Danger-alarm/SOFTWARE-FreeRTOS/Common/Minimal/blocktim.c

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2024-06-03 16:27:41 +08:00
/*
* FreeRTOS V202212.00
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/*
* This file contains some test scenarios that ensure tasks do not exit queue
* send or receive functions prematurely. A description of the tests is
* included within the code.
*/
/* Kernel includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
/* Demo includes. */
#include "blocktim.h"
/* Task priorities and stack sizes. Allow these to be overridden. */
#ifndef bktPRIMARY_PRIORITY
#define bktPRIMARY_PRIORITY ( configMAX_PRIORITIES - 3 )
#endif
#ifndef bktSECONDARY_PRIORITY
#define bktSECONDARY_PRIORITY ( configMAX_PRIORITIES - 4 )
#endif
#ifndef bktBLOCK_TIME_TASK_STACK_SIZE
#define bktBLOCK_TIME_TASK_STACK_SIZE configMINIMAL_STACK_SIZE
#endif
/* Task behaviour. */
#define bktQUEUE_LENGTH ( 5 )
#define bktSHORT_WAIT pdMS_TO_TICKS( ( TickType_t ) 20 )
#define bktPRIMARY_BLOCK_TIME ( 10 )
#define bktALLOWABLE_MARGIN ( 15 )
#define bktTIME_TO_BLOCK ( 175 )
#define bktDONT_BLOCK ( ( TickType_t ) 0 )
#define bktRUN_INDICATOR ( ( UBaseType_t ) 0x55 )
/* In case the demo does not have software timers enabled, as this file uses
* the configTIMER_TASK_PRIORITY setting. */
#ifndef configTIMER_TASK_PRIORITY
#define configTIMER_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
#endif
/*-----------------------------------------------------------*/
/*
* The two test tasks. Their behaviour is commented within the functions.
*/
static void vPrimaryBlockTimeTestTask( void * pvParameters );
static void vSecondaryBlockTimeTestTask( void * pvParameters );
/*
* Very basic tests to verify the block times are as expected.
*/
static void prvBasicDelayTests( void );
/*-----------------------------------------------------------*/
/* The queue on which the tasks block. */
static QueueHandle_t xTestQueue;
/* Handle to the secondary task is required by the primary task for calls
* to vTaskSuspend/Resume(). */
static TaskHandle_t xSecondary;
/* Used to ensure that tasks are still executing without error. */
static volatile BaseType_t xPrimaryCycles = 0, xSecondaryCycles = 0;
static volatile BaseType_t xErrorOccurred = pdFALSE;
/* Provides a simple mechanism for the primary task to know when the
* secondary task has executed. */
static volatile UBaseType_t xRunIndicator;
/*-----------------------------------------------------------*/
void vCreateBlockTimeTasks( void )
{
/* Create the queue on which the two tasks block. */
xTestQueue = xQueueCreate( bktQUEUE_LENGTH, sizeof( BaseType_t ) );
if( xTestQueue != NULL )
{
/* vQueueAddToRegistry() adds the queue to the queue registry, if one
* is in use. The queue registry is provided as a means for kernel aware
* debuggers to locate queues and has no purpose if a kernel aware
* debugger is not being used. The call to vQueueAddToRegistry() will be
* removed by the pre-processor if configQUEUE_REGISTRY_SIZE is not
* defined or is defined to be less than 1. */
vQueueAddToRegistry( xTestQueue, "Block_Time_Queue" );
/* Create the two test tasks. */
xTaskCreate( vPrimaryBlockTimeTestTask, "BTest1", bktBLOCK_TIME_TASK_STACK_SIZE, NULL, bktPRIMARY_PRIORITY, NULL );
xTaskCreate( vSecondaryBlockTimeTestTask, "BTest2", bktBLOCK_TIME_TASK_STACK_SIZE, NULL, bktSECONDARY_PRIORITY, &xSecondary );
}
}
/*-----------------------------------------------------------*/
static void vPrimaryBlockTimeTestTask( void * pvParameters )
{
BaseType_t xItem, xData;
TickType_t xTimeWhenBlocking;
TickType_t xTimeToBlock, xBlockedTime;
( void ) pvParameters;
for( ; ; )
{
/*********************************************************************
* Test 0
*
* Basic vTaskDelay() and vTaskDelayUntil() tests. */
prvBasicDelayTests();
/*********************************************************************
* Test 1
*
* Simple block time wakeup test on queue receives. */
for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
{
/* The queue is empty. Attempt to read from the queue using a block
* time. When we wake, ensure the delta in time is as expected. */
xTimeToBlock = ( TickType_t ) ( bktPRIMARY_BLOCK_TIME << xItem );
xTimeWhenBlocking = xTaskGetTickCount();
/* We should unblock after xTimeToBlock having not received
* anything on the queue. */
if( xQueueReceive( xTestQueue, &xData, xTimeToBlock ) != errQUEUE_EMPTY )
{
xErrorOccurred = __LINE__;
}
/* How long were we blocked for? */
xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
if( xBlockedTime < xTimeToBlock )
{
/* Should not have blocked for less than we requested. */
xErrorOccurred = __LINE__;
}
if( xBlockedTime > ( xTimeToBlock + bktALLOWABLE_MARGIN ) )
{
/* Should not have blocked for longer than we requested,
* although we would not necessarily run as soon as we were
* unblocked so a margin is allowed. */
xErrorOccurred = __LINE__;
}
}
/*********************************************************************
* Test 2
*
* Simple block time wakeup test on queue sends.
