441 lines
16 KiB
C
441 lines
16 KiB
C
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/*
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* FreeRTOS V202212.00
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* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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* the Software without restriction, including without limitation the rights to
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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* the Software, and to permit persons to whom the Software is furnished to do so,
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*
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* https://www.FreeRTOS.org
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* https://github.com/FreeRTOS
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*
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*/
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/*
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* Tests the behaviour when data is peeked from a queue when there are
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* multiple tasks blocked on the queue.
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*/
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#include <stdlib.h>
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/* Scheduler include files. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "queue.h"
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#include "semphr.h"
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/* Demo program include files. */
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#include "QPeek.h"
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#define qpeekQUEUE_LENGTH ( 5 )
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#define qpeekNO_BLOCK ( 0 )
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#define qpeekSHORT_DELAY ( 10 )
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#define qpeekLOW_PRIORITY ( tskIDLE_PRIORITY + 0 )
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#define qpeekMEDIUM_PRIORITY ( tskIDLE_PRIORITY + 1 )
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#define qpeekHIGH_PRIORITY ( tskIDLE_PRIORITY + 2 )
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#define qpeekHIGHEST_PRIORITY ( tskIDLE_PRIORITY + 3 )
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/*-----------------------------------------------------------*/
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/*
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* The following three tasks are used to demonstrate the peeking behaviour.
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* Each task is given a different priority to demonstrate the order in which
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* tasks are woken as data is peeked from a queue.
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*/
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static void prvLowPriorityPeekTask( void * pvParameters );
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static void prvMediumPriorityPeekTask( void * pvParameters );
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static void prvHighPriorityPeekTask( void * pvParameters );
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static void prvHighestPriorityPeekTask( void * pvParameters );
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/*-----------------------------------------------------------*/
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/* Flag that will be latched to pdTRUE should any unexpected behaviour be
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* detected in any of the tasks. */
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static volatile BaseType_t xErrorDetected = pdFALSE;
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/* Counter that is incremented on each cycle of a test. This is used to
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* detect a stalled task - a test that is no longer running. */
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static volatile uint32_t ulLoopCounter = 0;
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/* Handles to the test tasks. */
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TaskHandle_t xMediumPriorityTask, xHighPriorityTask, xHighestPriorityTask;
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/*-----------------------------------------------------------*/
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void vStartQueuePeekTasks( void )
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{
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QueueHandle_t xQueue;
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/* Create the queue that we are going to use for the test/demo. */
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xQueue = xQueueCreate( qpeekQUEUE_LENGTH, sizeof( uint32_t ) );
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if( xQueue != NULL )
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{
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/* vQueueAddToRegistry() adds the queue to the queue registry, if one is
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* in use. The queue registry is provided as a means for kernel aware
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* debuggers to locate queues and has no purpose if a kernel aware debugger
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* is not being used. The call to vQueueAddToRegistry() will be removed
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* by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is
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* defined to be less than 1. */
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vQueueAddToRegistry( xQueue, "QPeek_Test_Queue" );
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/* Create the demo tasks and pass it the queue just created. We are
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* passing the queue handle by value so it does not matter that it is declared
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* on the stack here. */
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xTaskCreate( prvLowPriorityPeekTask, "PeekL", configMINIMAL_STACK_SIZE, ( void * ) xQueue, qpeekLOW_PRIORITY, NULL );
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xTaskCreate( prvMediumPriorityPeekTask, "PeekM", configMINIMAL_STACK_SIZE, ( void * ) xQueue, qpeekMEDIUM_PRIORITY, &xMediumPriorityTask );
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xTaskCreate( prvHighPriorityPeekTask, "PeekH1", configMINIMAL_STACK_SIZE, ( void * ) xQueue, qpeekHIGH_PRIORITY, &xHighPriorityTask );
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xTaskCreate( prvHighestPriorityPeekTask, "PeekH2", configMINIMAL_STACK_SIZE, ( void * ) xQueue, qpeekHIGHEST_PRIORITY, &xHighestPriorityTask );
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}
