST_CONFIG_TASKS_TO_SPAWN; i++) {
+        xSemaphoreTake(registration_arg[i].done, portMAX_DELAY);
+    }
+
+    ESP_LOGI(TAG, "checking consistency of handlers list");
+
+    // Check consistency of events list
+    for (int i = 0; i < TEST_CONFIG_TASKS_TO_SPAWN; i++) {
+        for (int j = 0; j < TEST_CONFIG_ITEMS_TO_REGISTER; j++) {
+            TEST_ASSERT_TRUE(esp_event_is_handler_registered(loop, base, id, registration_data[i].handles[j]));
+        }
+    }
+
+    ESP_LOGI(TAG, "unregistering handlers");
+
+    /* Test if tasks can unregister simultaneously */
+
+    // Unregister registered events
+    handler_registration_data_t* unregistration_data = calloc(TEST_CONFIG_TASKS_TO_SPAWN, sizeof(*unregistration_data));
+    task_arg_t* unregistration_arg = calloc(TEST_CONFIG_TASKS_TO_SPAWN, sizeof(*unregistration_arg));
+
+    for (int i = 0; i < TEST_CONFIG_TASKS_TO_SPAWN; i++) {
+        unregistration_data[i].base = base;
+        unregistration_data[i].id = id;
+        unregistration_data[i].loop = loop;
+        unregistration_data[i].handles = calloc(TEST_CONFIG_ITEMS_TO_REGISTER, sizeof(esp_event_handler_t));
+        unregistration_data[i].num = TEST_CONFIG_ITEMS_TO_REGISTER;
+        unregistration_data[i].is_registration = false;
+
+        memcpy(unregistration_data[i].handles, registration_data[i].handles, TEST_CONFIG_ITEMS_TO_REGISTER * sizeof(esp_event_handler_t));
+
+        unregistration_arg[i].data = &unregistration_data[i];
+        unregistration_arg[i].start = xSemaphoreCreateBinary();
+        unregistration_arg[i].done = xSemaphoreCreateBinary();
+
+        xTaskCreatePinnedToCore(test_event_simple_handler_registration_task, "unregister", 2048, &unregistration_arg[i], uxTaskPriorityGet(NULL), NULL, i % portNUM_PROCESSORS);
+    }
+
+    // Give the semaphores to the spawned unregistration task
+    for (int i = 0; i < TEST_CONFIG_TASKS_TO_SPAWN; i++) {
+        xSemaphoreGive(unregistration_arg[i].start);
+    }
+
+    // Take the same semaphores in order to proceed
+    for (int i = 0; i < TEST_CONFIG_TASKS_TO_SPAWN; i++) {
+        xSemaphoreTake(unregistration_arg[i].done, portMAX_DELAY);
+    }
+
+    ESP_LOGI(TAG, "checking consistency of handlers list");
+
+    // Check consistency of events list
+    for (int i = 0; i < TEST_CONFIG_TASKS_TO_SPAWN; i++) {
+        for (int j = 0; j < TEST_CONFIG_ITEMS_TO_REGISTER; j++) {
+            TEST_ASSERT_FALSE(esp_event_is_handler_registered(loop, base, id, registration_data[i].handles[j]));
+        }
+    }
+
+    // Do cleanup
+    for (int i = 0; i < TEST_CONFIG_TASKS_TO_SPAWN; i++) {
+        free(registration_data[i].handles);
+        vSemaphoreDelete(registration_arg[i].start);
+        vSemaphoreDelete(registration_arg[i].done);
+
+        free(unregistration_data[i].handles);
+        vSemaphoreDelete(unregistration_arg[i].start);
+        vSemaphoreDelete(unregistration_arg[i].done);
+    }
+
+    free(registration_data);
+    free(unregistration_data);
+    free(registration_arg);
+    free(unregistration_arg);
+
+    TEST_ESP_OK(esp_event_loop_delete(loop));
