/*
* Test features that are backported from version FreeRTOS 9.0.0.
*
* 1) Test backported timer functions
* - xTimerCreateStatic(), vTimerSetTimerId(), xTimerGetPeriod(), xTimerGetExpiryTime()
* 2) Test backported queue/semaphore functions
* - xQueueCreateStatic()
* - xSemaphoreCreateBinaryStatic(), xSemaphoreCreateCountingStatic(), uxSemaphoreGetCount()
* - xSemaphoreCreateMutexStatic(), xSemaphoreCreateRecursiveMutexStatic()
* 3) Test static allocation of tasks
* - xTaskCreateStaticPinnedToCore()
* 4) Test static allocation of event group
* - xEventGroupCreateStatic()
* 5) Test Thread Local Storage Pointers and Deletion Callbacks
* - vTaskSetThreadLocalStoragePointerAndDelCallback()
* - pvTaskGetThreadLocalStoragePointer()
*
* Note: The *pcQueueGetName() function is also backported, but is not tested in
* the following test cases (see Queue Registry test cases instead)
* For more details please refer the the ESP-IDF FreeRTOS changes documentation
*/
#include <stdio.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/timers.h"
#include "freertos/queue.h"
#include "freertos/semphr.h"
#include "freertos/event_groups.h"
#include "unity.h"
#include "test_utils.h"
/* ---------------------Test 1: Backported Timer functions-----------------------
* Test xTimerCreateStatic(), vTimerSetTimerId(), xTimerGetPeriod(), xTimerGetExpiryTime()
*
* This test creates a one-shot static timer, sets/checks the timer's id and period. Then ensures
* the timer cb is executed in a timely fashion.
*/
#define TMR_PERIOD_TICKS 10
#define TIMER_ID 0xFF
#define TICK_DELTA 5
static StaticTimer_t timer_buffer;
static TickType_t tmr_ideal_exp;
static void tmr_cb(TimerHandle_t xtimer)
{
//Check cb is called in timely fashion
TEST_ASSERT_UINT32_WITHIN(TICK_DELTA, tmr_ideal_exp, xTaskGetTickCount());
}
//No need for smp test as Timer Task always runs on core 0
TEST_CASE("Test FreeRTOS backported timer functions", "[freertos]")
{
//Create one shot static timer with period TMR_PERIOD_TICKS
TimerHandle_t tmr_handle = xTimerCreateStatic("static_tmr", TMR_PERIOD_TICKS, pdFALSE, NULL, tmr_cb, &timer_buffer);
TEST_ASSERT_EQUAL(TMR_PERIOD_TICKS, xTimerGetPeriod(tmr_handle)); //Test xTimerGetPeriod()
vTimerSetTimerID(tmr_handle, (void *)TIMER_ID);
TEST_ASSERT_EQUAL(TIMER_ID, (uint32_t)pvTimerGetTimerID(tmr_handle)); //Test vTimerSetTimerID()
TEST_ASSERT_EQUAL(pdTRUE, xTimerStart(tmr_handle, 1)); //Start Timer
tmr_ideal_exp = xTaskGetTickCount() + TMR_PERIOD_TICKS; //Calculate ideal expiration time
vTaskDelay(2); //Need to yield to allow daemon task to process start command, or else expiration time will be NULL
TEST_ASSERT_UINT32_WITHIN(TICK_DELTA, tmr_ideal_exp, xTimerGetExpiryTime(tmr_handle)); //Test xTimerGetExpiryTime()
vTaskDelay(2*TMR_PERIOD_TICKS); //Delay until one shot timer has triggered
TEST_ASSERT_EQUAL(pdPASS, xTimerDelete(tmr_handle, portMAX_DELAY)); //Clean up
}
/* ---------------Test backported queue/semaphore functions-------------------
* xQueueCreateStatic()
* xSemaphoreCreateBinaryStatic(), xSemaphoreCreateCountingStatic()
* xSemaphoreCreateMutexStatic(), xSemaphoreCreateRecursiveMutexStatic()
* uxSemaphoreGetCount() is also tested on the static counting semaphore
*
* This test creates various static queue/semphrs listed above and tests them by
* doing a simple send/give and rec/take.