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}
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/*-----------------------------------------------------------*/
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static void prvHighestPriorityPeekTask( void * pvParameters )
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{
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QueueHandle_t xQueue = ( QueueHandle_t ) pvParameters;
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uint32_t ulValue;
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#ifdef USE_STDIO
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{
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void vPrintDisplayMessage( const char * const * ppcMessageToSend );
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const char * const pcTaskStartMsg = "Queue peek test started.\r\n";
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/* Queue a message for printing to say the task has started. */
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vPrintDisplayMessage( &pcTaskStartMsg );
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}
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#endif
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for( ; ; )
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{
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/* Try peeking from the queue. The queue should be empty so we will
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* block, allowing the high priority task to execute. */
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if( xQueuePeek( xQueue, &ulValue, portMAX_DELAY ) != pdPASS )
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{
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/* We expected to have received something by the time we unblock. */
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xErrorDetected = pdTRUE;
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}
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/* When we reach here the high and medium priority tasks should still
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* be blocked on the queue. We unblocked because the low priority task
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* wrote a value to the queue, which we should have peeked. Peeking the
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* data (rather than receiving it) will leave the data on the queue, so
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* the high priority task should then have also been unblocked, but not
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* yet executed. */
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if( ulValue != 0x11223344 )
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{
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/* We did not receive the expected value. */
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xErrorDetected = pdTRUE;
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}
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if( uxQueueMessagesWaiting( xQueue ) != 1 )
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{
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/* The message should have been left on the queue. */
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xErrorDetected = pdTRUE;
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}
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/* Now we are going to actually receive the data, so when the high
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* priority task runs it will find the queue empty and return to the
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* blocked state. */
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ulValue = 0;
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if( xQueueReceive( xQueue, &ulValue, qpeekNO_BLOCK ) != pdPASS )
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{
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/* We expected to receive the value. */
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xErrorDetected = pdTRUE;
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}
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if( ulValue != 0x11223344 )
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{
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/* We did not receive the expected value - which should have been
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* the same value as was peeked. */
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xErrorDetected = pdTRUE;
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}
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/* Now we will block again as the queue is once more empty. The low
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* priority task can then execute again. */
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if( xQueuePeek( xQueue, &ulValue, portMAX_DELAY ) != pdPASS )
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{
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/* We expected to have received something by the time we unblock. */
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xErrorDetected = pdTRUE;
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}
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/* When we get here the low priority task should have again written to the
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* queue. */
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if( ulValue != 0x01234567 )
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{
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/* We did not receive the expected value. */
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xErrorDetected = pdTRUE;
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}
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if( uxQueueMessagesWaiting( xQueue ) != 1 )
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{
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/* The message should have been left on the queue. */
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xErrorDetected = pdTRUE;
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}
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/* We only peeked the data, so suspending ourselves now should enable
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* the high priority task to also peek the data. The high priority task
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* will have been unblocked when we peeked the data as we left the data
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* in the queue. */
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vTaskSuspend( NULL );
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/* This time we are going to do the same as the above test, but the
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* high priority task is going to receive the data, rather than peek it.
