tests: test_runner, working simple single-ESP "solo" test cases

tests/cases/01_basic.c

@@ -1,8 +0,0 @@
-#include "testcase.h"
-
-DEFINE_SOLO_TESTCASE(01_basic)
-
-static bool a_01_basic()
-{
-    return false;
-}

tests/cases/01_scheduler.c

@@ -0,0 +1,71 @@
+#include "testcase.h"
+#include <FreeRTOS.h>
+#include <task.h>
+#include <esp/uart.h>
+
+/* Basic test cases to validate the FreeRTOS scheduler works */
+
+DEFINE_SOLO_TESTCASE(01_scheduler_basic)
+DEFINE_SOLO_TESTCASE(01_scheduler_priorities)
+
+void set_variable(void *pvParameters)
+{
+    bool *as_bool = (bool *)pvParameters;
+    *as_bool = true;
+    /* deliberately a busywait at the end, not vTaskSuspend, to test priorities */
+    while(1) { }
+}
+
+/* Really simple - do created tasks run? */
+static void a_01_scheduler_basic()
+{
+    volatile bool a = false, b = false, c = false;
+    printf("top of scheduler...\n");
+    uart_flush_txfifo(0);
+
+    xTaskCreate(set_variable, (signed char *)"set_a", 128, (void *)&a, tskIDLE_PRIORITY, NULL);
+    xTaskCreate(set_variable, (signed char *)"set_b", 128, (void *)&b, tskIDLE_PRIORITY, NULL);
+    xTaskCreate(set_variable, (signed char *)"set_c", 128, (void *)&c, tskIDLE_PRIORITY, NULL);
+
+    TEST_ASSERT_FALSE_MESSAGE(a, "task set_a shouldn't run yet");
+    TEST_ASSERT_FALSE_MESSAGE(b, "task set_b shouldn't run yet");
+    TEST_ASSERT_FALSE_MESSAGE(c, "task set_c shouldn't run yet");
+
+    vTaskDelay(5);
+
+    TEST_ASSERT_TRUE_MESSAGE(a, "task set_a should have run");
+    TEST_ASSERT_TRUE_MESSAGE(b, "task set_b should have run");
+    TEST_ASSERT_TRUE_MESSAGE(c, "task set_c should have run");
+    TEST_PASS;
+}
+
+/* Verify that a high-priority task will starve a lower priority task */
+static void a_01_scheduler_priorities()
+{
+    /* Increase priority of the init task to make sure it always takes priority */
+    vTaskPrioritySet(xTaskGetCurrentTaskHandle(), tskIDLE_PRIORITY+4);
+
+    bool lower = false, higher = false;
+    xTaskHandle task_lower, task_higher;
+
+    xTaskCreate(set_variable, (signed char *)"high_prio", 128, (void *)&higher, tskIDLE_PRIORITY+1, &task_higher);
+    xTaskCreate(set_variable, (signed char *)"low_prio", 128, (void *)&lower, tskIDLE_PRIORITY, &task_lower);
+
+    TEST_ASSERT_FALSE_MESSAGE(higher, "higher prio task should not have run yet");
+    TEST_ASSERT_FALSE_MESSAGE(lower, "lower prio task should not have run yet");
+
+    vTaskDelay(2);
+
+    TEST_ASSERT_TRUE_MESSAGE(higher, "higher prio task should have run");
+    TEST_ASSERT_FALSE_MESSAGE(lower, "lower prio task should not have run");
+
+    /* Bump lower priority task over higher priority task */
+    vTaskPrioritySet(task_lower, tskIDLE_PRIORITY+2);
+
+    TEST_ASSERT_FALSE_MESSAGE(lower, "lower prio task should still not have run yet");
+
+    vTaskDelay(1);
+
+    TEST_ASSERT_TRUE_MESSAGE(lower, "lower prio task should have run");
+    TEST_PASS;
+}

tests/cases/02_heap.c

@@ -0,0 +1,37 @@
+#include "testcase.h"
+#include <malloc.h>
+#include <string.h>
+#include <FreeRTOS.h>
+
+DEFINE_SOLO_TESTCASE(02_heap_simple)
+
+/* Simple heap accounting tests */
+static void a_02_heap_simple()
+{
+    struct mallinfo info = mallinfo();
+    printf("'arena' allocation size %d bytes\n", info.arena);
+    /* This is really a sanity check, if the "arena" size shrinks then
+       this is a good thing and we can update the test. If it grows
+       then we can also update the test, but we need a good reason. */
+    TEST_ASSERT_INT_WITHIN_MESSAGE(1000, 15000, info.arena, "Initial allocated heap should be approximately 15kB. SEE COMMENT.");
+
+    uint32_t freeheap = xPortGetFreeHeapSize();
+    printf("xPortGetFreeHeapSize = %d bytes\n", freeheap);
+    TEST_ASSERT_TRUE_MESSAGE(freeheap > 20000, "Should be at least 20kB free.");
+
+    uint8_t *buf = malloc(8192);
+    /* <-- have to do something with buf or gcc helpfully optimises it out! */
+    memset(buf, 0xEE, 8192);
+    uint32_t after = xPortGetFreeHeapSize();
+    struct mallinfo after_info = mallinfo();
+    printf("after arena size = %d bytes\n", after_info.arena);
+    printf("after xPortGetFreeHeapSize = %d bytes\n", after);
+    TEST_ASSERT_UINT32_WITHIN_MESSAGE(100, info.arena+8192, after_info.arena, "Allocated heap 'after' size should be 8kB more than before");
+    TEST_ASSERT_UINT32_WITHIN_MESSAGE(100, freeheap-8192, after, "Free heap size should be 8kB less than before");
+
+    free(buf);
+    after = xPortGetFreeHeapSize();
+    printf("after freeing xPortGetFreeHeapSize = %d bytes\n", after);
+    TEST_ASSERT_UINT32_WITHIN_MESSAGE(100, freeheap, after, "Free heap size after freeing buffer should be close to initial");
+    TEST_PASS;
+}