+
+    vTaskDelay(pdMS_TO_TICKS(TEST_CONFIG_TEARDOWN_WAIT));
+}
+
+TEST_CASE("can post and run events simultaneously", "[event]")
+{
+    /* this test aims to verify that:
+     *  - multiple tasks can post to the queue simultaneously
+     *  - handlers recieve the appropriate handler arg and associated event data */
+
+    esp_event_loop_handle_t loop;
+
+    esp_event_loop_args_t loop_args = test_event_get_default_loop_args();
+
+    loop_args.task_name = NULL;
+    loop_args.queue_size = TEST_CONFIG_TASKS_TO_SPAWN * TEST_CONFIG_ITEMS_TO_REGISTER;
+    TEST_ESP_OK(esp_event_loop_create(&loop_args, &loop));
+
+    int count = 0;
+
+    simple_arg_t arg = {
+        .data = &count,
+        .mutex = xSemaphoreCreateMutex()
+    };
+
+    TEST_ESP_OK(esp_event_handler_register_with(loop, s_test_base1, TEST_EVENT_BASE1_EV1, test_event_simple_handler, &arg));
+
+    post_event_data_t* post_event_data = calloc(TEST_CONFIG_TASKS_TO_SPAWN, sizeof(*post_event_data));
+    task_arg_t* post_event_arg = calloc(TEST_CONFIG_TASKS_TO_SPAWN, sizeof(*post_event_arg));
+
+    for (int i = 0; i < TEST_CONFIG_TASKS_TO_SPAWN; i++)
+    {
+        post_event_data[i].base = s_test_base1;
+        post_event_data[i].id = TEST_EVENT_BASE1_EV1;
+        post_event_data[i].loop = loop;
+        post_event_data[i].num = TEST_CONFIG_ITEMS_TO_REGISTER;
+
+        post_event_arg[i].data = &post_event_data[i];
+        post_event_arg[i].start = xSemaphoreCreateBinary();
+        post_event_arg[i].done = xSemaphoreCreateBinary();
+
+        xTaskCreatePinnedToCore(test_event_post_task, "post", 2048, &post_event_arg[i], uxTaskPriorityGet(NULL), NULL, i % portNUM_PROCESSORS);
+    }
+
+    for (int i = 0; i < TEST_CONFIG_TASKS_TO_SPAWN; i++) {
+        xSemaphoreGive(post_event_arg[i].start);
+    }
+
+    // Execute some events as they are posted
+    for (int i = 0; i < (TEST_CONFIG_TASKS_TO_SPAWN * TEST_CONFIG_ITEMS_TO_REGISTER) / 2; i++) {
+        TEST_ESP_OK(esp_event_loop_run(loop, pdMS_TO_TICKS(10)));
+    }
+
+    for (int i = 0; i < TEST_CONFIG_TASKS_TO_SPAWN; i++) {
+        xSemaphoreTake(post_event_arg[i].done, portMAX_DELAY);
+    }
+
+    // Execute the rest
+    for (size_t i = 0; i < TEST_CONFIG_TASKS_TO_SPAWN * TEST_CONFIG_ITEMS_TO_REGISTER; i++) {
+        TEST_ESP_OK(esp_event_loop_run(loop, ZERO_DELAY));
+    }
+
+    TEST_ASSERT_EQUAL(TEST_CONFIG_TASKS_TO_SPAWN * TEST_CONFIG_ITEMS_TO_REGISTER, count);
+
+    // Cleanup
+    for (int i = 0; i < TEST_CONFIG_TASKS_TO_SPAWN; i++) {
+        vSemaphoreDelete(post_event_arg[i].start);
+        vSemaphoreDelete(post_event_arg[i].done);
+    }
+
+    free(post_event_data);
+    free(post_event_arg);
+
+    TEST_ESP_OK(esp_event_loop_delete(loop));
+
+    vSemaphoreDelete(arg.mutex);
+
+    vTaskDelay(pdMS_TO_TICKS(TEST_CONFIG_TEARDOWN_WAIT));
+}
+
+TEST_CASE("can post and run events simultaneously with instances", "[event]")
+{
+    /* this test aims to verify that:
+     *  - multiple tasks can post to the queue simultaneously
+     *  - handlers recieve the appropriate handler arg and associated event data */