*/
#define ITEM_SIZE 3
#define NO_OF_ITEMS 3
#define DELAY_TICKS 2
static StaticQueue_t queue_buffer; //Queues, Semaphores, and Mutex use the same queue structure
static uint8_t queue_storage_area[(ITEM_SIZE*NO_OF_ITEMS)]; //Queue storage provided in separate buffer to queue struct
TEST_CASE("Test FreeRTOS backported Queue and Semphr functions", "[freertos]")
{
//Test static queue
uint8_t queue_item_to_send[ITEM_SIZE];
uint8_t queue_item_received[ITEM_SIZE];
for(int i = 0; i < ITEM_SIZE; i++){
queue_item_to_send[i] = (0xF << i);
}
QueueHandle_t handle = xQueueCreateStatic(NO_OF_ITEMS, ITEM_SIZE,(uint8_t*) &queue_storage_area, &queue_buffer);
TEST_ASSERT_EQUAL(pdTRUE, xQueueSendToBack(handle, &queue_item_to_send, DELAY_TICKS));
vTaskDelay(1);
TEST_ASSERT_EQUAL(pdTRUE, xQueueReceive(handle, queue_item_received, DELAY_TICKS));
vTaskDelay(1);
for(int i = 0; i < ITEM_SIZE; i++){
TEST_ASSERT_EQUAL(queue_item_to_send[i], queue_item_received[i]); //Check received contents are correct
}
vQueueDelete(handle); //Technically not needed as deleting static queue/semphr doesn't clear static memory
//Test static binary semaphore
handle = xSemaphoreCreateBinaryStatic(&queue_buffer); //Queue and Semphr handles are the same
TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreGive(handle));
vTaskDelay(1);
TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreTake(handle, DELAY_TICKS));
vTaskDelay(1);
vSemaphoreDelete(handle);
//Test static counting semaphore and uxSemaphoreGetCount()
handle = xSemaphoreCreateCountingStatic(NO_OF_ITEMS, 0, &queue_buffer);
for(int i = 0; i < NO_OF_ITEMS; i++){
TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreGive(handle));
}
vTaskDelay(1);
TEST_ASSERT_EQUAL(NO_OF_ITEMS, uxSemaphoreGetCount(handle)); //Test uxSemaphoreGetCount()
for(int i = 0; i < NO_OF_ITEMS; i++){
TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreTake(handle, DELAY_TICKS));
}
vTaskDelay(1);
TEST_ASSERT_EQUAL(0, uxSemaphoreGetCount(handle));
vSemaphoreDelete(handle);
//Test static mutex
handle = xSemaphoreCreateMutexStatic(&queue_buffer);
TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreTake(handle, DELAY_TICKS));
vTaskDelay(1);
TEST_ASSERT_EQUAL_PTR((void *)xTaskGetCurrentTaskHandle(), xSemaphoreGetMutexHolder(handle)); //Current task should now hold mutex
TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreGive(handle));
vTaskDelay(1);
TEST_ASSERT_EQUAL_PTR(NULL, xSemaphoreGetMutexHolder(handle)); //Mutex should have been released
vSemaphoreDelete(handle);
//Test static mutex recursive
handle = xSemaphoreCreateRecursiveMutexStatic(&queue_buffer);
for(int i = 0; i < NO_OF_ITEMS; i++){
TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreTakeRecursive(handle, DELAY_TICKS));
}
vTaskDelay(1);
TEST_ASSERT_EQUAL_PTR((void *)xTaskGetCurrentTaskHandle(), xSemaphoreGetMutexHolder(handle)); //Current task should hold mutex
for(int i = 0; i < NO_OF_ITEMS; i++){
TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreGiveRecursive(handle));
}
vTaskDelay(1);
TEST_ASSERT_EQUAL_PTR(NULL, xSemaphoreGetMutexHolder(handle)); //Mutex should have been released
vSemaphoreDelete(handle);
}
/* -----------------Test backported static task allocation -------------------
* Test xTaskCreateStaticPinnedToCore() but creating static task on each core
* and checking the task cb has run successfully.
