kopia lustrzana https://github.com/espressif/esp-idf
freertos: Update scheduler suspension unit tests
This commit updates unit tests for vTaskSuspendAll()/xTaskResumeAll().pull/9446/head
Darian Leung
rodzic
ac38f9aaf1
commit
38d974aca0
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@ -4,79 +4,53 @@
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* SPDX-License-Identifier: Apache-2.0
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*/
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/* Tests for FreeRTOS scheduler suspend & resume all tasks */
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#include "sdkconfig.h"
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#include <stdio.h>
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#include <stdbool.h>
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/semphr.h"
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#include "freertos/queue.h"
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#include "driver/gptimer.h"
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#include "esp_rom_sys.h"
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#include "unity.h"
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#include "test_utils.h"
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#include "esp_intr_alloc.h"
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#include "driver/gptimer.h"
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#include "esp_private/gptimer.h"
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#include "sdkconfig.h"
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#include "esp_rom_sys.h"
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/*
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Scheduler suspension behavior differs significantly in SMP FreeRTOS, thus none of these tests apply to SMP FreeRTOS
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*/
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#if !CONFIG_FREERTOS_SMP
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static SemaphoreHandle_t isr_semaphore;
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static volatile unsigned isr_count;
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/*
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GP timer is used to trigger an interrupt. Test cases will register an interrupt callback called from the timer's
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interrupt callback. The functions below simply the interrupt registration/trigger/deregistration process.
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*/
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static gptimer_handle_t gptimer = NULL;
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static bool (*registered_intr_callback)(void *) = NULL;
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/* Timer ISR increments an ISR counter, and signals a
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mutex semaphore to wake up another counter task */
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static bool on_timer_alarm_cb(gptimer_handle_t timer, const gptimer_alarm_event_data_t *edata, void *user_ctx)
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{
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portBASE_TYPE higher_awoken = pdFALSE;
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isr_count++;
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xSemaphoreGiveFromISR(isr_semaphore, &higher_awoken);
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return higher_awoken == pdTRUE;
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}
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typedef struct {
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SemaphoreHandle_t trigger_sem;
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volatile unsigned counter;
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} counter_config_t;
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static void counter_task_fn(void *vp_config)
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{
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counter_config_t *config = (counter_config_t *)vp_config;
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printf("counter_task running...\n");
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while (1) {
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xSemaphoreTake(config->trigger_sem, portMAX_DELAY);
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config->counter++;
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bool yield;
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if (registered_intr_callback) {
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yield = registered_intr_callback(user_ctx);
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} else {
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yield = false;
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}
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return yield;
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}
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/* This test verifies that an interrupt can wake up a task while the scheduler is disabled.
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In the FreeRTOS implementation, this exercises the xPendingReadyList for that core.
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*/
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TEST_CASE("Scheduler disabled can handle a pending context switch on resume", "[freertos]")
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static void register_intr_cb(bool (*callback)(void *), void *callback_arg)
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{
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isr_count = 0;
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TaskHandle_t counter_task;
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gptimer_handle_t gptimer = NULL;
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intr_handle_t intr_handle = NULL;
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isr_semaphore = xSemaphoreCreateBinary();
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TEST_ASSERT_NOT_NULL(isr_semaphore);
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counter_config_t count_config = {
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.trigger_sem = isr_semaphore,
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.counter = 0,
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};
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xTaskCreatePinnedToCore(counter_task_fn, "counter", 2048,
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&count_config, UNITY_FREERTOS_PRIORITY + 1,
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&counter_task, UNITY_FREERTOS_CPU);
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gptimer_handle_t gptimer_temp;
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// Initialize a GP timer used to trigger an interrupt
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gptimer_config_t timer_config = {
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.clk_src = GPTIMER_CLK_SRC_DEFAULT,