+
+    esp_event_loop_handle_t loop;
+
+    esp_event_loop_args_t loop_args = test_event_get_default_loop_args();
+
+    loop_args.task_name = NULL;
+    loop_args.queue_size = TEST_CONFIG_TASKS_TO_SPAWN * TEST_CONFIG_ITEMS_TO_REGISTER;
+    TEST_ESP_OK(esp_event_loop_create(&loop_args, &loop));
+
+    int count = 0;
+
+    simple_arg_t arg = {
+        .data = &count,
+        .mutex = xSemaphoreCreateMutex()
+    };
+
+    esp_event_handler_instance_t ctx;
+
+    TEST_ESP_OK(esp_event_handler_instance_register_with(loop, s_test_base1, TEST_EVENT_BASE1_EV1, test_event_simple_handler, &arg, &ctx));
+
+    post_event_data_t* post_event_data = calloc(TEST_CONFIG_TASKS_TO_SPAWN, sizeof(*post_event_data));
+    task_arg_t* post_event_arg = calloc(TEST_CONFIG_TASKS_TO_SPAWN, sizeof(*post_event_arg));
+
+    for (int i = 0; i < TEST_CONFIG_TASKS_TO_SPAWN; i++)
+    {
+        post_event_data[i].base = s_test_base1;
+        post_event_data[i].id = TEST_EVENT_BASE1_EV1;
+        post_event_data[i].loop = loop;
+        post_event_data[i].num = TEST_CONFIG_ITEMS_TO_REGISTER;
+
+        post_event_arg[i].data = &post_event_data[i];
+        post_event_arg[i].start = xSemaphoreCreateBinary();
+        post_event_arg[i].done = xSemaphoreCreateBinary();
+
+        xTaskCreatePinnedToCore(test_event_post_task, "post", 2048, &post_event_arg[i], uxTaskPriorityGet(NULL), NULL, i % portNUM_PROCESSORS);
+    }
+
+    for (int i = 0; i < TEST_CONFIG_TASKS_TO_SPAWN; i++) {
+        xSemaphoreGive(post_event_arg[i].start);
+    }
+
+    // Execute some events as they are posted
+    for (int i = 0; i < (TEST_CONFIG_TASKS_TO_SPAWN * TEST_CONFIG_ITEMS_TO_REGISTER) / 2; i++) {
+        TEST_ESP_OK(esp_event_loop_run(loop, pdMS_TO_TICKS(10)));
+    }
+
+    for (int i = 0; i < TEST_CONFIG_TASKS_TO_SPAWN; i++) {
+        xSemaphoreTake(post_event_arg[i].done, portMAX_DELAY);
+    }
+
+    // Execute the rest, we use the maximum number of events because we don't know
+    // if any events have been dispatched before
+    for (size_t i = 0; i < TEST_CONFIG_TASKS_TO_SPAWN * TEST_CONFIG_ITEMS_TO_REGISTER; i++) {
+        TEST_ESP_OK(esp_event_loop_run(loop, ZERO_DELAY));
+    }
+
+    TEST_ASSERT_EQUAL(TEST_CONFIG_TASKS_TO_SPAWN * TEST_CONFIG_ITEMS_TO_REGISTER, count);
+
+    // Cleanup
+    for (int i = 0; i < TEST_CONFIG_TASKS_TO_SPAWN; i++) {
+        vSemaphoreDelete(post_event_arg[i].start);
+        vSemaphoreDelete(post_event_arg[i].done);
+    }
+
+    free(post_event_data);
+    free(post_event_arg);
+
+    TEST_ESP_OK(esp_event_loop_delete(loop));
+
+    vSemaphoreDelete(arg.mutex);
+
+    vTaskDelay(pdMS_TO_TICKS(TEST_CONFIG_TEARDOWN_WAIT));
+}
+
+static void loop_run_task(void* args)
+{
+    esp_event_loop_handle_t event_loop = (esp_event_loop_handle_t) args;
+
+    while(1) {
+        esp_event_loop_run(event_loop, portMAX_DELAY);
+    }
+}
+
+static void performance_test(bool dedicated_task)
+{
+    // rand() seems to do a one-time allocation. Call it here so that the memory it allocates
+    // is not counted as a leak.