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* This means that the medium priority task should never peek the value. */
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if( xQueuePeek( xQueue, &ulValue, portMAX_DELAY ) != pdPASS )
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{
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xErrorDetected = pdTRUE;
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}
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if( ulValue != 0xaabbaabb )
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{
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xErrorDetected = pdTRUE;
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}
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vTaskSuspend( NULL );
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}
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}
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/*-----------------------------------------------------------*/
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static void prvHighPriorityPeekTask( void * pvParameters )
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{
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QueueHandle_t xQueue = ( QueueHandle_t ) pvParameters;
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uint32_t ulValue;
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for( ; ; )
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{
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/* Try peeking from the queue. The queue should be empty so we will
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* block, allowing the medium priority task to execute. Both the high
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* and highest priority tasks will then be blocked on the queue. */
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if( xQueuePeek( xQueue, &ulValue, portMAX_DELAY ) != pdPASS )
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{
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/* We expected to have received something by the time we unblock. */
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xErrorDetected = pdTRUE;
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}
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/* When we get here the highest priority task should have peeked the data
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* (unblocking this task) then suspended (allowing this task to also peek
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* the data). */
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if( ulValue != 0x01234567 )
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{
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/* We did not receive the expected value. */
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xErrorDetected = pdTRUE;
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}
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if( uxQueueMessagesWaiting( xQueue ) != 1 )
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{
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/* The message should have been left on the queue. */
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xErrorDetected = pdTRUE;
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}
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/* We only peeked the data, so suspending ourselves now should enable
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* the medium priority task to also peek the data. The medium priority task
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* will have been unblocked when we peeked the data as we left the data
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* in the queue. */
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vTaskSuspend( NULL );
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/* This time we are going actually receive the value, so the medium
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* priority task will never peek the data - we removed it from the queue. */
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if( xQueueReceive( xQueue, &ulValue, portMAX_DELAY ) != pdPASS )
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{
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xErrorDetected = pdTRUE;
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}
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if( ulValue != 0xaabbaabb )
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{
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xErrorDetected = pdTRUE;
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}
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vTaskSuspend( NULL );
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}
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}
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/*-----------------------------------------------------------*/
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static void prvMediumPriorityPeekTask( void * pvParameters )
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{
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QueueHandle_t xQueue = ( QueueHandle_t ) pvParameters;
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uint32_t ulValue;
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for( ; ; )
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{
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/* Try peeking from the queue. The queue should be empty so we will
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* block, allowing the low priority task to execute. The highest, high
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* and medium priority tasks will then all be blocked on the queue. */
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if( xQueuePeek( xQueue, &ulValue, portMAX_DELAY ) != pdPASS )
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{
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/* We expected to have received something by the time we unblock. */
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xErrorDetected = pdTRUE;
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}
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/* When we get here the high priority task should have peeked the data
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* (unblocking this task) then suspended (allowing this task to also peek
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* the data). */
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if( ulValue != 0x01234567 )
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{
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/* We did not receive the expected value. */
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xErrorDetected = pdTRUE;
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}
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if( uxQueueMessagesWaiting( xQueue ) != 1 )
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{
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/* The message should have been left on the queue. */
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xErrorDetected = pdTRUE;
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}
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/* Just so we know the test is still running. */
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ulLoopCounter++;
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/* Now we can suspend ourselves so the low priority task can execute
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* again. */
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vTaskSuspend( NULL );
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}
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}
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/*-----------------------------------------------------------*/
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static void prvLowPriorityPeekTask( void * pvParameters )
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{
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QueueHandle_t xQueue = ( QueueHandle_t ) pvParameters;
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uint32_t ulValue;
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for( ; ; )
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{
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/* Write some data to the queue. This should unblock the highest
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* priority task that is waiting to peek data from the queue. */
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ulValue = 0x11223344;
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if( xQueueSendToBack( xQueue, &ulValue, qpeekNO_BLOCK ) != pdPASS )
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{
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/* We were expecting the queue to be empty so we should not of
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* had a problem writing to the queue. */
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xErrorDetected = pdTRUE;
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}
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#if configUSE_PREEMPTION == 0
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taskYIELD();
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#endif
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/* By the time we get here the data should have been removed from
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* the queue. */
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if( uxQueueMessagesWaiting( xQueue ) != 0 )
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{
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xErrorDetected = pdTRUE;
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}
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/* Write another value to the queue, again waking the highest priority
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* task that is blocked on the queue. */
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ulValue = 0x01234567;
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if( xQueueSendToBack( xQueue, &ulValue, qpeekNO_BLOCK ) != pdPASS )
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{
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/* We were expecting the queue to be empty so we should not of
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* had a problem writing to the queue. */
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xErrorDetected = pdTRUE;
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}
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#if configUSE_PREEMPTION == 0
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taskYIELD();
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#endif
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/* All the other tasks should now have successfully peeked the data.
