kopia lustrzana https://github.com/espressif/esp-idf
106 wiersze
3.6 KiB
C
106 wiersze
3.6 KiB
C
/*
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* SPDX-FileCopyrightText: 2023 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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/*
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* Test backported deletion behavior by creating tasks of various affinities and
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* check if the task memory is freed immediately under the correct conditions.
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*
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* The behavior of vTaskDelete() results in the immediate freeing of task memory
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* and the immediate execution of deletion callbacks for tasks which are not
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* running, provided they are not pinned to the other core (due to FPU cleanup
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* requirements).
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*
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* If the condition is not met, freeing of task memory and execution of
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* deletion callbacks will still be carried out by the Idle Task.
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*/
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#include <stdio.h>
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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/semphr.h"
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#include "esp_heap_caps.h"
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#include "unity.h"
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#include "esp_rom_sys.h"
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#define NO_OF_TSKS 3
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#define DELAY_TICKS 2
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/* Caps of all memory which is allocated from when a task is created */
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#define HEAP_CAPS (MALLOC_CAP_INTERNAL | MALLOC_CAP_8BIT)
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#define DELAY_US_ITERATIONS 1000
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typedef struct {
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SemaphoreHandle_t sem;
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volatile bool deleted; // Check the deleted task doesn't keep running after being deleted
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} tsk_blocks_param_t;
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/* Task blocks as often as possible
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(two or more of these can share the same semaphore and "juggle" it around)
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*/
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static void tsk_blocks_frequently(void *param)
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{
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tsk_blocks_param_t *p = (tsk_blocks_param_t *)param;
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SemaphoreHandle_t sem = p->sem;
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srand(xTaskGetTickCount() ^ (int)xTaskGetCurrentTaskHandle());
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while (1) {
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assert(!p->deleted);
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esp_rom_delay_us(rand() % 10);
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assert(!p->deleted);
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xSemaphoreTake(sem, portMAX_DELAY);
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assert(!p->deleted);
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esp_rom_delay_us(rand() % 10);
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assert(!p->deleted);
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xSemaphoreGive(sem);
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}
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}
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TEST_CASE("FreeRTOS Delete Blocked Tasks", "[freertos][ignore]") // TODO: esp_rom_delay_us is interrupted by signal
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{
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TaskHandle_t blocking_tasks[configNUM_CORES + 1]; // one per CPU, plus one unpinned task
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tsk_blocks_param_t params[configNUM_CORES + 1] = { 0 };
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esp_rom_delay_us(100);
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unsigned before = heap_caps_get_free_size(MALLOC_CAP_8BIT);
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printf("Free memory at start %u\n", before);
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/* Any bugs will depend on relative timing of destroying the tasks, so create & delete many times.
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Stop early if it looks like some resources have not been properly cleaned up.
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(1000 iterations takes about 9 seconds on ESP32 dual core)
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*/
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for(unsigned iter = 0; iter < 1000; iter++) {
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// Create everything
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SemaphoreHandle_t sem = xSemaphoreCreateMutex();
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for(unsigned i = 0; i < configNUM_CORES + 1; i++) {
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params[i].deleted = false;
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params[i].sem = sem;
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TEST_ASSERT_EQUAL(pdTRUE,
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xTaskCreatePinnedToCore(tsk_blocks_frequently, "tsk_block", 4096, ¶ms[i],
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CONFIG_UNITY_FREERTOS_PRIORITY - 1, &blocking_tasks[i],
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i < configNUM_CORES ? i : tskNO_AFFINITY));
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}
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vTaskDelay(5); // Let the tasks juggle the mutex for a bit
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for(unsigned i = 0; i < configNUM_CORES + 1; i++) {
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vTaskDelete(blocking_tasks[i]);
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params[i].deleted = true;
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}
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vTaskDelay(4); // Yield to the idle task for cleanup
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vSemaphoreDelete(sem);
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// Check we haven't leaked resources yet
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TEST_ASSERT_GREATER_OR_EQUAL(before - 256, heap_caps_get_free_size(MALLOC_CAP_8BIT));
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}
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}
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