freertos: Add critical sections to queue sets.
Queue sets are not SMP safe. This commit adds critical sections to queue sets. Unit tests for queue sets have also been added.
This commit is contained in:
Darian Leung
parent
8bc76b3684
commit
cabb97f9a9
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@ -2458,8 +2458,7 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue;
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{
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BaseType_t xReturn;
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//ToDo: figure out locking
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// taskENTER_CRITICAL(&pxQueue->mux);
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taskENTER_CRITICAL(&(((Queue_t * )xQueueOrSemaphore)->mux));
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{
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if( ( ( Queue_t * ) xQueueOrSemaphore )->pxQueueSetContainer != NULL )
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{
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@ -2478,7 +2477,7 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue;
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xReturn = pdPASS;
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}
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}
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// taskEXIT_CRITICAL(&pxQueue->mux);
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taskEXIT_CRITICAL(&(((Queue_t * )xQueueOrSemaphore)->mux));
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return xReturn;
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}
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@ -2507,12 +2506,12 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue;
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}
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else
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{
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// taskENTER_CRITICAL(&pxQueue->mux);
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taskENTER_CRITICAL(&(pxQueueOrSemaphore->mux));
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{
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/* The queue is no longer contained in the set. */
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pxQueueOrSemaphore->pxQueueSetContainer = NULL;
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}
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// taskEXIT_CRITICAL(&pxQueue->mux);
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taskEXIT_CRITICAL(&(pxQueueOrSemaphore->mux));
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xReturn = pdPASS;
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}
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@ -2555,9 +2554,15 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue;
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Queue_t *pxQueueSetContainer = pxQueue->pxQueueSetContainer;
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BaseType_t xReturn = pdFALSE;
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/* This function must be called form a critical section. */
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/*
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* This function is called with a Queue's / Semaphore's spinlock already
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* acquired. Acquiring the Queue set's spinlock is still necessary.
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*/
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configASSERT( pxQueueSetContainer );
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//Acquire the Queue set's spinlock
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portENTER_CRITICAL(&(pxQueueSetContainer->mux));
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configASSERT( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength );
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if( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength )
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@ -2588,6 +2593,9 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue;
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mtCOVERAGE_TEST_MARKER();
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}
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//Release the Queue set's spinlock
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portEXIT_CRITICAL(&(pxQueueSetContainer->mux));
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return xReturn;
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}
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137
components/freertos/test/test_queuesets.c
Normal file
137
components/freertos/test/test_queuesets.c
Normal file
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@ -0,0 +1,137 @@
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#include <stdio.h>
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#include <stdlib.h>
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/queue.h"
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#include "freertos/semphr.h"
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#include "unity.h"
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/*
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* Basic queue set tests. Multiple queues are added to a queue set then each
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* queue is filled in a sequential order. The members returned from the queue
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* set must adhered to the order in which the queues were filled.
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*/
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#define NO_OF_QUEUES 5
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#define QUEUE_LEN 4
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#define ITEM_SIZE sizeof(uint32_t)
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static QueueHandle_t handles[NO_OF_QUEUES];
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static QueueSetHandle_t set_handle;
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TEST_CASE("Test Queue sets", "[freertos]")
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{
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//Create queue set, queues, and add queues to queue set
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set_handle = xQueueCreateSet(NO_OF_QUEUES * QUEUE_LEN);
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for (int i = 0; i < NO_OF_QUEUES; i++) {
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handles[i] = xQueueCreate(QUEUE_LEN, ITEM_SIZE);
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TEST_ASSERT_MESSAGE(handles[i] != NULL, "Failed to create queue");
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TEST_ASSERT_MESSAGE(xQueueAddToSet(handles[i], set_handle) == pdPASS, "Failed to add to queue set");
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}
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//Fill queue set via filling each queue
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for (int i = 0; i < NO_OF_QUEUES; i++) {
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for (int j = 0; j < QUEUE_LEN; j++) {
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uint32_t item_num = (i * QUEUE_LEN) + j;
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TEST_ASSERT_MESSAGE(xQueueSendToBack(handles[i], &item_num, portMAX_DELAY) == pdTRUE, "Failed to send to queue");
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}
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}
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//Check queue set is notified in correct order
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for (int i = 0; i < NO_OF_QUEUES; i++) {
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for (int j = 0; j < QUEUE_LEN; j++) {
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QueueSetMemberHandle_t member = xQueueSelectFromSet(set_handle, portMAX_DELAY);
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TEST_ASSERT_EQUAL_MESSAGE(handles[i], member, "Incorrect queue set member returned");
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uint32_t item;
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xQueueReceive((QueueHandle_t)member, &item, 0);
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TEST_ASSERT_EQUAL_MESSAGE(((i * QUEUE_LEN) + j), item, "Incorrect item value");
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}
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}
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//Remove queues from queue set and delete queues
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for (int i = 0; i < NO_OF_QUEUES; i++) {
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TEST_ASSERT_MESSAGE(xQueueRemoveFromSet(handles[i], set_handle), "Failed to remove from queue set");
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vQueueDelete(handles[i]);
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}
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vQueueDelete(set_handle);
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}
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/*
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* Queue set thread safety test. Test the SMP thread safety by adding two queues
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* to a queue set and have a task on each core send to the queues simultaneously.