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.direction = GPTIMER_COUNT_UP,
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.resolution_hz = 1000000, // 1MHz, 1 tick=1us
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};
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TEST_ESP_OK(gptimer_new_timer(&timer_config, &gptimer));
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TEST_ESP_OK(gptimer_new_timer(&timer_config, &gptimer_temp));
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// Configure an alarm (of 1ms) and callback for the timer
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gptimer_alarm_config_t alarm_config = {
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.reload_count = 0,
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.alarm_count = 1000, // alarm period 1ms
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@ -85,204 +59,450 @@ TEST_CASE("Scheduler disabled can handle a pending context switch on resume", "[
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gptimer_event_callbacks_t cbs = {
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.on_alarm = on_timer_alarm_cb,
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};
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TEST_ESP_OK(gptimer_register_event_callbacks(gptimer, &cbs, NULL));
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TEST_ESP_OK(gptimer_enable(gptimer));
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TEST_ESP_OK(gptimer_set_alarm_action(gptimer, &alarm_config));
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TEST_ESP_OK(gptimer_register_event_callbacks(gptimer_temp, &cbs, callback_arg));
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TEST_ESP_OK(gptimer_enable(gptimer_temp));
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TEST_ESP_OK(gptimer_set_alarm_action(gptimer_temp, &alarm_config));
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gptimer = gptimer_temp;
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registered_intr_callback = callback;
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}
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static void trigger_intr_cb(void)
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{
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// Interrupt should be triggered in 1ms
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TEST_ESP_OK(gptimer_start(gptimer));
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TEST_ESP_OK(gptimer_get_intr_handle(gptimer, &intr_handle));
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vTaskDelay(pdMS_TO_TICKS(20));
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// Check some counts have been triggered via the ISR
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TEST_ASSERT(count_config.counter > 10);
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TEST_ASSERT(isr_count > 10);
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for (int i = 0; i < 20; i++) {
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#ifdef CONFIG_FREERTOS_SMP
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//Note: Scheduler suspension behavior changed in FreeRTOS SMP
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vTaskPreemptionDisable(NULL);
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#else
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vTaskSuspendAll();
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#endif // CONFIG_FREERTOS_SMP
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esp_intr_noniram_disable();
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unsigned no_sched_task = count_config.counter;
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// scheduler off on this CPU...
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esp_rom_delay_us(20 * 1000);
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TEST_ASSERT_EQUAL(count_config.counter, no_sched_task);
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// disable timer interrupts
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esp_intr_disable(intr_handle);
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// When we resume scheduler, we expect the counter task
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// will preempt and count at least one more item
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esp_intr_noniram_enable();
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esp_intr_enable(intr_handle);
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#ifdef CONFIG_FREERTOS_SMP
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//Note: Scheduler suspension behavior changed in FreeRTOS SMP
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vTaskPreemptionEnable(NULL);
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#else
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xTaskResumeAll();
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#endif // CONFIG_FREERTOS_SMP
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TEST_ASSERT_NOT_EQUAL(count_config.counter, no_sched_task);
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}
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TEST_ESP_OK(gptimer_stop(gptimer));
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TEST_ESP_OK(gptimer_disable(gptimer));
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TEST_ESP_OK(gptimer_del_timer(gptimer));
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vTaskDelete(counter_task);
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vSemaphoreDelete(isr_semaphore);
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}
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/* Multiple tasks on different cores can be added to the pending ready list
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while scheduler is suspended, and should be started once the scheduler
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resumes.
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*/
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TEST_CASE("Scheduler disabled can wake multiple tasks on resume", "[freertos]")
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static void deregister_intr_cb(void)
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{
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#define TASKS_PER_PROC 4
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TaskHandle_t tasks[portNUM_PROCESSORS][TASKS_PER_PROC] = { 0 };
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counter_config_t counters[portNUM_PROCESSORS][TASKS_PER_PROC] = { 0 };
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gptimer_handle_t gptimer_temp = gptimer;
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gptimer = NULL;
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registered_intr_callback = NULL;
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/* Start all the tasks, they will block on isr_semaphore */
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for (int p = 0; p < portNUM_PROCESSORS; p++) {
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for (int t = 0; t < TASKS_PER_PROC; t++) {
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counters[p][t].trigger_sem = xSemaphoreCreateMutex();
