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