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* The data is still in the queue so we should be able to receive it. */
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ulValue = 0;
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if( xQueueReceive( xQueue, &ulValue, qpeekNO_BLOCK ) != pdPASS )
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{
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/* We expected to receive the data. */
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xErrorDetected = pdTRUE;
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}
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if( ulValue != 0x01234567 )
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{
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/* We did not receive the expected value. */
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xErrorDetected = pdTRUE;
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}
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/* Lets just delay a while as this is an intensive test as we don't
|
||
|
|
* want to starve other tests of processing time. */
|
||
|
|
vTaskDelay( qpeekSHORT_DELAY );
|
||
|
|
|
||
|
|
/* Unsuspend the other tasks so we can repeat the test - this time
|
||
|
|
* however not all the other tasks will peek the data as the high
|
||
|
|
* priority task is actually going to remove it from the queue. Send
|
||
|
|
* to front is used just to be different. As the queue is empty it
|
||
|
|
* makes no difference to the result. */
|
||
|
|
vTaskResume( xMediumPriorityTask );
|
||
|
|
vTaskResume( xHighPriorityTask );
|
||
|
|
vTaskResume( xHighestPriorityTask );
|
||
|
|
|
||
|
|
#if ( configUSE_PREEMPTION == 0 )
|
||
|
|
taskYIELD();
|
||
|
|
#endif
|
||
|
|
|
||
|
|
ulValue = 0xaabbaabb;
|
||
|
|
|
||
|
|
if( xQueueSendToFront( xQueue, &ulValue, qpeekNO_BLOCK ) != pdPASS )
|
||
|
|
{
|
||
|
|
/* We were expecting the queue to be empty so we should not of
|
||
|
|
* had a problem writing to the queue. */
|
||
|
|
xErrorDetected = pdTRUE;
|
||
|
|
}
|
||
|
|
|
||
|
|
#if configUSE_PREEMPTION == 0
|
||
|
|
taskYIELD();
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/* This time we should find that the queue is empty. The high priority
|
||
|
|
* task actually removed the data rather than just peeking it. */
|
||
|
|
if( xQueuePeek( xQueue, &ulValue, qpeekNO_BLOCK ) != errQUEUE_EMPTY )
|
||
|
|
{
|
||
|
|
/* We expected to receive the data. */
|
||
|
|
xErrorDetected = pdTRUE;
|
||
|
|
}
|
||
|
|
|
||
|
|
/* Unsuspend the highest and high priority tasks so we can go back
|
||
|
|
* and repeat the whole thing. The medium priority task should not be
|
||
|
|
* suspended as it was not able to peek the data in this last case. */
|
||
|
|
vTaskResume( xHighPriorityTask );
|
||
|
|
vTaskResume( xHighestPriorityTask );
|
||
|
|
|
||
|
|
/* Lets just delay a while as this is an intensive test as we don't
|
||
|
|
* want to starve other tests of processing time. */
|
||
|
|
vTaskDelay( qpeekSHORT_DELAY );
|
||
|
|
}
|
||
|
|
}
|
||
|
|
/*-----------------------------------------------------------*/
|
||
|
|
|
||
|
|
/* This is called to check that all the created tasks are still running. */
|
||
|
|
BaseType_t xAreQueuePeekTasksStillRunning( void )
|
||
|
|
{
|
||
|
|
static uint32_t ulLastLoopCounter = 0;
|
||
|
|
|
||
|
|
/* If the demo task is still running then we expect the loopcounter to
|
||
|
|
* have incremented since this function was last called. */
|
||
|
|
if( ulLastLoopCounter == ulLoopCounter )
|
||
|
|
{
|
||
|
|
xErrorDetected = pdTRUE;
|
||
|
|
}
|
||
|
|
|
||
|
|
ulLastLoopCounter = ulLoopCounter;
|
||
|
|
|
||
|
|
/* Errors detected in the task itself will have latched xErrorDetected
|
||
|
|
* to true. */
|
||
|
|
|
||
|
|
return ( BaseType_t ) !xErrorDetected;
|
||
|
|
}
|