*
* First fill the queue. It should be empty so all sends should pass. */
for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
{
if( xQueueSend( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )
{
xErrorOccurred = __LINE__;
}
#if configUSE_PREEMPTION == 0
taskYIELD();
#endif
}
for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
{
/* The queue is full. Attempt to write to the queue using a block
* time. When we wake, ensure the delta in time is as expected. */
xTimeToBlock = ( TickType_t ) ( bktPRIMARY_BLOCK_TIME << xItem );
xTimeWhenBlocking = xTaskGetTickCount();
/* We should unblock after xTimeToBlock having not received
* anything on the queue. */
if( xQueueSend( xTestQueue, &xItem, xTimeToBlock ) != errQUEUE_FULL )
{
xErrorOccurred = __LINE__;
}
/* How long were we blocked for? */
xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
if( xBlockedTime < xTimeToBlock )
{
/* Should not have blocked for less than we requested. */
xErrorOccurred = __LINE__;
}
if( xBlockedTime > ( xTimeToBlock + bktALLOWABLE_MARGIN ) )
{
/* Should not have blocked for longer than we requested,
* although we would not necessarily run as soon as we were
* unblocked so a margin is allowed. */
xErrorOccurred = __LINE__;
}
}
/*********************************************************************
* Test 3
*
* Wake the other task, it will block attempting to post to the queue.
* When we read from the queue the other task will wake, but before it
* can run we will post to the queue again. When the other task runs it
* will find the queue still full, even though it was woken. It should
* recognise that its block time has not expired and return to block for
* the remains of its block time.
*
* Wake the other task so it blocks attempting to post to the already
* full queue. */
xRunIndicator = 0;
vTaskResume( xSecondary );
/* We need to wait a little to ensure the other task executes. */
while( xRunIndicator != bktRUN_INDICATOR )
{
/* The other task has not yet executed. */
vTaskDelay( bktSHORT_WAIT );
}
/* Make sure the other task is blocked on the queue. */
vTaskDelay( bktSHORT_WAIT );
xRunIndicator = 0;
for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
{
/* Now when we make space on the queue the other task should wake
* but not execute as this task has higher priority. */
if( xQueueReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )
{
xErrorOccurred = __LINE__;
}
/* Now fill the queue again before the other task gets a chance to
* execute. If the other task had executed we would find the queue
* full ourselves, and the other task have set xRunIndicator. */
if( xQueueSend( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )
{
xErrorOccurred = __LINE__;
}
if( xRunIndicator == bktRUN_INDICATOR )
{
/* The other task should not have executed. */
xErrorOccurred = __LINE__;
}
/* Raise the priority of the other task so it executes and blocks
* on the queue again. */
vTaskPrioritySet( xSecondary, bktPRIMARY_PRIORITY + 2 );
/* The other task should now have re-blocked without exiting the
* queue function. */
if( xRunIndicator == bktRUN_INDICATOR )
{
/* The other task should not have executed outside of the
* queue function. */
xErrorOccurred = __LINE__;
}
/* Set the priority back down. */
vTaskPrioritySet( xSecondary, bktSECONDARY_PRIORITY );
}
/* Let the other task timeout. When it unblocks it will check that it
* unblocked at the correct time, then suspend itself. */
while( xRunIndicator != bktRUN_INDICATOR )
{
vTaskDelay( bktSHORT_WAIT );
}
vTaskDelay( bktSHORT_WAIT );
xRunIndicator = 0;
/*********************************************************************
* Test 4
*
* As per test 3 - but with the send and receive the other way around.