+    unsigned int _rand __attribute__((unused)) = rand();
+
+    const char test_base[] = "qwertyuiopasdfghjklzxvbnmmnbvcxz";
+
+    #define TEST_CONFIG_BASES  (sizeof(test_base) - 1)
+    #define TEST_CONFIG_IDS    (TEST_CONFIG_BASES / 2)
+
+    // Create loop
+    esp_event_loop_args_t loop_args = test_event_get_default_loop_args();
+    esp_event_loop_handle_t loop;
+
+    if (!dedicated_task) {
+        loop_args.task_name = NULL;
+    }
+
+    TEST_ESP_OK(esp_event_loop_create(&loop_args, &loop));
+
+    performance_data_t data;
+
+    // Register the handlers
+    for (int base = 0; base < TEST_CONFIG_BASES; base++) {
+        for (int id = 0; id < TEST_CONFIG_IDS; id++) {
+            TEST_ESP_OK(esp_event_handler_register_with(loop, test_base + base, id, test_event_performance_handler, &data));
+        }
+    }
+
+    TaskHandle_t mtask = NULL;
+
+    if (!dedicated_task) {
+        xTaskCreate(loop_run_task, "loop_run", loop_args.task_stack_size, (void*) loop, loop_args.task_priority, &mtask);
+    }
+
+    // Perform performance test
+    float running_sum = 0;
+    float running_count = 0;
+
+    for (int bases = 1; bases <= TEST_CONFIG_BASES; bases *= 2) {
+        for (int ids = 1; ids <= TEST_CONFIG_IDS; ids *= 2) {
+
+            data.performed = 0;
+            data.expected = bases * ids;
+            data.done = xSemaphoreCreateBinary();
+
+            // Generate randomized list of posts
+            int post_bases[TEST_CONFIG_BASES];
+            int post_ids[TEST_CONFIG_IDS];
+
+            for (int i = 0; i < bases; i++) {
+                post_bases[i] = i;
+            }
+
+            for (int i = 0; i < ids; i++) {
+                post_ids[i] = i;
+            }
+
+            for (int i = 0; i < bases; i++) {
+                int rand_a  = rand() % bases;
+                int rand_b  = rand() % bases;
+
+                int temp = post_bases[rand_a];
+                post_bases[rand_a]= post_bases[rand_b];
+                post_bases[rand_b] = temp;
+            }
+
+            for (int i = 0; i < ids; i++) {
+                int rand_a  = rand() % ids;
+                int rand_b  = rand() % ids;
+
+                int temp = post_ids[rand_a];
+                post_ids[rand_a]= post_ids[rand_b];
+                post_ids[rand_b] = temp;
+            }
+
+            // Post the events
+            int64_t start = esp_timer_get_time();
+            for (int base = 0; base < bases; base++) {
+                for (int id = 0; id < ids; id++) {
+                    TEST_ESP_OK(esp_event_post_to(loop, test_base + post_bases[base], post_ids[id], NULL, 0, portMAX_DELAY));
+                }
+            }
+
+            xSemaphoreTake(data.done, portMAX_DELAY);
+            int64_t elapsed = esp_timer_get_time() - start;
+
+            // Record data
+            TEST_ASSERT_EQUAL(data.expected, data.performed);
+
+            running_count++;
+            running_sum += data.performed / (elapsed / (1000000.0));
+
+            vSemaphoreDelete(data.done);
+        }
+    }
+
+    int average = (int) (running_sum / (running_count));
+
+    if (!dedicated_task) {
+        ((esp_event_loop_instance_t*) loop)->task = mtask;
+    }
+
+    TEST_ESP_OK(esp_event_loop_delete(loop));
+
+    vTaskDelay(pdMS_TO_TICKS(TEST_CONFIG_TEARDOWN_WAIT));
+
+#ifdef CONFIG_ESP_EVENT_LOOP_PROFILING
+    ESP_LOGI(TAG, "events dispatched/second with profiling enabled: %d", average);
+    // Enabling profiling will slow down event dispatch, so the set threshold
+    // is not valid when it is enabled.
