esp-idf/components/freertos/test_apps/freertos/kernel/tasks/test_yielding.c

/*
 * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
 *
 * SPDX-License-Identifier: Apache-2.0
 */

/*
 * Unit tests for FreeRTOS task yielding
 */

#include "sdkconfig.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/semphr.h"
#include "unity.h"
#include "test_utils.h"
#include <string.h>

// Array to store the task ids of the test threads being yielded
static volatile uint32_t task_yield_sequence[3];

// Index variable to access the yield sequence array
static volatile uint32_t idx = 0;

// Lock to protect the shared variables to store task id
static portMUX_TYPE idx_lock;

// Synchronization variable to have a deterministic dispatch sequence of the test threads
static volatile bool task_sequence_ready;

// Synchronization variable between the test threads and the unity task
static volatile uint32_t count;

// Lock variable to create a blocked task scenario
static volatile SemaphoreHandle_t task_mutex;

// This helper macro is used to store the task id atomically
#define STORE_TASK_ID(task_id)  ({ \
        portENTER_CRITICAL(&idx_lock); \
        task_yield_sequence[idx++] = task_id; \
        portEXIT_CRITICAL(&idx_lock); \
})

/*
 * Test yielding for same priority tasks on the same core.
 *
 * The test performs the following actions:
 * - Creates 2 tasks with the same priority on the same core.
 * - Each task pushes its task_id on to a queue and then yields.
 * - Unity task checks the sequence of the tasks run once the yield_tasks are done.
 */
static void yield_task1(void *arg)
{
    uint32_t task_id = (uint32_t)arg;

    /* Store task_id in the sequence array */
    STORE_TASK_ID(task_id);

    /* Notify the yield_task2 to run */
    task_sequence_ready = true;

    /* Yield */
    taskYIELD();

    /* Increment task count to notify unity task */
    count++;

    /* Delete self */
    vTaskDelete(NULL);
}

static void yield_task2(void *arg)
{
    uint32_t task_id = (uint32_t)arg;

    /* Wait for the other task to run for the test to begin */
    while (!task_sequence_ready) {
        taskYIELD();
    };

    /* Store task_id in the sequence array */
    STORE_TASK_ID(task_id);

    /* Yield */
    taskYIELD();

    /* Increment task count to notify unity task */
    count++;

    /* Delete self */
    vTaskDelete(NULL);
}

TEST_CASE("Task yield must run the next ready task of the same priority", "[freertos]")
{
    /* Reset yield sequence index */
    idx = 0;

    /* Reset yield sequence array */
    memset((void *)task_yield_sequence, 0, sizeof(task_yield_sequence));

    /* Initialize idx lock */
    portMUX_INITIALIZE(&idx_lock);

    /* Reset task count */
    count = 0;

    /* Reset task sequence flag */
    task_sequence_ready = false;

    /* Create test tasks */
    xTaskCreatePinnedToCore(yield_task1, "yield_task1", 2048, (void *)1, UNITY_FREERTOS_PRIORITY - 1, NULL, UNITY_FREERTOS_CPU);
    xTaskCreatePinnedToCore(yield_task2, "yield_task2", 2048, (void *)2, UNITY_FREERTOS_PRIORITY - 1, NULL, UNITY_FREERTOS_CPU);

    /* Wait for the tasks to finish up */
    while (count != 2) {
        vTaskDelay(10);
    }

    idx = 0;

    /* Verify that the yield is successful and the next ready task is run */
    TEST_ASSERT_EQUAL(1, task_yield_sequence[idx++]);
    TEST_ASSERT_EQUAL(2, task_yield_sequence[idx++]);
}

/*
 * Test yielding behavior when a task is blocked
 *
 * The test performs the following actions:
 * - Creates 2 tasks with the same priority on the same core.
 * - One task blocks on a mutex.
 * - Second task does not contest for a mutex and yields.
 * - Unity task verifies that the blocked task is not scheduled unless it is ready to run.
 */
static void test_task1(void *arg)
{
    uint32_t task_id = (uint32_t)arg;

    /* Block on mutex taken by the unity task */
    TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreTake(task_mutex, portMAX_DELAY));

