kopia lustrzana https://github.com/espressif/esp-idf
87 wiersze
3.1 KiB
C
87 wiersze
3.1 KiB
C
/*
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* SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <string.h>
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#include <stdbool.h>
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#include "unity.h"
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#include "unity_test_utils.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/semphr.h"
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#include "freertos/task.h"
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#include "sdkconfig.h"
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#if !CONFIG_FREERTOS_UNICORE
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#include "esp_ipc.h"
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#include "esp_freertos_hooks.h"
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#endif
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#if !CONFIG_FREERTOS_UNICORE
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static StaticSemaphore_t s_test_sem_buffer;
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static SemaphoreHandle_t s_test_sem = NULL;
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static bool idle_hook_func(void)
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{
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if (s_test_sem) {
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xSemaphoreGive(s_test_sem);
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}
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return true;
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}
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static void task_delete_func(void *arg)
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{
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vTaskDelete(arg);
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}
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#define SEMAPHORE_COUNT_MAX 2
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#define SEMAPHORE_COUNT_INITIAL 0
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#endif // !CONFIG_FREERTOS_UNICORE
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void unity_utils_task_delete(TaskHandle_t thandle)
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{
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/* Self deletion can not free up associated task dynamic memory immediately,
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* hence not recommended for test scenarios */
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TEST_ASSERT_NOT_NULL_MESSAGE(thandle, "unity_utils_task_delete: handle is NULL");
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TEST_ASSERT_NOT_EQUAL_MESSAGE(thandle, xTaskGetCurrentTaskHandle(), "unity_utils_task_delete: handle is of currently executing task");
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#if CONFIG_FREERTOS_UNICORE
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vTaskDelete(thandle);
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#else // CONFIG_FREERTOS_UNICORE
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const BaseType_t tsk_affinity = xTaskGetCoreID(thandle);
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const BaseType_t core_id = xPortGetCoreID();
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printf("Task_affinity: 0x%x, current_core: %d\n", tsk_affinity, core_id);
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if (tsk_affinity == tskNO_AFFINITY) {
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// create the semaphore if not done yet, or else, make sure its count is 0
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if (s_test_sem == NULL) {
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s_test_sem = xSemaphoreCreateCountingStatic(SEMAPHORE_COUNT_MAX, SEMAPHORE_COUNT_INITIAL, &s_test_sem_buffer);
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} else {
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while (xSemaphoreTake(s_test_sem, 0) == pdTRUE) { }
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}
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/* For no affinity case, we wait for idle hook to trigger on different core */
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esp_err_t ret = esp_register_freertos_idle_hook_for_cpu(idle_hook_func, !core_id);
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TEST_ASSERT_EQUAL_MESSAGE(ret, ESP_OK, "unity_utils_task_delete: failed to register idle hook");
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vTaskDelete(thandle);
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// We want to make sure that the entire idle task has run (including the part that removes remaining
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// memory of deleted tasks). Since we don't know where the idle task has been stopped, we need to
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// wait until the idle hook has run twice. This makes sure that the entire idle task has run at least once.
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xSemaphoreTake(s_test_sem, portMAX_DELAY);
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xSemaphoreTake(s_test_sem, portMAX_DELAY);
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esp_deregister_freertos_idle_hook_for_cpu(idle_hook_func, !core_id);
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} else if (tsk_affinity != core_id) {
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/* Task affinity and current core are differnt, schedule IPC call (to delete task)
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* on core where task is pinned to */
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esp_ipc_call_blocking(tsk_affinity, task_delete_func, thandle);
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} else {
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/* Task affinity and current core are same, so we can safely proceed for deletion */
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vTaskDelete(thandle);
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}
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#endif // !CONFIG_FREERTOS_UNICORE
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}
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