+#else
+#ifndef CONFIG_SPIRAM
+    TEST_PERFORMANCE_GREATER_THAN(EVENT_DISPATCH, "%d", average);
+#else
+    TEST_PERFORMANCE_GREATER_THAN(EVENT_DISPATCH_PSRAM, "%d", average);
+#endif // CONFIG_SPIRAM
+#endif // CONFIG_ESP_EVENT_LOOP_PROFILING
+}
+
+TEST_CASE("performance test - dedicated task", "[event][qemu-ignore]")
+{
+    performance_test(true);
+}
+
+TEST_CASE("performance test - no dedicated task", "[event][qemu-ignore]")
+{
+    performance_test(false);
+}
+
+#if CONFIG_ESP_EVENT_POST_FROM_ISR
+TEST_CASE("data posted normally is correctly set internally", "[event][intr]")
+{
+    esp_event_loop_handle_t loop;
+    esp_event_loop_args_t loop_args = test_event_get_default_loop_args();
+
+    loop_args.task_name = NULL;
+    TEST_ESP_OK(esp_event_loop_create(&loop_args, &loop));
+
+    esp_event_post_instance_t post;
+    esp_event_loop_instance_t* loop_def = (esp_event_loop_instance_t*) loop;
+
+    TEST_ESP_OK(esp_event_post_to(loop, s_test_base1, TEST_EVENT_BASE1_EV1, NULL, 0, portMAX_DELAY));
+    TEST_ASSERT_EQUAL(pdTRUE, xQueueReceive(loop_def->queue, &post, portMAX_DELAY));
+    TEST_ASSERT_EQUAL(false, post.data_set);
+    TEST_ASSERT_EQUAL(false, post.data_allocated);
+    TEST_ASSERT_EQUAL(NULL, post.data.ptr);
+
+    TEST_ESP_OK(esp_event_loop_delete(loop));
+
+    vTaskDelay(pdMS_TO_TICKS(TEST_CONFIG_TEARDOWN_WAIT));
+}
+
+TEST_CASE("data posted from ISR is correctly set internally", "[event][intr]")
+{
+    esp_event_loop_handle_t loop;
+    esp_event_loop_args_t loop_args = test_event_get_default_loop_args();
+
+    loop_args.task_name = NULL;
+    TEST_ESP_OK(esp_event_loop_create(&loop_args, &loop));
+
+    esp_event_post_instance_t post;
+    esp_event_loop_instance_t* loop_def = (esp_event_loop_instance_t*) loop;
+    int sample = 0;
+    TEST_ESP_OK(esp_event_isr_post_to(loop, s_test_base1, TEST_EVENT_BASE1_EV1, &sample, sizeof(sample), NULL));
+    TEST_ASSERT_EQUAL(pdTRUE, xQueueReceive(loop_def->queue, &post, portMAX_DELAY));
+    TEST_ASSERT_EQUAL(true, post.data_set);
+    TEST_ASSERT_EQUAL(false, post.data_allocated);
+    TEST_ASSERT_EQUAL(false, post.data.val);
+
+    TEST_ESP_OK(esp_event_loop_delete(loop));
+
+    vTaskDelay(pdMS_TO_TICKS(TEST_CONFIG_TEARDOWN_WAIT));
+}
+
+static void test_handler_post_from_isr(void* event_handler_arg, esp_event_base_t event_base, int32_t event_id, void* event_data)
+{
+    SemaphoreHandle_t *sem = (SemaphoreHandle_t*) event_handler_arg;
+    // Event data is just the address value (maybe have been truncated due to casting).
