BugFix: uxTaskGetSystemState test case update

Updated test case to include configASSERT cases (+1 squashed commits)

Squashed commits:

[871ec26f] Freertos:Bugfix uxTaskGetSystemState

Bug (github #12142) with uxTaskGetSystemState where
if called immediately after creating a bunch of tasks,
those tasks would be added twice into the TaskStatusArray.
Bug caused due to use old implementation using vTaskSuspendAll
which did not stop newly created task on other core from accessing the
read/waiting task lists whilst the list were being read by
uxTaskGetSystemState. Fixed bug by replacing vTaskSuspendAll
with taskENTER_CRITICAL and added test case for the bugfix

components/freertos/tasks.c

@@ -2280,7 +2280,7 @@ UBaseType_t uxTaskGetNumberOfTasks( void )
 	UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
 
 		UNTESTED_FUNCTION();
-		vTaskSuspendAll(); //WARNING: This only suspends one CPU. ToDo: suspend others as well. Mux using taskQueueMutex maybe?
+		taskENTER_CRITICAL(&xTaskQueueMutex);
 		{
 			/* Is there a space in the array for each task in the system? */
 			if( uxArraySize >= uxCurrentNumberOfTasks )
@@ -2340,8 +2340,7 @@ UBaseType_t uxTaskGetNumberOfTasks( void )
 				mtCOVERAGE_TEST_MARKER();
 			}
 		}
-		( void ) xTaskResumeAll();
-
+		taskEXIT_CRITICAL(&xTaskQueueMutex);
 		return uxTask;
 	}
 

components/freertos/test/test_uxGetSystemState_Bugfix.c

@@ -0,0 +1,67 @@
+/*
+ Test Bugfix for uxTaskGetSystemState where getting system state immediately after creating 
+ new tasks would lead them being include twice in the TaskStatusArray. Changed suspendScheduler
+ in function to taskENTER_CRITICAL
+*/
+
+
+#include <stdio.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "unity.h"
+
+#define CreatedTaskDelayTicks 1
+#define NumberOfTasksToCreate 4
+#define CreatedTaskPriority 10
+#define CoreToUse	1
+
+#if (configUSE_TRACE_FACILITY)
+
+void TaskCallback (void* pxParam){
+	int counter = 0;
+	while(1){
+		counter++;
+		vTaskDelay(CreatedTaskDelayTicks);
+	}
+}
+
+TEST_CASE("uxTaskGetSystemState Bugfix Test", "[freertos]")
+{
+	TaskStatus_t *TaskStatusArray;
+	TaskHandle_t *TaskHandles;
+	UBaseType_t NumberOfTasks = 0;
+	UBaseType_t StartingNumberOfTasks = 0;
+	
+	//Give Time for OS to remove dport tasks
+	vTaskDelay(1000);
+	
+	//Allocate TaskStatusArray
+	StartingNumberOfTasks = uxTaskGetNumberOfTasks();
+	
+	
+	TaskStatusArray = pvPortMalloc((StartingNumberOfTasks+NumberOfTasksToCreate) * sizeof(TaskStatus_t));
+	TaskHandles = pvPortMalloc((StartingNumberOfTasks+NumberOfTasksToCreate) * sizeof(TaskHandle_t));
+
+	
+	
+	//Create Tasks
+	for(int i = 0; i < NumberOfTasksToCreate; i++){
+		xTaskCreatePinnedToCore(&TaskCallback, "Task" , 2048, NULL, CreatedTaskPriority, (TaskHandle_t*) &TaskHandles[i], CoreToUse);
+	}
+	NumberOfTasks = uxTaskGetSystemState(TaskStatusArray, (StartingNumberOfTasks+NumberOfTasksToCreate), NULL);
+	
+	//Check if any taska have been repeated in TaskStatusArray
+	if(NumberOfTasks != 0){
+		printf("Tasks Created, Checking for Repeated Additions \n");
+		for(int i = 0; i <NumberOfTasks; i++){
+			for(int j = i + 1;  j< NumberOfTasks; j++){
+				//Give error task handle matches another
+				configASSERT(!(TaskStatusArray[i].xHandle == TaskStatusArray[j].xHandle));
+			}
+				
+		}
+	}
+	
+	
+}
+#endif