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TEST_ASSERT_NOT_NULL( counters[p][t].trigger_sem );
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TEST_ASSERT( xSemaphoreTake(counters[p][t].trigger_sem, 0) );
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xTaskCreatePinnedToCore(counter_task_fn, "counter", 2048,
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&counters[p][t], UNITY_FREERTOS_PRIORITY + 1,
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&tasks[p][t], p);
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TEST_ASSERT_NOT_NULL( tasks[p][t] );
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}
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}
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TEST_ESP_OK(gptimer_stop(gptimer_temp));
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TEST_ESP_OK(gptimer_disable(gptimer_temp));
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TEST_ESP_OK(gptimer_del_timer(gptimer_temp));
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}
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/* takes a while to initialize tasks on both cores, sometimes... */
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vTaskDelay(TASKS_PER_PROC * portNUM_PROCESSORS * 3);
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/* ---------------------------------------------------------------------------------------------------------------------
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Test vTaskSuspendAll() and xTaskResumeAll() basic
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/* Check nothing is counting, each counter should be blocked on its trigger_sem */
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for (int p = 0; p < portNUM_PROCESSORS; p++) {
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for (int t = 0; t < TASKS_PER_PROC; t++) {
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TEST_ASSERT_EQUAL(0, counters[p][t].counter);
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}
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}
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Purpose:
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- Test that vTaskSuspendAll() will suspends the scheduler for the calling core
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- Test that xTaskResumeAll() will resumes scheduling for the calling core
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/* Suspend scheduler on this CPU */
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#ifdef CONFIG_FREERTOS_SMP
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//Note: Scheduler suspension behavior changed in FreeRTOS SMP
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vTaskPreemptionDisable(NULL);
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#else
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Procedure:
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- Call vTaskSuspendAll() to suspend the scheduler
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- Call xTaskResumeAll() to resume the scheduler
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Expected:
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- xTaskGetSchedulerState() should return the correct state
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--------------------------------------------------------------------------------------------------------------------- */
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TEST_CASE("Test vTaskSuspendAll and xTaskResumeAll basic", "[freertos]")
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{
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// Check scheduler is running on the current core
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TEST_ASSERT_EQUAL(taskSCHEDULER_RUNNING, xTaskGetSchedulerState());
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vTaskSuspendAll();
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#endif // CONFIG_FREERTOS_SMP
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/* Give all the semaphores once. This will wake tasks immediately on the other
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CPU, but they are deferred here until the scheduler resumes.
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*/
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for (int p = 0; p < portNUM_PROCESSORS; p++) {
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for (int t = 0; t < TASKS_PER_PROC; t++) {
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xSemaphoreGive(counters[p][t].trigger_sem);
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}
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}
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esp_rom_delay_us(200); /* Let the other CPU do some things */
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for (int p = 0; p < portNUM_PROCESSORS; p++) {
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for (int t = 0; t < TASKS_PER_PROC; t++) {
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int expected = (p == UNITY_FREERTOS_CPU) ? 0 : 1; // Has run if it was on the other CPU
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esp_rom_printf("Checking CPU %d task %d (expected %d actual %d)\n", p, t, expected, counters[p][t].counter);
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TEST_ASSERT_EQUAL(expected, counters[p][t].counter);
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}
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}
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/* Resume scheduler */
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#ifdef CONFIG_FREERTOS_SMP
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//Note: Scheduler suspension behavior changed in FreeRTOS SMP
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vTaskPreemptionEnable(NULL);
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#else
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TEST_ASSERT_EQUAL(taskSCHEDULER_SUSPENDED, xTaskGetSchedulerState());
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xTaskResumeAll();
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#endif // CONFIG_FREERTOS_SMP
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/* Now the tasks on both CPUs should have been woken once and counted once. */
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for (int p = 0; p < portNUM_PROCESSORS; p++) {
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for (int t = 0; t < TASKS_PER_PROC; t++) {
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esp_rom_printf("Checking CPU %d task %d (expected 1 actual %d)\n", p, t, counters[p][t].counter);
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TEST_ASSERT_EQUAL(1, counters[p][t].counter);
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}
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}
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/* Clean up */
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for (int p = 0; p < portNUM_PROCESSORS; p++) {
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for (int t = 0; t < TASKS_PER_PROC; t++) {