+    int *data = (int*) event_data;
+    TEST_ASSERT_EQUAL(*data, (int) (*sem));
+    xSemaphoreGive(*sem);
+}
+
+bool test_event_on_timer_alarm(gptimer_handle_t timer, const gptimer_alarm_event_data_t *edata, void *user_ctx)
+{
+    int data = (int)user_ctx;
+    gptimer_stop(timer);
+    // Posting events with data more than 4 bytes should fail.
+    TEST_ASSERT_EQUAL(ESP_ERR_INVALID_ARG, esp_event_isr_post(s_test_base1, TEST_EVENT_BASE1_EV1, &data, 5, NULL));
+    // This should succeedd, as data is int-sized. The handler for the event checks that the passed event data
+    // is correct.
+    BaseType_t task_unblocked;
+    TEST_ESP_OK(esp_event_isr_post(s_test_base1, TEST_EVENT_BASE1_EV1, &data, sizeof(data), &task_unblocked));
+    return task_unblocked == pdTRUE;
+}
+
+TEST_CASE("can post events from interrupt handler", "[event][intr]")
+{
+    /* Lazy allocated resources in gptimer/intr_alloc */
+    unity_utils_set_leak_level(150);
+
+    TEST_ESP_OK(esp_event_loop_create_default());
+
+    SemaphoreHandle_t sem = xSemaphoreCreateBinary();
+    gptimer_handle_t gptimer = NULL;
+    /* Select and initialize basic parameters of the timer */
+    gptimer_config_t config = {
+        .clk_src = GPTIMER_CLK_SRC_DEFAULT,
+        .direction = GPTIMER_COUNT_UP,
+        .resolution_hz = 1000000, // 1MHz, 1 tick = 1us
+    };
+    TEST_ESP_OK(gptimer_new_timer(&config, &gptimer));
+
+    gptimer_alarm_config_t alarm_config = {
+        .reload_count = 0,
+        .alarm_count = 500000,
+    };
+    gptimer_event_callbacks_t cbs = {
+        .on_alarm = test_event_on_timer_alarm
+    };
+    TEST_ESP_OK(gptimer_register_event_callbacks(gptimer, &cbs, sem));
+    TEST_ESP_OK(gptimer_set_alarm_action(gptimer, &alarm_config));
+    TEST_ESP_OK(gptimer_enable(gptimer));
+    TEST_ESP_OK(gptimer_start(gptimer));
+
+    TEST_ESP_OK(esp_event_handler_register(s_test_base1, TEST_EVENT_BASE1_EV1,
+                                           test_handler_post_from_isr, &sem));
+
+    xSemaphoreTake(sem, portMAX_DELAY);
+
+    vTaskDelay(pdMS_TO_TICKS(TEST_CONFIG_TEARDOWN_WAIT));
+
+    vSemaphoreDelete(sem);
+    TEST_ESP_OK(gptimer_disable(gptimer));
+    TEST_ESP_OK(gptimer_del_timer(gptimer));
+
+    TEST_ESP_OK(esp_event_loop_delete_default());
+
+    vTaskDelay(2);
+}
+
+#endif // CONFIG_ESP_EVENT_POST_FROM_ISR

components/esp_event/test_apps/pytest_esp_event.py

@@ -35,3 +35,11 @@ def test_esp_event_qemu_esp32c3(dut: Dut) -> None:
     for case in dut.test_menu:
         if 'qemu-ignore' not in case.groups and not case.is_ignored and case.type == 'normal':
             dut._run_normal_case(case)
+
+
+@pytest.mark.linux
+@pytest.mark.host_test
+def test_esp_event_posix_simulator(dut: Dut) -> None:
+    dut.expect_exact('Press ENTER to see the list of tests.')
+    dut.write('*')
+    dut.expect(r'\d{2} Tests 0 Failures 0 Ignored', timeout=120)

components/esp_event/test_apps/sdkconfig.defaults

@@ -1 +0,0 @@
-CONFIG_ESP_TASK_WDT_EN=n

components/esp_event/test_apps/sdkconfig.defaults.linux

@@ -0,0 +1 @@
+CONFIG_FREERTOS_WATCHPOINT_END_OF_STACK=n