    /* Store task_id in the sequence array */
    STORE_TASK_ID(task_id);

    /* Increment task count to notify unity task */
    count++;

    /* Release mutex */
    TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreGive(task_mutex));

    /* Delete self */
    vTaskDelete(NULL);
}

static void test_task2(void *arg)
{
    uint32_t task_id = (uint32_t)arg;

    /* Store task_id in the sequence array */
    STORE_TASK_ID(task_id);

    /* Yield */
    taskYIELD();

    /* Store task_id in the sequence array */
    STORE_TASK_ID(task_id);

    /* Increment task count to notify unity task */
    count++;

    /* Delete self */
    vTaskDelete(NULL);
}

TEST_CASE("Task yield must not run a blocked task", "[freertos]")
{
    /* Reset yield sequence index */
    idx = 0;

    /* Reset yield sequence array */
    memset((void *)task_yield_sequence, 0, sizeof(task_yield_sequence));

    /* Initialize idx lock */
    portMUX_INITIALIZE(&idx_lock);

    /* Reset task count */
    count = 0;

    /* Create mutex and acquire it */
    task_mutex = xSemaphoreCreateMutex();
    TEST_ASSERT_NOT_EQUAL(NULL, task_mutex);
    TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreTake(task_mutex, portMAX_DELAY));

    /* Create test_task1. This gets blocked. */
    xTaskCreatePinnedToCore(test_task1, "test_task1", 2048, (void *)1, UNITY_FREERTOS_PRIORITY - 1, NULL, UNITY_FREERTOS_CPU);

    /* Wait for test_task1 to start up and get blocked */
    vTaskDelay(10);

    /* Create test_task2. This issues the yield. */
    xTaskCreatePinnedToCore(test_task2, "test_task2", 2048, (void *)2, UNITY_FREERTOS_PRIORITY - 1, NULL, UNITY_FREERTOS_CPU);

    /* Wait for test_task2 to finish up */
    while (count != 1) {
        vTaskDelay(10);
    }

    /* Release mutex. This should unblock test_task1. */
    TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreGive(task_mutex));

    /* Wait for test_task1 to finish up */
    vTaskDelay(10);

    idx = 0;

    /* Verify that the yield results in the same task running again and not the blocked task */
    TEST_ASSERT_EQUAL(2, task_yield_sequence[idx++]);

    /* Verify that the task yield did not result in a context switch */
    TEST_ASSERT_EQUAL(2, task_yield_sequence[idx++]);

    /* Verify that the other task is scheduled once it is unblocked */
    TEST_ASSERT_EQUAL(1, task_yield_sequence[idx++]);

    /* Cleanup task mutex */
    vSemaphoreDelete(task_mutex);
}

/*
 * Test yielding behavior when the scheduler is suspended
 *
 * The test performs the following actions:
 * - Creates 2 tasks with the same priority on the same core.
 * - One task suspends the scheduler and then yields.
 * - Unity task verifies that the yield does not happen until the scheduler is resumed.
 */
static void test_critical_task1(void *arg)
{
    uint32_t task_id = (uint32_t)arg;

    /* Store task_id in the sequence array */
    STORE_TASK_ID(task_id);

    /* Suspend scheduler */
    vTaskSuspendAll();

    /* Set the task sequence flag once test_critical_task1 runs */
    task_sequence_ready = true;

    /* Yield */
    taskYIELD();

    /* Store task_id in the sequence array.
     * No need for a lock when the scheduler is suspended.
     */
    task_yield_sequence[idx++] = task_id;

    /* Increment task count to notify unity task */
    count++;

    /* Resume scheduler */
    xTaskResumeAll();

    /* Delete self */
    vTaskDelete(NULL);
}

static void test_critical_task2(void *arg)
{
    uint32_t task_id = (uint32_t)arg;

    /* Wait for the other task to run for the test to begin */
    while (!task_sequence_ready) {
        taskYIELD();
    };

    /* Store task_id in the sequence array */
    STORE_TASK_ID(task_id);

    /* Increment task count to notify unity task */
    count++;