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vTaskDelete(tasks[p][t]);
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vSemaphoreDelete(counters[p][t].trigger_sem);
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}
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}
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TEST_ASSERT_EQUAL(taskSCHEDULER_RUNNING, xTaskGetSchedulerState());
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}
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#ifndef CONFIG_FREERTOS_UNICORE
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static volatile bool sched_suspended;
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static void suspend_scheduler_5ms_task_fn(void *ignore)
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/* ---------------------------------------------------------------------------------------------------------------------
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Test vTaskSuspendAll() and xTaskResumeAll() multicore
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Only runs on !CONFIG_FREERTOS_UNICORE
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Purpose:
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- Test that vTaskSuspendAll() will only suspends scheduling only for the calling core
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- Test that xTaskResumeAll() will only resume scheduling for the calling core
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Procedure:
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Each core gets tested in the role of core A
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- Create a taskA pinned to one core (e.g., core A) that will disable the scheduler
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- Created a "taskB" to another core (e.g., core B) that will not disable the scheduler
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- taskA calls vTaskSuspendAll() to suspend the scheduler on core A
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- taskA calls xTaskResumeAll() to resume the scheduler on core A
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Expected:
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- vTaskSuspendAll() should only disable the scheduler for the suspended core A
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- xTaskResumeAll() should resume the scheduler for the suspended core A
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- Scheduler on core B should remain enabled
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--------------------------------------------------------------------------------------------------------------------- */
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#if !CONFIG_FREERTOS_UNICORE
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#define TEST_BASIC_BUSY_DELAY_US 10000
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static volatile int taskA_sync;
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static volatile int taskB_sync;
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static void test_multicore_taskA(void *arg)
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{
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#ifdef CONFIG_FREERTOS_SMP
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//Note: Scheduler suspension behavior changed in FreeRTOS SMP
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vTaskPreemptionDisable(NULL);
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#else
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// Wait to be started
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ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
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// Check scheduler on core A is enabled
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TEST_ASSERT_EQUAL(taskSCHEDULER_RUNNING, xTaskGetSchedulerState());
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taskA_sync++;
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while (taskB_sync != 1) {
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; // Wait for task B to complete its check
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}
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// Suspend the scheduler on core A
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vTaskSuspendAll();
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#endif // CONFIG_FREERTOS_SMP
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sched_suspended = true;
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for (int i = 0; i < 5; i++) {
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esp_rom_delay_us(1000);
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// Check scheduler is suspended on core A
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TEST_ASSERT_EQUAL(taskSCHEDULER_SUSPENDED, xTaskGetSchedulerState());
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taskA_sync++;
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while (taskB_sync != 2) {
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; // Wait for task B to complete its check
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}
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#ifdef CONFIG_FREERTOS_SMP
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//Note: Scheduler suspension behavior changed in FreeRTOS SMP
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vTaskPreemptionEnable(NULL);
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#else
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// Busy spin for a while to simulate work done while scheduler is suspended
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esp_rom_delay_us(TEST_BASIC_BUSY_DELAY_US);
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// Check scheduler is still suspended on core A
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TEST_ASSERT_EQUAL(taskSCHEDULER_SUSPENDED, xTaskGetSchedulerState());
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taskA_sync++;
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while (taskB_sync != 3) {
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; // Wait for task B to complete its check
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}
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// Resume the scheduler on core A
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xTaskResumeAll();
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#endif // CONFIG_FREERTOS_SMP
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sched_suspended = false;
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vTaskDelete(NULL);
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// Check that scheduler has resumed resumed on core A
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TEST_ASSERT_EQUAL(taskSCHEDULER_RUNNING, xTaskGetSchedulerState());
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taskA_sync++;
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while (taskB_sync != 4) {
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; // Wait for task B to complete its check
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}