*/
#define STACK_SIZE 2048 //Task stack size
static StackType_t task_stack[STACK_SIZE]; //Static buffer for task stack
static StaticTask_t task_buffer; //Static buffer for TCB
static bool has_run[portNUM_PROCESSORS];
static void task(void *arg)
{
has_run[xPortGetCoreID()] = true; //Signify static task cb has run
vTaskDelete(NULL);
}
TEST_CASE("Test FreeRTOS static task allocation", "[freertos]")
{
for(int core = 0; core < portNUM_PROCESSORS; core++){
has_run[core] = false; //Clear has_run flag
TaskHandle_t handle = xTaskCreateStaticPinnedToCore(task, "static task", STACK_SIZE, NULL,
UNITY_FREERTOS_PRIORITY + 1, (StackType_t *)&task_stack,
(StaticTask_t *)&task_buffer, core);
vTaskDelay(5); //Allow for static task to run, delete, and idle to clean up
TEST_ASSERT_NOT_EQUAL(NULL, handle); //Check static task was successfully allocated
TEST_ASSERT_TRUE(has_run[core]) //Check static task has run
}
}
/* ------------- Test backported static event group allocation -------------------
* Test xEventGroupCreateStatic() but creating static event group then waiting
* for an event.
*/
#define WAIT_BITS 0x01 //Wait for first bit
static StaticEventGroup_t event_group;
static EventGroupHandle_t eg_handle;
TEST_CASE("Test FreeRTOS backported eventgroup functions", "[freertos]")
{
eg_handle = xEventGroupCreateStatic((StaticEventGroup_t *)&event_group);
xEventGroupSetBits(eg_handle, WAIT_BITS);
TEST_ASSERT_EQUAL(WAIT_BITS, xEventGroupWaitBits(eg_handle, WAIT_BITS, pdTRUE, pdTRUE, portMAX_DELAY));
//Cleanup static event
vEventGroupDelete(eg_handle);
}
/* --------Test backported thread local storage pointer and deletion cb feature----------
* vTaskSetThreadLocalStoragePointerAndDelCallback()
* pvTaskGetThreadLocalStoragePointer(),
*
* This test creates a task and set's the task's TLSPs. The task is then deleted
* which should trigger the deletion cb.
*/
#define NO_OF_TLSP configNUM_THREAD_LOCAL_STORAGE_POINTERS
#define TLSP_SET_BASE 0x0F //0b1111 to be bit shifted by index
#define TLSP_DEL_BASE 0x05 //0b0101 to be bit shifted by index
//The variables pointed to by Thread Local Storage Pointer
static uint32_t task_storage[portNUM_PROCESSORS][NO_OF_TLSP] = {0};
static void del_cb(int index, void *ptr)
{
*((uint32_t *)ptr) = (TLSP_DEL_BASE << index); //Indicate deletion by setting task storage element to a unique value
}
static void task_cb()
{
int core = xPortGetCoreID();
for(int i = 0; i < NO_OF_TLSP; i++){
task_storage[core][i] = (TLSP_SET_BASE << i); //Give each element of task_storage a unique number
vTaskSetThreadLocalStoragePointerAndDelCallback(NULL, i, (void *)&task_storage[core][i], del_cb); //Set each TLSP to point to a task storage element
}
for(int i = 0; i < NO_OF_TLSP; i++){
uint32_t * tlsp = (uint32_t *)pvTaskGetThreadLocalStoragePointer(NULL, i);
TEST_ASSERT_EQUAL(*tlsp, (TLSP_SET_BASE << i)); //Check if TLSP points to the correct task storage element by checking unique value
}
vTaskDelete(NULL); //Delete Task to Trigger TSLP deletion callback
}
TEST_CASE("Test FreeRTOS thread local storage pointers and del cb", "[freertos]")
{
//Create Task
for(int core = 0; core < portNUM_PROCESSORS; core++){
xTaskCreatePinnedToCore(task_cb, "task", 1024, NULL, UNITY_FREERTOS_PRIORITY+1, NULL, core);
}
vTaskDelay(10); //Delay long enough for tasks to run to completion
for(int core = 0; core < portNUM_PROCESSORS; core++){
for(int i = 0; i < NO_OF_TLSP; i++){
TEST_ASSERT_EQUAL((TLSP_DEL_BASE << i), task_storage[core][i]); //Check del_cb ran by checking task storage for unique value
}
}
}