* The other task blocks attempting to read from the queue.
*
* Empty the queue. We should find that it is full. */
for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
{
if( xQueueReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )
{
xErrorOccurred = __LINE__;
}
}
/* Wake the other task so it blocks attempting to read from the
* already empty queue. */
vTaskResume( xSecondary );
/* We need to wait a little to ensure the other task executes. */
while( xRunIndicator != bktRUN_INDICATOR )
{
vTaskDelay( bktSHORT_WAIT );
}
vTaskDelay( bktSHORT_WAIT );
xRunIndicator = 0;
for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
{
/* Now when we place an item on the queue the other task should
* wake but not execute as this task has higher priority. */
if( xQueueSend( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )
{
xErrorOccurred = __LINE__;
}
/* Now empty the queue again before the other task gets a chance to
* execute. If the other task had executed we would find the queue
* empty ourselves, and the other task would be suspended. */
if( xQueueReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )
{
xErrorOccurred = __LINE__;
}
if( xRunIndicator == bktRUN_INDICATOR )
{
/* The other task should not have executed. */
xErrorOccurred = __LINE__;
}
/* Raise the priority of the other task so it executes and blocks
* on the queue again. */
vTaskPrioritySet( xSecondary, bktPRIMARY_PRIORITY + 2 );
/* The other task should now have re-blocked without exiting the
* queue function. */
if( xRunIndicator == bktRUN_INDICATOR )
{
/* The other task should not have executed outside of the
* queue function. */
xErrorOccurred = __LINE__;
}
vTaskPrioritySet( xSecondary, bktSECONDARY_PRIORITY );
}
/* Let the other task timeout. When it unblocks it will check that it
* unblocked at the correct time, then suspend itself. */
while( xRunIndicator != bktRUN_INDICATOR )
{
vTaskDelay( bktSHORT_WAIT );
}
vTaskDelay( bktSHORT_WAIT );
xPrimaryCycles++;
}
}
/*-----------------------------------------------------------*/
static void vSecondaryBlockTimeTestTask( void * pvParameters )
{
TickType_t xTimeWhenBlocking, xBlockedTime;
BaseType_t xData;
( void ) pvParameters;
for( ; ; )
{
/*********************************************************************
* Test 0, 1 and 2
*
* This task does not participate in these tests. */
vTaskSuspend( NULL );
/*********************************************************************
* Test 3
*
* The first thing we do is attempt to read from the queue. It should be
* full so we block. Note the time before we block so we can check the
* wake time is as per that expected. */
xTimeWhenBlocking = xTaskGetTickCount();
/* We should unblock after bktTIME_TO_BLOCK having not sent anything to
* the queue. */
xData = 0;
xRunIndicator = bktRUN_INDICATOR;
if( xQueueSend( xTestQueue, &xData, bktTIME_TO_BLOCK ) != errQUEUE_FULL )
{
xErrorOccurred = __LINE__;
}
/* How long were we inside the send function? */
xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
/* We should not have blocked for less time than bktTIME_TO_BLOCK. */
if( xBlockedTime < bktTIME_TO_BLOCK )
{
xErrorOccurred = __LINE__;
}
/* We should of not blocked for much longer than bktALLOWABLE_MARGIN
* either. A margin is permitted as we would not necessarily run as
* soon as we unblocked. */
if( xBlockedTime > ( bktTIME_TO_BLOCK + bktALLOWABLE_MARGIN ) )
{
xErrorOccurred = __LINE__;
}
/* Suspend ready for test 3. */
xRunIndicator = bktRUN_INDICATOR;
vTaskSuspend( NULL );
/*********************************************************************
* Test 4
*
* As per test three, but with the send and receive reversed. */
xTimeWhenBlocking = xTaskGetTickCount();
/* We should unblock after bktTIME_TO_BLOCK having not received
* anything on the queue. */
xRunIndicator = bktRUN_INDICATOR;
if( xQueueReceive( xTestQueue, &xData, bktTIME_TO_BLOCK ) != errQUEUE_EMPTY )
{