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// Indicate done and wait to be deleted
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SemaphoreHandle_t done_sem = (SemaphoreHandle_t)arg;
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xSemaphoreGive(done_sem);
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vTaskSuspend(NULL);
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}
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/* If the scheduler is disabled on one CPU (A) with a task blocked on something, and a task
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on B (where scheduler is running) wakes it, then the task on A should be woken on resume.
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*/
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TEST_CASE("Scheduler disabled on CPU B, tasks on A can wake", "[freertos]")
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static void test_multicore_taskB(void *arg)
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{
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TaskHandle_t counter_task;
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SemaphoreHandle_t wake_sem = xSemaphoreCreateMutex();
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xSemaphoreTake(wake_sem, 0);
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counter_config_t count_config = {
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.trigger_sem = wake_sem,
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.counter = 0,
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};
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xTaskCreatePinnedToCore(counter_task_fn, "counter", 2048,
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&count_config, UNITY_FREERTOS_PRIORITY + 1,
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&counter_task, !UNITY_FREERTOS_CPU);
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// Wait to be started
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ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
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xTaskCreatePinnedToCore(suspend_scheduler_5ms_task_fn, "suspender", 2048,
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NULL, UNITY_FREERTOS_PRIORITY - 1,
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NULL, !UNITY_FREERTOS_CPU);
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for (int i = 1; i <= 4; i++) {
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// Wait for suspended trigger from task A
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while (taskA_sync != i) {
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;
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}
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// Check that scheduler is still running on core B
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TEST_ASSERT_EQUAL(taskSCHEDULER_RUNNING, xTaskGetSchedulerState());
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taskB_sync++;
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}
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/* counter task is now blocked on other CPU, waiting for wake_sem, and we expect
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that this CPU's scheduler will be suspended for 5ms shortly... */
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while (!sched_suspended) { }
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xSemaphoreGive(wake_sem);
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esp_rom_delay_us(1000);
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// Bit of a race here if the other CPU resumes its scheduler, but 5ms is a long time... */
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TEST_ASSERT(sched_suspended);
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TEST_ASSERT_EQUAL(0, count_config.counter); // the other task hasn't woken yet, because scheduler is off
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TEST_ASSERT(sched_suspended);
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/* wait for the rest of the 5ms... */
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while (sched_suspended) { }
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esp_rom_delay_us(100);
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TEST_ASSERT_EQUAL(1, count_config.counter); // when scheduler resumes, counter task should immediately count
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vTaskDelete(counter_task);
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// Indicate done and wait to be deleted
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SemaphoreHandle_t done_sem = (SemaphoreHandle_t)arg;
|
||||
xSemaphoreGive(done_sem);
|
||||
vTaskSuspend(NULL);
|
||||
}
|
||||
#endif
|
||||
|
||||
TEST_CASE("Test vTaskSuspendAll() and xTaskResumeAll() multicore", "[freertos]")
|
||||
{
|
||||
SemaphoreHandle_t done_sem = xSemaphoreCreateCounting(portNUM_PROCESSORS, 0);
|
||||
TEST_ASSERT_NOT_EQUAL(NULL, done_sem);
|
||||
|
||||
for (int i = 0; i < portNUM_PROCESSORS; i++) {
|
||||
// Create tasks on core A and core B
|
||||
TaskHandle_t taskA_hdl;
|
||||
TaskHandle_t taskB_hdl;
|
||||
TEST_ASSERT_EQUAL(pdTRUE, xTaskCreatePinnedToCore(test_multicore_taskA, "taskA", 2048, (void *)done_sem, UNITY_FREERTOS_PRIORITY - 1, &taskA_hdl, i));
|
||||
TEST_ASSERT_EQUAL(pdTRUE, xTaskCreatePinnedToCore(test_multicore_taskB, "taskB", 2048, (void *)done_sem, UNITY_FREERTOS_PRIORITY - 1, &taskB_hdl, !i));
|
||||
// Start the tasks and wait for their completion
|
||||
taskA_sync = 0;
|
||||
taskB_sync = 0;
|
||||
xTaskNotifyGive(taskA_hdl);
|
||||
xTaskNotifyGive(taskB_hdl);
|
||||
for (int j = 0; j < 2; j++) {
|
||||
xSemaphoreTake(done_sem, portMAX_DELAY);
|
||||
}
|
||||
// Cleanup the tasks
|
||||
vTaskDelete(taskA_hdl);
|
||||
vTaskDelete(taskB_hdl);
|
||||
}
|
||||
|
||||
vSemaphoreDelete(done_sem);
|
||||
}
|
||||
#endif // !CONFIG_FREERTOS_UNICORE
|
||||
|
||||
/* ---------------------------------------------------------------------------------------------------------------------
|
||||
Test vTaskSuspendAll allows scheduling on other cores
|
||||
|
||||
Only runs on !CONFIG_FREERTOS_UNICORE
|
||||
|
||||
Purpose:
|
||||
- Test that disabling a scheduler on one core (e.g., core B) does not disable scheduling on the other core (e.g., core A)
|
||||
- While the scheduler on core B is disabled, test that...
|
||||
- A task on Core A can be unblocked by another task also on core A
|
||||
- A task on Core A can be unblocked by an interrupt on core A
|
||||
|
||||
Procedure:
|
||||
Each core gets tested in the role of core A
|
||||
- Create task B1 pinned to core B that will suspend scheduling on core B
|
||||
- Create task A2 pinned to core A that will test unblocking on core A
|
||||
- Create task A1 pinned to core A that will unblock task A2
|
||||
- Register an interrupt on core A that will unblock task A2
|
||||
- Have A2 block
|
||||
- Have B1 disable scheduling on core B. A1 checks that scheduling is still enabled on core A
|
||||
- Have A1 unblock A2
|
||||
- Have the core A ISR unblock A2
|
||||
- Cleanup the tasks
|
||||
|
||||
Expected:
|
||||
When B1 disables scheduling on core B...
