esp-idf/components/freertos/test/test_freertos_backported_functions.c

/*
 * Test features that are backported from version FreeRTOS 9.0.0.
 *
 * 1) Test backported timer functions
 *      - xTimerCreateStatic(), vTimerSetTimerId(), xTimerGetPeriod(), xTimerGetExpiryTime()
 * 2) Test backported queue/semaphore functions
 *      - xQueueCreateStatic()
 *      - xSemaphoreCreateBinaryStatic(), xSemaphoreCreateCountingStatic(), uxSemaphoreGetCount()
 *      - xSemaphoreCreateMutexStatic(), xSemaphoreCreateRecursiveMutexStatic()
 * 3) Test static allocation of tasks
 *      - xTaskCreateStaticPinnedToCore()
 * 4) Test static allocation of event group
 *      - xEventGroupCreateStatic()
 * 5) Test Thread Local Storage Pointers and Deletion Callbacks
 *      - vTaskSetThreadLocalStoragePointerAndDelCallback()
 *      - pvTaskGetThreadLocalStoragePointer()
 *
 * Note: The *pcQueueGetName() function is also backported, but is not tested in
 *       the following test cases (see Queue Registry test cases instead)
 * For more details please refer the the ESP-IDF FreeRTOS changes documentation
 */
#include <stdio.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/timers.h"
#include "freertos/queue.h"
#include "freertos/semphr.h"
#include "freertos/event_groups.h"
#include "unity.h"
#include "test_utils.h"

/* ---------------------Test 1: Backported Timer functions-----------------------
 * Test xTimerCreateStatic(), vTimerSetTimerId(), xTimerGetPeriod(), xTimerGetExpiryTime()
 *
 * This test creates a one-shot static timer, sets/checks the timer's id and period. Then ensures
 * the timer cb is executed in a timely fashion.
 */
#define TMR_PERIOD_TICKS  10
#define TIMER_ID    0xFF
#define TICK_DELTA  5

static StaticTimer_t timer_buffer;
static TickType_t tmr_ideal_exp;

static void tmr_cb(TimerHandle_t xtimer)
{
    //Check cb is called in timely fashion
    TEST_ASSERT_UINT32_WITHIN(TICK_DELTA, tmr_ideal_exp, xTaskGetTickCount());
}

//No need for smp test as Timer Task always runs on core 0
TEST_CASE("Test FreeRTOS backported timer functions", "[freertos]")
{
    //Create one shot static timer with period TMR_PERIOD_TICKS
    TimerHandle_t tmr_handle = xTimerCreateStatic("static_tmr", TMR_PERIOD_TICKS, pdFALSE, NULL, tmr_cb, &timer_buffer);
    TEST_ASSERT_EQUAL(TMR_PERIOD_TICKS, xTimerGetPeriod(tmr_handle));       //Test xTimerGetPeriod()

    vTimerSetTimerID(tmr_handle, (void *)TIMER_ID);
    TEST_ASSERT_EQUAL(TIMER_ID, (uint32_t)pvTimerGetTimerID(tmr_handle));   //Test vTimerSetTimerID()

    TEST_ASSERT_EQUAL(pdTRUE, xTimerStart(tmr_handle, 1));      //Start Timer
    tmr_ideal_exp = xTaskGetTickCount() + TMR_PERIOD_TICKS;      //Calculate ideal expiration time
    vTaskDelay(2);  //Need to yield to allow daemon task to process start command, or else expiration time will be NULL

    TEST_ASSERT_UINT32_WITHIN(TICK_DELTA, tmr_ideal_exp, xTimerGetExpiryTime(tmr_handle));    //Test xTimerGetExpiryTime()

    vTaskDelay(2*TMR_PERIOD_TICKS);     //Delay until one shot timer has triggered
    TEST_ASSERT_EQUAL(pdPASS, xTimerDelete(tmr_handle, portMAX_DELAY));     //Clean up

}

/* ---------------Test backported queue/semaphore functions-------------------
 * xQueueCreateStatic()
 * xSemaphoreCreateBinaryStatic(), xSemaphoreCreateCountingStatic()
 * xSemaphoreCreateMutexStatic(), xSemaphoreCreateRecursiveMutexStatic()
 * uxSemaphoreGetCount() is also tested on the static counting semaphore
 *
 * This test creates various static queue/semphrs listed above and tests them by
 * doing a simple send/give and rec/take.
 */