    /* Delete self */
    vTaskDelete(NULL);
}

TEST_CASE("Task yield must not happen when scheduler is suspended", "[freertos]")
{
    /* Reset yield sequence index */
    idx = 0;

    /* Reset yield sequence array */
    memset((void *)task_yield_sequence, 0, sizeof(task_yield_sequence));

    /* Initialize idx lock */
    portMUX_INITIALIZE(&idx_lock);

    /* Reset task count */
    count = 0;

    /* Reset task sequence flag */
    task_sequence_ready = false;

    /* Create test tasks */
    xTaskCreatePinnedToCore(test_critical_task1, "test_critical_task1", 2048, (void *)1, UNITY_FREERTOS_PRIORITY - 1, NULL, UNITY_FREERTOS_CPU);
    xTaskCreatePinnedToCore(test_critical_task2, "test_critical_task2", 2048, (void *)2, UNITY_FREERTOS_PRIORITY - 1, NULL, UNITY_FREERTOS_CPU);

    /* Wait for both the tasks to finish up */
    while (count != 2) {
        vTaskDelay(10);
    }

    idx = 0;

    /* Verify that test_critical_task1 runs first */
    TEST_ASSERT_EQUAL(1, task_yield_sequence[idx++]);

    /* Verify that the task yield, when the scheduler is suspended, did not result in a context switch */
    TEST_ASSERT_EQUAL(1, task_yield_sequence[idx++]);

    /* Verify that test_critical_task2 is scheduled once the scheduler is resumed */
    TEST_ASSERT_EQUAL(2, task_yield_sequence[idx++]);
}

/*
 * Test yielding behavior when a lower priority task creates a higher priority task
 *
 * The test performs the following actions:
 * - Creates a task with a priority higher than the unity task.
 * - Unity task verifies that it yields immediately to the newly created task.
 */
static void high_prio_task(void *arg)
{
    uint32_t task_id = (uint32_t)arg;

    /* Store task_id in the sequence array */
    STORE_TASK_ID(task_id);

    /* Increment task count to notify unity task */
    count++;

    /* Delete self */
    vTaskDelete(NULL);
}

TEST_CASE("Task yield must happen when a task creates a higher priority task", "[freertos]")
{
    /* Reset yield sequence index */
    idx = 0;

    /* Reset yield sequence array */
    memset((void *)task_yield_sequence, 0, sizeof(task_yield_sequence));

    /* Initialize idx lock */
    portMUX_INITIALIZE(&idx_lock);

    /* Reset task count */
    count = 0;

    /* Create test task */
    xTaskCreatePinnedToCore(high_prio_task, "high_prio_task", 2048, (void *)1, UNITY_FREERTOS_PRIORITY + 1, NULL, UNITY_FREERTOS_CPU);

    uint32_t unity_task_id = 2;
    /* Store task_id in the sequence array */
    STORE_TASK_ID(unity_task_id);

    /* Wait for the test task to finish up */
    while (count == 0) {
        vTaskDelay(10);
    }

    idx = 0;

    /* Verify that the unity task yields as soon as a higher prio task is created */
    TEST_ASSERT_EQUAL(1, task_yield_sequence[idx++]);

    /* Verify that the unity task_id is stored after the higher priority task runs */
    TEST_ASSERT_EQUAL(2, task_yield_sequence[idx++]);
}

/*
 * Test yielding behavior when a lower priority task raises the priority of another task
 *
 * The test performs the following actions:
 * - Creates a task with a priority lower than the unity task.
 * - Unity task raises the priority of the newly created task.
 * - Unity task verifies that it yields once the priority is raised.
 */
static void low_prio_task(void *arg)
{
    uint32_t task_id = (uint32_t)arg;

    /* Store task_id in the sequence array */
    STORE_TASK_ID(task_id);

    /* Increment task count to notify unity task */
    count++;

    /* Delete self */
    vTaskDelete(NULL);
}

TEST_CASE("Task yield must happed when a task raises the priority of another priority task", "[freertos]")
{
    /* Reset yield sequence index */
    idx = 0;

    /* Reset yield sequence array */
    memset((void *)task_yield_sequence, 0, sizeof(task_yield_sequence));

    /* Initialize idx lock */
    portMUX_INITIALIZE(&idx_lock);