|
||||
- Scheduling on core A should still be enabled
|
||||
- A2 should be unblocked by A1 and run without issue
|
||||
- A2 should be unblocked by core A ISR and run without issue
|
||||
--------------------------------------------------------------------------------------------------------------------- */
|
||||
|
||||
#if !CONFIG_FREERTOS_UNICORE
|
||||
static volatile int test_unblk_sync;
|
||||
static SemaphoreHandle_t test_unblk_done_sem;
|
||||
|
||||
static bool test_unblk_coreA_isr(void *arg)
|
||||
{
|
||||
TaskHandle_t a2_task_hdl = (TaskHandle_t)arg;
|
||||
BaseType_t task_woken = pdFALSE;
|
||||
// Unblock task b2
|
||||
vTaskNotifyGiveFromISR(a2_task_hdl, &task_woken);
|
||||
return (task_woken == pdTRUE);
|
||||
}
|
||||
|
||||
static void test_unblk_a2_task(void *arg)
|
||||
{
|
||||
volatile int *a2_task_run_count = (volatile int *)arg;
|
||||
// Wait to be unblocked by A1
|
||||
ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
|
||||
(*a2_task_run_count)++;
|
||||
// Wait to be unblocked by Core A ISR
|
||||
ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
|
||||
(*a2_task_run_count)++;
|
||||
// Wait to be deleted
|
||||
vTaskSuspend(NULL);
|
||||
}
|
||||
|
||||
static void test_unblk_a1_task(void *arg)
|
||||
{
|
||||
volatile int a2_task_run_count = 0;
|
||||
|
||||
// Create task A2 to block on this core (i.e., core A)
|
||||
TaskHandle_t a2_task_hdl;
|
||||
TEST_ASSERT_EQUAL(pdTRUE, xTaskCreatePinnedToCore(test_unblk_a2_task, "A2", 8192, (void *)&a2_task_run_count, UNITY_FREERTOS_PRIORITY + 2, &a2_task_hdl, xPortGetCoreID()));
|
||||
// Install an interrupt on core A
|
||||
register_intr_cb(test_unblk_coreA_isr, (void *)a2_task_hdl);
|
||||
|
||||
// Wait to be started by the main task
|
||||
ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
|
||||
|
||||
// Start B1
|
||||
xTaskNotifyGive((TaskHandle_t)arg);
|
||||
while (test_unblk_sync != 1) {
|
||||
; // Wait for confirmation from B1 that scheduler has been suspended on Core B
|
||||
}
|
||||
// Verify that the scheduler is still enabled on core A
|
||||
TEST_ASSERT_EQUAL(taskSCHEDULER_RUNNING, xTaskGetSchedulerState());
|
||||
|
||||
// Unblock A2, it should preempt immediately due to its higher priority
|
||||
xTaskNotifyGive(a2_task_hdl);
|
||||
// Verify that task A2 has run
|
||||
TEST_ASSERT_EQUAL(1, a2_task_run_count);
|
||||
|
||||
// Trigger an ISR on this core A to unblock task A2. A2 should preempt immediately due to its higher priority
|
||||
trigger_intr_cb();
|
||||
esp_rom_delay_us(2000); // Short busy delay to ensure interrupt has triggered
|
||||
// Verify that task A2 has run
|
||||
TEST_ASSERT_EQUAL(2, a2_task_run_count);
|
||||
|
||||
// Trigger B1 to resume scheduling on core B
|
||||
test_unblk_sync = 2;
|
||||
while (test_unblk_sync != 3) {
|
||||
; // Wait for confirmation from B1 that scheduler has been resumed
|
||||
}
|
||||
// Verify that the scheduler is still enabled on core A
|
||||
TEST_ASSERT_EQUAL(taskSCHEDULER_RUNNING, xTaskGetSchedulerState());
|
||||
|
||||
// Cleanup A2 and interrupt
|
||||
deregister_intr_cb();
|
||||
vTaskDelete(a2_task_hdl);
|
||||
|
||||
// Indicate done and wait to be deleted
|
||||
xSemaphoreGive(test_unblk_done_sem);
|
||||