#define ITEM_SIZE       3
#define NO_OF_ITEMS     3
#define DELAY_TICKS     2

static StaticQueue_t queue_buffer;       //Queues, Semaphores, and Mutex use the same queue structure
static uint8_t queue_storage_area[(ITEM_SIZE*NO_OF_ITEMS)];    //Queue storage provided in separate buffer to queue struct

TEST_CASE("Test FreeRTOS backported Queue and Semphr functions", "[freertos]")
{
    //Test static queue
    uint8_t queue_item_to_send[ITEM_SIZE];
    uint8_t queue_item_received[ITEM_SIZE];
    for(int i = 0; i < ITEM_SIZE; i++){
        queue_item_to_send[i] = (0xF << i);
    }
    QueueHandle_t handle = xQueueCreateStatic(NO_OF_ITEMS, ITEM_SIZE,(uint8_t*) &queue_storage_area, &queue_buffer);
    TEST_ASSERT_EQUAL(pdTRUE, xQueueSendToBack(handle, &queue_item_to_send, DELAY_TICKS));
    vTaskDelay(1);
    TEST_ASSERT_EQUAL(pdTRUE, xQueueReceive(handle, queue_item_received, DELAY_TICKS));
    vTaskDelay(1);
    for(int i = 0; i < ITEM_SIZE; i++){
        TEST_ASSERT_EQUAL(queue_item_to_send[i], queue_item_received[i]);   //Check received contents are correct
    }
    vQueueDelete(handle);   //Technically not needed as deleting static queue/semphr doesn't clear static memory

    //Test static binary semaphore
    handle = xSemaphoreCreateBinaryStatic(&queue_buffer);   //Queue and Semphr handles are the same
    TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreGive(handle));
    vTaskDelay(1);
    TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreTake(handle, DELAY_TICKS));
    vTaskDelay(1);
    vSemaphoreDelete(handle);

    //Test static counting semaphore and uxSemaphoreGetCount()
    handle = xSemaphoreCreateCountingStatic(NO_OF_ITEMS, 0, &queue_buffer);
    for(int i = 0; i < NO_OF_ITEMS; i++){
        TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreGive(handle));
    }
    vTaskDelay(1);
    TEST_ASSERT_EQUAL(NO_OF_ITEMS, uxSemaphoreGetCount(handle));    //Test uxSemaphoreGetCount()
    for(int i = 0; i < NO_OF_ITEMS; i++){
        TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreTake(handle, DELAY_TICKS));
    }
    vTaskDelay(1);
    TEST_ASSERT_EQUAL(0, uxSemaphoreGetCount(handle));
    vSemaphoreDelete(handle);

    //Test static mutex
    handle = xSemaphoreCreateMutexStatic(&queue_buffer);
    TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreTake(handle, DELAY_TICKS));
    vTaskDelay(1);
    TEST_ASSERT_EQUAL_PTR((void *)xTaskGetCurrentTaskHandle(), xSemaphoreGetMutexHolder(handle));   //Current task should now hold mutex
    TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreGive(handle));
    vTaskDelay(1);
    TEST_ASSERT_EQUAL_PTR(NULL, xSemaphoreGetMutexHolder(handle));      //Mutex should have been released
    vSemaphoreDelete(handle);

    //Test static mutex recursive
    handle = xSemaphoreCreateRecursiveMutexStatic(&queue_buffer);
    for(int i = 0; i < NO_OF_ITEMS; i++){
        TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreTakeRecursive(handle, DELAY_TICKS));
    }
    vTaskDelay(1);
    TEST_ASSERT_EQUAL_PTR((void *)xTaskGetCurrentTaskHandle(), xSemaphoreGetMutexHolder(handle));   //Current task should hold mutex
    for(int i = 0; i < NO_OF_ITEMS; i++){
        TEST_ASSERT_EQUAL(pdTRUE, xSemaphoreGiveRecursive(handle));
    }
    vTaskDelay(1);
    TEST_ASSERT_EQUAL_PTR(NULL, xSemaphoreGetMutexHolder(handle));      //Mutex should have been released
    vSemaphoreDelete(handle);

}

/* -----------------Test backported static task allocation  -------------------
 * Test xTaskCreateStaticPinnedToCore() but creating static task on each core
 * and checking the task cb has run successfully.
 */

#define STACK_SIZE  2048    //Task stack size

static StackType_t task_stack[STACK_SIZE];  //Static buffer for task stack
static StaticTask_t task_buffer;            //Static buffer for TCB
static bool has_run[portNUM_PROCESSORS];

static void task(void *arg)
{
    has_run[xPortGetCoreID()] = true;       //Signify static task cb has run
    vTaskDelete(NULL);
}