    /* Reset task count */
    count = 0;

    /* Create test task */
    TaskHandle_t task_handle;
    xTaskCreatePinnedToCore(low_prio_task, "low_prio_task", 2048, (void *)1, UNITY_FREERTOS_PRIORITY - 1, &task_handle, UNITY_FREERTOS_CPU);

    uint32_t unity_task_id = 2;
    /* Store task_id in the sequence array */
    STORE_TASK_ID(unity_task_id);

    /* Raise the priority of the lower priority task */
    vTaskPrioritySet(task_handle, UNITY_FREERTOS_PRIORITY + 1);

    /* Store unity task_id in the sequence array again */
    STORE_TASK_ID(unity_task_id);

    /* Wait for the test task to finish up */
    while (count == 0) {
        vTaskDelay(10);
    }

    idx = 0;

    /* Verify that the unity task does not yield to a lower priority task when it is created */
    TEST_ASSERT_EQUAL(2, task_yield_sequence[idx++]);

    /* Verify that the unity task_id yielded once the priority of the lower priority task is raised */
    TEST_ASSERT_EQUAL(1, task_yield_sequence[idx++]);

    /* Verify that the unity task_id is stored again once the test task finishes up */
    TEST_ASSERT_EQUAL(2, task_yield_sequence[idx++]);
}

#if (CONFIG_FREERTOS_NUMBER_OF_CORES > 1) && !(CONFIG_FREERTOS_UNICORE)
/*
 * Test yielding behavior when a task on one core forces an yield on the other core
 *
 * The test performs the following actions:
 * - Creates 2 tasks with the same priority on the core on which unity task is not running.
 * - One task spins and does not let the other task run.
 * - Force a cross-core yield from the unity task.
 * - Verify that the cross-core yield happens and the second task is scheduled to run.
 */
static void other_core_task1(void *arg)
{
    uint32_t task_id = (uint32_t)arg;

    /* Store task_id in the sequence array */
    STORE_TASK_ID(task_id);

    while (1) {
        vTaskDelay(10);
    }
}

static void other_core_task2(void *arg)
{
    uint32_t task_id = (uint32_t)arg;

    /* Wait for the other task to run for the test to begin */
    while (!task_sequence_ready) {
        taskYIELD();
    };

    /* Store task_id in the sequence array */
    STORE_TASK_ID(task_id);

    /* Increment task count to notify unity task */
    count++;

    while (1) {
        vTaskDelay(10);
    }
}

TEST_CASE("Task yield must happen when issued from another core", "[freertos]")
{
    TaskHandle_t other_core_taskhandle1;
    TaskHandle_t other_core_taskhandle2;

    /* Reset yield sequence index */
    idx = 0;

    /* Reset yield sequence array */
    memset((void *)task_yield_sequence, 0, sizeof(task_yield_sequence));

    /* Initialize idx lock */
    portMUX_INITIALIZE(&idx_lock);

    /* Reset task count */
    count = 0;

    /* Reset task sequence flag */
    task_sequence_ready = false;

    /* Create test tasks */
    xTaskCreatePinnedToCore(other_core_task1, "test_task1", 2048, (void *)1, UNITY_FREERTOS_PRIORITY - 1, &other_core_taskhandle1, !UNITY_FREERTOS_CPU);
    xTaskCreatePinnedToCore(other_core_task2, "test_task2", 2048, (void *)2, UNITY_FREERTOS_PRIORITY - 1, &other_core_taskhandle2, !UNITY_FREERTOS_CPU);

    /* Wait for everything to be setup */
    vTaskDelay(10);

    uint32_t idx1 = 0;

    /* Verify that other_core_task1 runs first */
    TEST_ASSERT_EQUAL(1, task_yield_sequence[idx1++]);

    /* Set the task sequence flag once other_core_task1 runs */
    task_sequence_ready = true;

    /* Force an yield on the other core */
#if CONFIG_FREERTOS_SMP
    portYIELD_CORE(!UNITY_FREERTOS_CPU);
#else
    vPortYieldOtherCore(!UNITY_FREERTOS_CPU);
#endif

