598 lines
21 KiB
C
598 lines
21 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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* This file contains some test scenarios that ensure tasks do not exit queue
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* send or receive functions prematurely. A description of the tests is
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* included within the code.
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*/
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/* Kernel includes. */
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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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/* Demo includes. */
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#include "blocktim.h"
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/* Task priorities and stack sizes. Allow these to be overridden. */
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#ifndef bktPRIMARY_PRIORITY
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#define bktPRIMARY_PRIORITY ( configMAX_PRIORITIES - 3 )
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#endif
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#ifndef bktSECONDARY_PRIORITY
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#define bktSECONDARY_PRIORITY ( configMAX_PRIORITIES - 4 )
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#endif
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#ifndef bktBLOCK_TIME_TASK_STACK_SIZE
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#define bktBLOCK_TIME_TASK_STACK_SIZE configMINIMAL_STACK_SIZE
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#endif
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/* Task behaviour. */
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#define bktQUEUE_LENGTH ( 5 )
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#define bktSHORT_WAIT pdMS_TO_TICKS( ( TickType_t ) 20 )
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#define bktPRIMARY_BLOCK_TIME ( 10 )
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#define bktALLOWABLE_MARGIN ( 15 )
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#define bktTIME_TO_BLOCK ( 175 )
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#define bktDONT_BLOCK ( ( TickType_t ) 0 )
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#define bktRUN_INDICATOR ( ( UBaseType_t ) 0x55 )
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/* In case the demo does not have software timers enabled, as this file uses
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* the configTIMER_TASK_PRIORITY setting. */
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#ifndef configTIMER_TASK_PRIORITY
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#define configTIMER_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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#endif
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/*-----------------------------------------------------------*/
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/*
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* The two test tasks. Their behaviour is commented within the functions.
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*/
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static void vPrimaryBlockTimeTestTask( void * pvParameters );
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static void vSecondaryBlockTimeTestTask( void * pvParameters );
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/*
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* Very basic tests to verify the block times are as expected.
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*/
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static void prvBasicDelayTests( void );
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/*-----------------------------------------------------------*/
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/* The queue on which the tasks block. */
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static QueueHandle_t xTestQueue;
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/* Handle to the secondary task is required by the primary task for calls
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* to vTaskSuspend/Resume(). */
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static TaskHandle_t xSecondary;
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/* Used to ensure that tasks are still executing without error. */
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static volatile BaseType_t xPrimaryCycles = 0, xSecondaryCycles = 0;
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static volatile BaseType_t xErrorOccurred = pdFALSE;
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/* Provides a simple mechanism for the primary task to know when the
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* secondary task has executed. */
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static volatile UBaseType_t xRunIndicator;
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/*-----------------------------------------------------------*/
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void vCreateBlockTimeTasks( void )
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{
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/* Create the queue on which the two tasks block. */
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xTestQueue = xQueueCreate( bktQUEUE_LENGTH, sizeof( BaseType_t ) );
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if( xTestQueue != NULL )
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{
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/* vQueueAddToRegistry() adds the queue to the queue registry, if one
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* is 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
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* debugger is not being used. The call to vQueueAddToRegistry() will be
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* removed by the pre-processor if configQUEUE_REGISTRY_SIZE is not
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* defined or is defined to be less than 1. */
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vQueueAddToRegistry( xTestQueue, "Block_Time_Queue" );
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/* Create the two test tasks. */
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xTaskCreate( vPrimaryBlockTimeTestTask, "BTest1", bktBLOCK_TIME_TASK_STACK_SIZE, NULL, bktPRIMARY_PRIORITY, NULL );
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xTaskCreate( vSecondaryBlockTimeTestTask, "BTest2", bktBLOCK_TIME_TASK_STACK_SIZE, NULL, bktSECONDARY_PRIORITY, &xSecondary );
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}
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}
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/*-----------------------------------------------------------*/
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static void vPrimaryBlockTimeTestTask( void * pvParameters )
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{
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BaseType_t xItem, xData;
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TickType_t xTimeWhenBlocking;
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TickType_t xTimeToBlock, xBlockedTime;
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( void ) pvParameters;
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for( ; ; )
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{
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/*********************************************************************
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* Test 0
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*
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* Basic vTaskDelay() and vTaskDelayUntil() tests. */
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prvBasicDelayTests();
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/*********************************************************************
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* Test 1
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*
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* Simple block time wakeup test on queue receives. */
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for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
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{
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/* The queue is empty. Attempt to read from the queue using a block
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* time. When we wake, ensure the delta in time is as expected. */
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xTimeToBlock = ( TickType_t ) ( bktPRIMARY_BLOCK_TIME << xItem );
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xTimeWhenBlocking = xTaskGetTickCount();
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/* We should unblock after xTimeToBlock having not received
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* anything on the queue. */
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if( xQueueReceive( xTestQueue, &xData, xTimeToBlock ) != errQUEUE_EMPTY )
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{
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xErrorOccurred = __LINE__;
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}
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/* How long were we blocked for? */
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xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
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if( xBlockedTime < xTimeToBlock )
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{
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/* Should not have blocked for less than we requested. */
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xErrorOccurred = __LINE__;
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}
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if( xBlockedTime > ( xTimeToBlock + bktALLOWABLE_MARGIN ) )
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{
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/* Should not have blocked for longer than we requested,
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* although we would not necessarily run as soon as we were
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* unblocked so a margin is allowed. */
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xErrorOccurred = __LINE__;
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}
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}
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/*********************************************************************
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* Test 2
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*
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* Simple block time wakeup test on queue sends.