TEST_CASE("Test FreeRTOS static task allocation", "[freertos]")
{
    for(int core = 0; core < portNUM_PROCESSORS; core++){
        has_run[core] = false;     //Clear has_run flag
        TaskHandle_t handle = xTaskCreateStaticPinnedToCore(task, "static task", STACK_SIZE, NULL,
                                                            UNITY_FREERTOS_PRIORITY + 1, (StackType_t *)&task_stack,
                                                            (StaticTask_t *)&task_buffer, core);
        vTaskDelay(5); //Allow for static task to run, delete, and idle to clean up
        TEST_ASSERT_NOT_EQUAL(NULL, handle);    //Check static task was successfully allocated
        TEST_ASSERT_TRUE(has_run[core])    //Check static task has run
    }
}

/* ------------- Test backported static event group allocation -------------------
 * Test xEventGroupCreateStatic() but creating static event group then waiting
 * for an event.
 */

#define WAIT_BITS   0x01    //Wait for first bit

static StaticEventGroup_t event_group;
static EventGroupHandle_t eg_handle;

TEST_CASE("Test FreeRTOS backported eventgroup functions", "[freertos]")
{
    eg_handle = xEventGroupCreateStatic((StaticEventGroup_t *)&event_group);
    xEventGroupSetBits(eg_handle, WAIT_BITS);
    TEST_ASSERT_EQUAL(WAIT_BITS, xEventGroupWaitBits(eg_handle, WAIT_BITS, pdTRUE, pdTRUE, portMAX_DELAY));
    //Cleanup static event
    vEventGroupDelete(eg_handle);
}

/* --------Test backported thread local storage pointer and deletion cb feature----------
 * vTaskSetThreadLocalStoragePointerAndDelCallback()
 * pvTaskGetThreadLocalStoragePointer(),
 *
 * This test creates a task and set's the task's TLSPs. The task is then deleted
 * which should trigger the deletion cb.
 */

#define NO_OF_TLSP  configNUM_THREAD_LOCAL_STORAGE_POINTERS
#define TLSP_SET_BASE    0x0F       //0b1111 to be bit shifted by index
#define TLSP_DEL_BASE    0x05       //0b0101 to be bit shifted by index

//The variables pointed to by Thread Local Storage Pointer
static uint32_t task_storage[portNUM_PROCESSORS][NO_OF_TLSP] = {0};

/* If static task cleanup is defined, can't set index 0 even if the calling task is not a pthread,
   as the cleanup is called for every task.
*/
#if defined(CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP)
static const int skip_index = 0; /*PTHREAD_TLS_INDEX*/
#else
static const int skip_index = -1;
#endif


static void del_cb(int index, void *ptr)
{
    *((uint32_t *)ptr) = (TLSP_DEL_BASE << index);   //Indicate deletion by setting task storage element to a unique value
}

static void task_cb(void *arg)
{
    int core = xPortGetCoreID();
    for(int i = 0; i < NO_OF_TLSP; i++){
        if (i == skip_index) {
            continue;
        }

        task_storage[core][i] = (TLSP_SET_BASE << i);   //Give each element of task_storage a unique number
        vTaskSetThreadLocalStoragePointerAndDelCallback(NULL, i, (void *)&task_storage[core][i], del_cb);   //Set each TLSP to point to a task storage element
    }

    for(int i = 0; i < NO_OF_TLSP; i++){
        if (i == skip_index) {
            continue;
        }

        uint32_t * tlsp = (uint32_t *)pvTaskGetThreadLocalStoragePointer(NULL, i);
        TEST_ASSERT_EQUAL(*tlsp, (TLSP_SET_BASE << i)); //Check if TLSP points to the correct task storage element by checking unique value
    }

    vTaskDelete(NULL);      //Delete Task to Trigger TSLP deletion callback
}

TEST_CASE("Test FreeRTOS thread local storage pointers and del cb", "[freertos]")
{
    //Create Task
    for(int core = 0; core < portNUM_PROCESSORS; core++){
        xTaskCreatePinnedToCore(task_cb, "task", 1024, NULL, UNITY_FREERTOS_PRIORITY+1, NULL, core);
    }
    vTaskDelay(10);     //Delay long enough for tasks to run to completion

    for(int core = 0; core < portNUM_PROCESSORS; core++){
        for(int i = 0; i < NO_OF_TLSP; i++){
            if (i == skip_index) {
                continue;
            }
            TEST_ASSERT_EQUAL((TLSP_DEL_BASE << i), task_storage[core][i]);     //Check del_cb ran by checking task storage for unique value
        }
    }
}