vTaskSuspend(NULL);
|
||||
}
|
||||
|
||||
static void test_unblk_b1_task(void *arg)
|
||||
{
|
||||
// Wait to be started by A1
|
||||
ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
|
||||
|
||||
// Check scheduler is running on core B
|
||||
TEST_ASSERT_EQUAL(taskSCHEDULER_RUNNING, xTaskGetSchedulerState());
|
||||
// Suspend the scheduler on core B
|
||||
vTaskSuspendAll();
|
||||
TEST_ASSERT_EQUAL(taskSCHEDULER_SUSPENDED, xTaskGetSchedulerState());
|
||||
// Indicate to A1 that core B scheduler has been suspended
|
||||
test_unblk_sync = 1;
|
||||
|
||||
while (test_unblk_sync != 2) {
|
||||
; // Wait for trigger from A1
|
||||
}
|
||||
// Resume the scheduler on core B
|
||||
xTaskResumeAll();
|
||||
TEST_ASSERT_EQUAL(taskSCHEDULER_RUNNING, xTaskGetSchedulerState());
|
||||
// Indicate to A1 that core B scheduler has been resumed
|
||||
test_unblk_sync = 3;
|
||||
|
||||
// Indicate done and wait to be deleted
|
||||
xSemaphoreGive(test_unblk_done_sem);
|
||||
vTaskSuspend(NULL);
|
||||
}
|
||||
|
||||
TEST_CASE("Test vTaskSuspendAll allows scheduling on other cores", "[freertos]")
|
||||
{
|
||||
test_unblk_done_sem = xSemaphoreCreateCounting(portNUM_PROCESSORS, 0);
|
||||
TEST_ASSERT_NOT_EQUAL(NULL, test_unblk_done_sem);
|
||||
|
||||
for (int i = 0; i < portNUM_PROCESSORS; i++) {
|
||||
test_unblk_sync = 0;
|
||||
// Create a tasks
|
||||
TaskHandle_t a1_task_hdl;
|
||||
TaskHandle_t b1_task_hdl;
|
||||
TEST_ASSERT_EQUAL(pdTRUE, xTaskCreatePinnedToCore(test_unblk_b1_task, "B1", 8192, NULL, UNITY_FREERTOS_PRIORITY + 1, &b1_task_hdl, !i));
|
||||
TEST_ASSERT_EQUAL(pdTRUE, xTaskCreatePinnedToCore(test_unblk_a1_task, "A1", 8192, (void *)b1_task_hdl, UNITY_FREERTOS_PRIORITY + 1, &a1_task_hdl, i));
|
||||
// Start A1 to and wait for both tasks to complete
|
||||
xTaskNotifyGive(a1_task_hdl);
|
||||
for (int j = 0; j < 2; j++) {
|
||||
xSemaphoreTake(test_unblk_done_sem, portMAX_DELAY);
|
||||
}
|
||||
// Cleanup tasks
|
||||
vTaskDelete(a1_task_hdl);
|
||||
vTaskDelete(b1_task_hdl);
|
||||
}
|
||||
|
||||
vSemaphoreDelete(test_unblk_done_sem);
|
||||
}
|
||||
#endif // !CONFIG_FREERTOS_UNICORE
|
||||
|
||||
/* ---------------------------------------------------------------------------------------------------------------------
|
||||
Test xTaskResumeAll() resumes pended tasks on the current core
|
||||
|
||||
Purpose:
|
||||
- When the scheduler is suspended on a particular core, test that tasks unblocked by an ISR on that core will place
|
||||
those tasks on the core's pending ready list (regardless of the task's affinity).
|
||||
- When the scheduler is resumed on a particular core, test that the tasks on core's pending ready list will be
|
||||
scheduled.
|
||||
|
||||
Procedure:
|
||||
Test for each core
|
||||
- Create some blocking tasks on the same core
|
||||
- Register an interrupt on the same core to unblock those tasks
|
||||
- Suspend the scheduler on the core
|
||||
- Trigger the interrupt to unblock those tasks
|
||||
- Resume the scheduler
|
||||
- Cleanup
|
||||
|
||||
Expected:
|
||||
- When the ISR unblocks the blocked tasks, the task's state should be ready
|
||||
- When the scheduler is resumed, the tasks should be scheduled and run without issue.
