EBIKE-FreeRTOS/Common/Minimal/QueueOverwrite.c

/*
 * 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
 *
 */

/*
 * Basic task to demonstrate the xQueueOverwrite() function.  See the comments
 * in the function itself.
 */

/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"

/* Demo program include files. */
#include "QueueOverwrite.h"

/* A block time of 0 just means "don't block". */
#define qoDONT_BLOCK    0

/* Number of times to overwrite the value in the queue. */
#define qoLOOPS         5

/* The task that uses the queue. */
static void prvQueueOverwriteTask( void * pvParameters );

/* Variable that is incremented on each loop of prvQueueOverwriteTask() provided
 * prvQueueOverwriteTask() has not found any errors. */
static uint32_t ulLoopCounter = 0;

/* Set to pdFALSE if an error is discovered by the
 * vQueueOverwritePeriodicISRDemo() function. */
static BaseType_t xISRTestStatus = pdPASS;

/* The queue that is accessed from the ISR.  The queue accessed by the task is
 * created inside the task itself. */
static QueueHandle_t xISRQueue = NULL;

/*-----------------------------------------------------------*/

void vStartQueueOverwriteTask( UBaseType_t uxPriority )
{
    const UBaseType_t uxQueueLength = 1;

    /* Create the queue used by the ISR.  xQueueOverwriteFromISR() should only
     * be used on queues that have a length of 1. */
    xISRQueue = xQueueCreate( uxQueueLength, ( UBaseType_t ) sizeof( uint32_t ) );

    /* Create the test task.  The queue used by the test task is created inside
     * the task itself. */
    xTaskCreate( prvQueueOverwriteTask, "QOver", configMINIMAL_STACK_SIZE, NULL, uxPriority, ( TaskHandle_t * ) NULL );
}
/*-----------------------------------------------------------*/

static void prvQueueOverwriteTask( void * pvParameters )
{
    QueueHandle_t xTaskQueue;
    const UBaseType_t uxQueueLength = 1;
    uint32_t ulValue, ulStatus = pdPASS, x;

    /* The parameter is not used. */
    ( void ) pvParameters;

    /* Create the queue.  xQueueOverwrite() should only be used on queues that
     * have a length of 1. */
    xTaskQueue = xQueueCreate( uxQueueLength, ( UBaseType_t ) sizeof( uint32_t ) );
    configASSERT( xTaskQueue );

    for( ; ; )
    {
        /* The queue is empty.  Writing to the queue then reading from the queue
         * should return the item written. */
        ulValue = 10;
        xQueueOverwrite( xTaskQueue, &ulValue );

        ulValue = 0;
        xQueueReceive( xTaskQueue, &ulValue, qoDONT_BLOCK );

        if( ulValue != 10 )
        {
            ulStatus = pdFAIL;
        }

        /* Now try writing to the queue several times.  Each time the value
         * in the queue should get overwritten. */
        for( x = 0; x < qoLOOPS; x++ )
        {
            /* Write to the queue. */
            xQueueOverwrite( xTaskQueue, &x );

            /* Check the value in the queue is that written, even though the
             * queue was not necessarily empty. */
            xQueuePeek( xTaskQueue, &ulValue, qoDONT_BLOCK );

            if( ulValue != x )
            {
                ulStatus = pdFAIL;
            }

            /* There should always be one item in the queue. */
            if( uxQueueMessagesWaiting( xTaskQueue ) != uxQueueLength )
            {
                ulStatus = pdFAIL;
            }
        }

        /* Empty the queue again. */
        xQueueReceive( xTaskQueue, &ulValue, qoDONT_BLOCK );

        if( uxQueueMessagesWaiting( xTaskQueue ) != 0 )
        {
            ulStatus = pdFAIL;
        }

        if( ulStatus != pdFAIL )
        {
            /* Increment a counter to show this task is still running without
             * error. */
            ulLoopCounter++;
        }

        #if ( configUSE_PREEMPTION == 0 )
            taskYIELD();
        #endif
    }
}
/*-----------------------------------------------------------*/

BaseType_t xIsQueueOverwriteTaskStillRunning( void )
{
    BaseType_t xReturn;

    if( xISRTestStatus != pdPASS )
    {
        xReturn = pdFAIL;
    }
    else if( ulLoopCounter > 0 )
    {
        xReturn = pdPASS;
    }
    else
    {
        /* The task has either stalled of discovered an error. */
        xReturn = pdFAIL;
    }

    ulLoopCounter = 0;

    return xReturn;
}
/*-----------------------------------------------------------*/

void vQueueOverwritePeriodicISRDemo( void )
{
    static uint32_t ulCallCount = 0;
    const uint32_t ulTx1 = 10UL, ulTx2 = 20UL, ulNumberOfSwitchCases = 3UL;
    uint32_t ulRx;

    /* This function should be called from an interrupt, such as the tick hook
     * function vApplicationTickHook(). */

    configASSERT( xISRQueue );

    switch( ulCallCount )
    {
        case 0:

            /* The queue is empty.  Write ulTx1 to the queue.  In this demo the
             * last parameter is not used because there are no tasks blocked on
             * this queue. */
            xQueueOverwriteFromISR( xISRQueue, &ulTx1, NULL );

            /* Peek the queue to check it holds the expected value. */
            xQueuePeekFromISR( xISRQueue, &ulRx );

            if( ulRx != ulTx1 )
            {
                xISRTestStatus = pdFAIL;
            }

            break;

        case 1:

            /* The queue already holds ulTx1.  Overwrite the value in the queue
             * with ulTx2. */
            xQueueOverwriteFromISR( xISRQueue, &ulTx2, NULL );
            break;

        case 2:

            /* Read from the queue to empty the queue again.  The value read
             * should be ulTx2. */
            xQueueReceiveFromISR( xISRQueue, &ulRx, NULL );

            if( ulRx != ulTx2 )
            {
                xISRTestStatus = pdFAIL;
            }

            break;
    }

    /* Run the next case in the switch statement above next time this function
     * is called. */
    ulCallCount++;

    if( ulCallCount >= ulNumberOfSwitchCases )
    {
        /* Go back to the start. */
        ulCallCount = 0;
    }
}