xErrorOccurred = __LINE__;
}
xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
/* We should not have blocked for less time than bktTIME_TO_BLOCK. */
if( xBlockedTime < bktTIME_TO_BLOCK )
{
xErrorOccurred = __LINE__;
}
/* We should of not blocked for much longer than bktALLOWABLE_MARGIN
* either. A margin is permitted as we would not necessarily run as soon
* as we unblocked. */
if( xBlockedTime > ( bktTIME_TO_BLOCK + bktALLOWABLE_MARGIN ) )
{
xErrorOccurred = __LINE__;
}
xRunIndicator = bktRUN_INDICATOR;
xSecondaryCycles++;
}
}
/*-----------------------------------------------------------*/
static void prvBasicDelayTests( void )
{
TickType_t xPreTime, xPostTime, x, xLastUnblockTime, xExpectedUnblockTime;
const TickType_t xPeriod = 75, xCycles = 5, xAllowableMargin = ( bktALLOWABLE_MARGIN >> 1 ), xHalfPeriod = xPeriod / ( TickType_t ) 2;
BaseType_t xDidBlock;
/* Temporarily increase priority so the timing is more accurate, but not so
* high as to disrupt the timer tests. */
vTaskPrioritySet( NULL, configTIMER_TASK_PRIORITY - 1 );
/* Crude check to too see that vTaskDelay() blocks for the expected
* period. */
xPreTime = xTaskGetTickCount();
vTaskDelay( bktTIME_TO_BLOCK );
xPostTime = xTaskGetTickCount();
/* The priority is higher, so the allowable margin is halved when compared
* to the other tests in this file. */
if( ( xPostTime - xPreTime ) > ( bktTIME_TO_BLOCK + xAllowableMargin ) )
{
xErrorOccurred = __LINE__;
}
/* Now crude tests to check the vTaskDelayUntil() functionality. */
xPostTime = xTaskGetTickCount();
xLastUnblockTime = xPostTime;
for( x = 0; x < xCycles; x++ )
{
/* Calculate the next expected unblock time from the time taken before
* this loop was entered. */
xExpectedUnblockTime = xPostTime + ( x * xPeriod );
vTaskDelayUntil( &xLastUnblockTime, xPeriod );
if( ( xTaskGetTickCount() - xExpectedUnblockTime ) > ( bktTIME_TO_BLOCK + xAllowableMargin ) )
{
xErrorOccurred = __LINE__;
}
xPrimaryCycles++;
}
/* Crude tests for return value of xTaskDelayUntil(). First a standard block
* should return that the task does block. */
xDidBlock = xTaskDelayUntil( &xLastUnblockTime, xPeriod );
if( xDidBlock != pdTRUE )
{
xErrorOccurred = __LINE__;
}
/* Now delay a few ticks so repeating the above block period will not block for
* the full amount of time, but will still block. */
vTaskDelay( xHalfPeriod );
xDidBlock = xTaskDelayUntil( &xLastUnblockTime, xPeriod );
if( xDidBlock != pdTRUE )
{
xErrorOccurred = __LINE__;
}
/* This time block for longer than xPeriod before calling xTaskDelayUntil() so
* the call to xTaskDelayUntil() should not block. */
vTaskDelay( xPeriod );
xDidBlock = xTaskDelayUntil( &xLastUnblockTime, xPeriod );
if( xDidBlock != pdFALSE )
{
xErrorOccurred = __LINE__;
}
/* Catch up. */
xDidBlock = xTaskDelayUntil( &xLastUnblockTime, xPeriod );
if( xDidBlock != pdTRUE )
{
xErrorOccurred = __LINE__;
}
/* Again block for slightly longer than a period so ensure the time is in the
* past next time xTaskDelayUntil() gets called. */
vTaskDelay( xPeriod + xAllowableMargin );
xDidBlock = xTaskDelayUntil( &xLastUnblockTime, xPeriod );
if( xDidBlock != pdFALSE )
{
xErrorOccurred = __LINE__;
}
/* Reset to the original task priority ready for the other tests. */
vTaskPrioritySet( NULL, bktPRIMARY_PRIORITY );
}
/*-----------------------------------------------------------*/
BaseType_t xAreBlockTimeTestTasksStillRunning( void )
{
static BaseType_t xLastPrimaryCycleCount = 0, xLastSecondaryCycleCount = 0;
BaseType_t xReturn = pdPASS;
/* Have both tasks performed at least one cycle since this function was
* last called? */
if( xPrimaryCycles == xLastPrimaryCycleCount )
{
xReturn = pdFAIL;
}
if( xSecondaryCycles == xLastSecondaryCycleCount )
{
xReturn = pdFAIL;
}
if( xErrorOccurred != pdFALSE )
{
xReturn = pdFAIL;
}
xLastSecondaryCycleCount = xSecondaryCycles;
xLastPrimaryCycleCount = xPrimaryCycles;
return xReturn;
}