    /* Wait for the test task to finish up */
    while (count == 0) {
        vTaskDelay(10);
    }

    /* Verify that other_core_task1 yields and other_core_task2 runs */
    TEST_ASSERT_EQUAL(2, task_yield_sequence[idx1++]);

    /* Cleanup test tasks */
    vTaskDelete(other_core_taskhandle1);
    vTaskDelete(other_core_taskhandle2);
}

#if !CONFIG_FREERTOS_SMP
static volatile bool yield_triggered = false;

/*
 * Test cross-core yielding behavior when the scheduler is suspended
 *
 * The test performs the following actions:
 * - Creates 2 tasks with the same priority on the other core.
 * - One task suspends the scheduler.
 * - Unity task forces a cross-core yield.
 * - Unity task verifies that the yield does not happen until the scheduler is resumed.
 *
 * Note: This test case is not valid when FreeRTOS SMP is used as the scheduler suspension
 * is not per core but across cores and hence the test cannot be executed.
 */
static void other_core_critical_task1(void *arg)
{
    uint32_t task_id = (uint32_t)arg;

    /* Store task_id in the sequence array */
    STORE_TASK_ID(task_id);

    /* Suspend scheduler*/
    vTaskSuspendAll();

    /* Store task_id in the sequence array again.
     * No need for a lock when the scheduler is supended.
     */
    task_yield_sequence[idx++] = task_id;

    /* Set the task sequence flag once other_core_critical_task1 runs */
    task_sequence_ready = true;

    /* Increment task count to notify unity task */
    count++;

    while (!yield_triggered) {  }

    /* Resume scheduler */
    xTaskResumeAll();

    /* Delete self */
    vTaskDelete(NULL);
}

static void other_core_critical_task2(void *arg)
{
    uint32_t task_id = (uint32_t)arg;

    /* Wait for the other task to run for the test to begin */
    while (!task_sequence_ready) {
        taskYIELD();
    };

    /* Store task_id in the sequence array */
    STORE_TASK_ID(task_id);

    /* Increment task count to notify unity task */
    count++;

    /* Delete self */
    vTaskDelete(NULL);
}

TEST_CASE("Task yield on other core must not happen when scheduler is suspended", "[freertos]")
{
    /* Reset yield sequence index */
    idx = 0;

    /* Reset yield sequence array */
    memset((void *)task_yield_sequence, 0, sizeof(task_yield_sequence));

    /* Initialize idx lock */
    portMUX_INITIALIZE(&idx_lock);

    /* Reset task count */
    count = 0;

    /* Reset task sequence flag */
    task_sequence_ready = false;

    /* Create test tasks */
    xTaskCreatePinnedToCore(other_core_critical_task1, "other_core_critical_task1", 2048, (void *)1, UNITY_FREERTOS_PRIORITY - 1, NULL, !UNITY_FREERTOS_CPU);
    xTaskCreatePinnedToCore(other_core_critical_task2, "other_core_critical_task2", 2048, (void *)2, UNITY_FREERTOS_PRIORITY - 1, NULL, !UNITY_FREERTOS_CPU);

    /* Wait for at least one of the tasks to finish up */
    while (count == 0) {
        vTaskDelay(10);
    }

    /* Force an yield on the other core */
    vPortYieldOtherCore(!UNITY_FREERTOS_CPU);

    /* Set yield triggered flag */
    yield_triggered = true;

    uint32_t idx1 = 0;

    /* Verify that the first task runs */
    TEST_ASSERT_EQUAL(1, task_yield_sequence[idx1++]);

    /* Verify that the task yield when the scheduler is suspended did not result in a context switch */
    TEST_ASSERT_EQUAL(1, task_yield_sequence[idx1++]);

    /* Wait for the second task to finish up */
    while (count != 2) {
        vTaskDelay(10);
    }

    /* Verify that the second task is scheduled once the critical section is over */
    TEST_ASSERT_EQUAL(2, task_yield_sequence[idx1++]);
}
#endif // !CONFIG_FREERTOS_SMP
#endif // (CONFIG_FREERTOS_NUMBER_OF_CORES > 1) && !(CONFIG_FREERTOS_UNICORE)