kopia lustrzana https://github.com/espressif/esp-idf
106 wiersze
3.4 KiB
C
106 wiersze
3.4 KiB
C
/*
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* SPDX-FileCopyrightText: 2021-2022 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 "sdkconfig.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/queue.h"
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#include "freertos/semphr.h"
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#include "freertos/stream_buffer.h"
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#include "freertos/event_groups.h"
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#include "unity.h"
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#include "test_utils.h"
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/*
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Test that we can get a task's handle via the task's name using xTaskGetHandle()
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*/
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static void test_task_get_handle(void *arg)
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{
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vTaskSuspend(NULL);
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}
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TEST_CASE("FreeRTOS xTaskGetHandle()", "[freertos]")
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{
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vTaskDelay(10); //Small delay to let init/daemon tasks finish running
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for (int core = 0; core < CONFIG_FREERTOS_NUMBER_OF_CORES; core++) {
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TaskHandle_t test_task_hdl;
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TaskHandle_t ret_task_hdl;
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TEST_ASSERT_EQUAL(pdTRUE, xTaskCreatePinnedToCore(test_task_get_handle, "test0", 1024, NULL, UNITY_FREERTOS_PRIORITY + 1, &test_task_hdl, core));
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vTaskDelay(10); //Delay to let task call vTaskSuspend()
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ret_task_hdl = xTaskGetHandle("test0");
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TEST_ASSERT_EQUAL(test_task_hdl, ret_task_hdl);
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vTaskDelete(test_task_hdl);
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vTaskDelay(10); //Delay to let IDLE task clean up
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}
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}
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/*
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Test that a blocked task (either on a delay or an event object) can be unblocked using xTaskAbortDelay()
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*/
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#define QUEUE_LEN 1
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#define STREAM_BUFFER_LEN (sizeof(uint32_t))
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typedef struct {
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QueueHandle_t queue;
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SemaphoreHandle_t sem;
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SemaphoreHandle_t mux;
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StreamBufferHandle_t stream_buffer;
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EventGroupHandle_t evt_grp;
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} abort_delay_test_obj_t;
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static void test_task_abort_delay(void *arg)
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{
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abort_delay_test_obj_t *test_objs = (abort_delay_test_obj_t *)arg;
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//Block indefinitely on an empty queue. Delay should be aborted so we expect a failure to be returned
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uint32_t data = 0;
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TEST_ASSERT_EQUAL(pdFALSE, xQueueReceive(test_objs->queue, &data, portMAX_DELAY));
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TEST_ASSERT_EQUAL(pdFALSE, xSemaphoreTake(test_objs->sem, portMAX_DELAY));
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TEST_ASSERT_EQUAL(pdFALSE, xSemaphoreTake(test_objs->mux, portMAX_DELAY));
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uint32_t RxData;
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size_t xReceivedBytes = xStreamBufferReceive(test_objs->stream_buffer, (void *)&RxData, STREAM_BUFFER_LEN, portMAX_DELAY);
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TEST_ASSERT_EQUAL(0, xReceivedBytes);
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EventBits_t uxBits = xEventGroupWaitBits(test_objs->evt_grp, 0xFF, pdTRUE, pdTRUE, portMAX_DELAY);
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TEST_ASSERT_EQUAL(0, uxBits);
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vTaskDelete(NULL);
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}
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TEST_CASE("FreeRTOS xTaskAbortDelay()", "[freertos]")
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{
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abort_delay_test_obj_t test_objs;
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test_objs.queue = xQueueCreate(QUEUE_LEN, sizeof(uint32_t));
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test_objs.sem = xSemaphoreCreateBinary();
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test_objs.mux = xSemaphoreCreateMutex();
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test_objs.stream_buffer = xStreamBufferCreate(STREAM_BUFFER_LEN, 1);
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test_objs.evt_grp = xEventGroupCreate();
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for (int core = 0; core < CONFIG_FREERTOS_NUMBER_OF_CORES; core++) {
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//Take the MUX so that test task will block on it
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TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreTake(test_objs.mux, 0));
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TaskHandle_t task_hdl;
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xTaskCreatePinnedToCore(test_task_abort_delay, "test", 1024, (void *)&test_objs, UNITY_FREERTOS_PRIORITY + 1, &task_hdl, core);
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for (int i = 0; i < 5; i++) {
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vTaskDelay(10);
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TEST_ASSERT_EQUAL(pdPASS, xTaskAbortDelay(task_hdl));
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}
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TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreGive(test_objs.mux));
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}
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vTaskDelay(10); //Delay to let IDLE task clean up
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}
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