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*
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* First fill the queue. It should be empty so all sends should pass. */
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for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
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{
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if( xQueueSend( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )
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{
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xErrorOccurred = __LINE__;
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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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}
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for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
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{
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/* The queue is full. Attempt to write to the queue using a block
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* time. When we wake, ensure the delta in time is as expected. */
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xTimeToBlock = ( TickType_t ) ( bktPRIMARY_BLOCK_TIME << xItem );
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xTimeWhenBlocking = xTaskGetTickCount();
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/* We should unblock after xTimeToBlock having not received
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* anything on the queue. */
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if( xQueueSend( xTestQueue, &xItem, xTimeToBlock ) != errQUEUE_FULL )
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{
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xErrorOccurred = __LINE__;
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}
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/* How long were we blocked for? */
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xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
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if( xBlockedTime < xTimeToBlock )
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{
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/* Should not have blocked for less than we requested. */
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xErrorOccurred = __LINE__;
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}
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if( xBlockedTime > ( xTimeToBlock + bktALLOWABLE_MARGIN ) )
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{
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/* Should not have blocked for longer than we requested,
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* although we would not necessarily run as soon as we were
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* unblocked so a margin is allowed. */
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xErrorOccurred = __LINE__;
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}
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}
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/*********************************************************************
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* Test 3
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*
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* Wake the other task, it will block attempting to post to the queue.
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* When we read from the queue the other task will wake, but before it
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* can run we will post to the queue again. When the other task runs it
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* will find the queue still full, even though it was woken. It should
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* recognise that its block time has not expired and return to block for
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* the remains of its block time.
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*
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* Wake the other task so it blocks attempting to post to the already
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* full queue. */
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xRunIndicator = 0;
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vTaskResume( xSecondary );
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/* We need to wait a little to ensure the other task executes. */
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while( xRunIndicator != bktRUN_INDICATOR )
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{
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/* The other task has not yet executed. */
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vTaskDelay( bktSHORT_WAIT );
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}
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/* Make sure the other task is blocked on the queue. */
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vTaskDelay( bktSHORT_WAIT );
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xRunIndicator = 0;
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for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
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{
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/* Now when we make space on the queue the other task should wake
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* but not execute as this task has higher priority. */
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if( xQueueReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )
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{
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xErrorOccurred = __LINE__;
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}
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/* Now fill the queue again before the other task gets a chance to
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* execute. If the other task had executed we would find the queue
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* full ourselves, and the other task have set xRunIndicator. */
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if( xQueueSend( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )
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{
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xErrorOccurred = __LINE__;
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}
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if( xRunIndicator == bktRUN_INDICATOR )
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{
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/* The other task should not have executed. */
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xErrorOccurred = __LINE__;
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}
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/* Raise the priority of the other task so it executes and blocks
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* on the queue again. */
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vTaskPrioritySet( xSecondary, bktPRIMARY_PRIORITY + 2 );
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/* The other task should now have re-blocked without exiting the
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* queue function. */
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if( xRunIndicator == bktRUN_INDICATOR )
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{
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/* The other task should not have executed outside of the
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* queue function. */
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xErrorOccurred = __LINE__;
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}
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/* Set the priority back down. */
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vTaskPrioritySet( xSecondary, bktSECONDARY_PRIORITY );
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}
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/* Let the other task timeout. When it unblocks it will check that it
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* unblocked at the correct time, then suspend itself. */
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while( xRunIndicator != bktRUN_INDICATOR )
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{
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vTaskDelay( bktSHORT_WAIT );
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}
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vTaskDelay( bktSHORT_WAIT );
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xRunIndicator = 0;
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/*********************************************************************
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* Test 4
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*
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* As per test 3 - but with the send and receive the other way around.
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* The other task blocks attempting to read from the queue.
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*
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* Empty the queue. We should find that it is full. */
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for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
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{
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if( xQueueReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )
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{
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xErrorOccurred = __LINE__;
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}
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}
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/* Wake the other task so it blocks attempting to read from the
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* already empty queue. */
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vTaskResume( xSecondary );
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/* We need to wait a little to ensure the other task executes. */
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while( xRunIndicator != bktRUN_INDICATOR )
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{
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vTaskDelay( bktSHORT_WAIT );
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}
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vTaskDelay( bktSHORT_WAIT );
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xRunIndicator = 0;
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for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
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{
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/* Now when we place an item on the queue the other task should
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* wake but not execute as this task has higher priority. */
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if( xQueueSend( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )
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{
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xErrorOccurred = __LINE__;
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}
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/* Now empty the queue again before the other task gets a chance to
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* execute. If the other task had executed we would find the queue
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* empty ourselves, and the other task would be suspended. */
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if( xQueueReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )
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{
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xErrorOccurred = __LINE__;
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}
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if( xRunIndicator == bktRUN_INDICATOR )
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{
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/* The other task should not have executed. */
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xErrorOccurred = __LINE__;
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}
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/* Raise the priority of the other task so it executes and blocks
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* on the queue again. */
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vTaskPrioritySet( xSecondary, bktPRIMARY_PRIORITY + 2 );
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/* The other task should now have re-blocked without exiting the
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* queue function. */
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if( xRunIndicator == bktRUN_INDICATOR )
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{
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/* The other task should not have executed outside of the
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* queue function. */
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xErrorOccurred = __LINE__;
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}
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vTaskPrioritySet( xSecondary, bktSECONDARY_PRIORITY );
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}
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/* Let the other task timeout. When it unblocks it will check that it
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* unblocked at the correct time, then suspend itself. */
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||
|
|
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;
|
||
|
|
}
|