|
||||
--------------------------------------------------------------------------------------------------------------------- */
|
||||
|
||||
#define TEST_PENDED_NUM_BLOCKED_TASKS 4
|
||||
|
||||
static bool test_pended_isr(void *arg)
|
||||
{
|
||||
TaskHandle_t *blkd_tsks = (TaskHandle_t *)arg;
|
||||
BaseType_t task_woken = pdFALSE;
|
||||
// Unblock the blocked tasks
|
||||
for (int i = 0; i < TEST_PENDED_NUM_BLOCKED_TASKS; i++) {
|
||||
vTaskNotifyGiveFromISR(blkd_tsks[i], &task_woken);
|
||||
}
|
||||
|
||||
return (task_woken == pdTRUE);
|
||||
}
|
||||
|
||||
static void test_pended_blkd_task(void *arg)
|
||||
{
|
||||
volatile bool *has_run = (bool *)arg;
|
||||
// Wait to be unblocked
|
||||
ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
|
||||
// Indicate the task been unblocked and has run
|
||||
*has_run = true;
|
||||
// Wait to be deleted
|
||||
vTaskSuspend(NULL);
|
||||
}
|
||||
|
||||
static void test_pended_running_task(void *arg)
|
||||
{
|
||||
TaskHandle_t main_task_hdl = (TaskHandle_t)arg;
|
||||
TaskHandle_t blkd_tsks[TEST_PENDED_NUM_BLOCKED_TASKS];
|
||||
volatile bool has_run[TEST_PENDED_NUM_BLOCKED_TASKS];
|
||||
|
||||
// Created blocked tasks pinned to each core
|
||||
for (int i = 0; i < TEST_PENDED_NUM_BLOCKED_TASKS; i++) {
|
||||
has_run[i] = false;
|
||||
TEST_ASSERT_EQUAL(pdTRUE, xTaskCreatePinnedToCore(test_pended_blkd_task, "blkd", 4096, (void *)&has_run[i], UNITY_FREERTOS_PRIORITY + 2, &blkd_tsks[i], i % portNUM_PROCESSORS));
|
||||
}
|
||||
vTaskDelay(10);
|
||||
|
||||
// Install an interrupt on the current core core
|
||||
register_intr_cb(test_pended_isr, (void *)blkd_tsks);
|
||||
|
||||
// Checked that all tasks are blocked and have no run yet
|
||||
for (int i = 0; i < TEST_PENDED_NUM_BLOCKED_TASKS; i++) {
|
||||
TEST_ASSERT_EQUAL(eBlocked, eTaskGetState(blkd_tsks[i])); // Should be eSuspended due to portMAX_DELAY
|
||||
TEST_ASSERT_EQUAL(false, has_run[i]);
|
||||
}
|
||||
|
||||
// Suspend the scheduler on the current core
|
||||
vTaskSuspendAll();
|
||||
|
||||
// Trigger the interrupt to unblocked the blocked tasks
|
||||
trigger_intr_cb();
|
||||
esp_rom_delay_us(2000); // Short busy delay to ensure interrupt has triggered
|
||||
|
||||
// Check that all tasks are unblocked (but should not have run since the scheduler is suspend)
|
||||
for (int i = 0; i < TEST_PENDED_NUM_BLOCKED_TASKS; i++) {
|
||||
// Note: We use eBlocked instead of eReady due to a bug in eTaskGetState(). See (IDF-5543)
|
||||
TEST_ASSERT_EQUAL(eBlocked, eTaskGetState(blkd_tsks[i]));
|
||||
TEST_ASSERT_EQUAL(false, has_run[i]);
|
||||
}
|
||||
|
||||
// Resume the scheduler on the current core to schedule the unblocked tasks
|
||||
xTaskResumeAll();
|
||||
esp_rom_delay_us(10000); // Busy delay to ensure each task has enough time to run
|
||||
|
||||
// Check that all tasks have run
|
||||
for (int i = 0; i < TEST_PENDED_NUM_BLOCKED_TASKS; i++) {
|
||||
TEST_ASSERT_EQUAL(true, has_run[i]);
|
||||
}
|
||||
|
||||
// Clean up the interrupt and tasks
|
||||
deregister_intr_cb();
|
||||
for (int i = 0; i < TEST_PENDED_NUM_BLOCKED_TASKS; i++) {
|
||||
vTaskDelete(blkd_tsks[i]);
|
||||
}
|
||||
|
||||
// Notify completion and wait for deletion
|
||||
xTaskNotifyGive(main_task_hdl);
|
||||
vTaskSuspend(NULL);
|
||||
}
|
||||
|
||||
TEST_CASE("Test xTaskResumeAll resumes pended tasks", "[freertos]")
|
||||
{
|
||||
// Run the test on each core
|
||||
for (int i = 0; i < portNUM_PROCESSORS; i++) {
|
||||
TaskHandle_t susp_tsk_hdl;
|
||||
TEST_ASSERT_EQUAL(pdTRUE, xTaskCreatePinnedToCore(test_pended_running_task, "susp", 2048, (void *)xTaskGetCurrentTaskHandle(), UNITY_FREERTOS_PRIORITY + 1, &susp_tsk_hdl, i));
|
||||
// Wait for to be notified to test completion
|
||||
ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
|
||||
vTaskDelete(susp_tsk_hdl);
|
||||
}
|
||||
}
|
||||
#endif // !CONFIG_FREERTOS_SMP
|
||||
|
|
|
|||
Ładowanie…
Reference in New Issue