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* Check returned queue set members are valid.
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*/
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#ifndef CONFIG_FREERTOS_UNICORE
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static volatile bool sync_flags[portNUM_PROCESSORS];
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static SemaphoreHandle_t sync_sem;
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static void send_task(void *arg)
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{
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QueueHandle_t queue = (QueueHandle_t)arg;
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//Wait until task on the other core starts running
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xSemaphoreTake(sync_sem, portMAX_DELAY);
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sync_flags[xPortGetCoreID()] = true;
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while (!sync_flags[!xPortGetCoreID()]) {
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;
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}
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//Fill queue
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for (int i = 0; i < QUEUE_LEN; i++) {
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uint32_t item = i;
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xQueueSendToBack(queue, &item, portMAX_DELAY);
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}
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xSemaphoreGive(sync_sem);
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vTaskDelete(NULL);
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}
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TEST_CASE("Test Queue sets thread safety", "[freertos]")
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{
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//Create queue set, queues, and a send task on each core
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sync_sem = xSemaphoreCreateCounting(portNUM_PROCESSORS, 0);
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QueueHandle_t queue_handles[portNUM_PROCESSORS];
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QueueSetHandle_t queueset_handle = xQueueCreateSet(portNUM_PROCESSORS * QUEUE_LEN);
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for (int i = 0; i < portNUM_PROCESSORS; i++) {
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sync_flags[i] = false;
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queue_handles[i] = xQueueCreate(QUEUE_LEN, ITEM_SIZE);
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TEST_ASSERT_MESSAGE(xQueueAddToSet(queue_handles[i], queueset_handle) == pdPASS, "Failed to add to queue set");
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xTaskCreatePinnedToCore(send_task, "send", 2048, (void *)queue_handles[i], 10, NULL, i);
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}
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//Start both send tasks
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portDISABLE_INTERRUPTS();
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for (int i = 0; i < portNUM_PROCESSORS; i++) {
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xSemaphoreGive(sync_sem);
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}
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portENABLE_INTERRUPTS();
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vTaskDelay(2);
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//Check returned queue set members are valid
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uint32_t expect_0 = 0;
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uint32_t expect_1 = 0;
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for (int i = 0; i < (portNUM_PROCESSORS * QUEUE_LEN); i++) {
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QueueSetMemberHandle_t member = xQueueSelectFromSet(queueset_handle, portMAX_DELAY);
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uint32_t item;
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if (member == queue_handles[0]) {
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xQueueReceive((QueueHandle_t)member, &item, 0);
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TEST_ASSERT_EQUAL_MESSAGE(expect_0, item, "Incorrect item value");
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expect_0++;
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} else if (member == queue_handles[1]) {
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xQueueReceive((QueueHandle_t)member, &item, 0);
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TEST_ASSERT_EQUAL_MESSAGE(expect_1, item, "Incorrect item value");
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expect_1++;
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} else {
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TEST_ASSERT_MESSAGE(0, "Incorrect queue set member returned");
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}
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}
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for (int i = 0; i < portNUM_PROCESSORS; i++) {
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xSemaphoreTake(sync_sem, portMAX_DELAY);
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}
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for (int i = 0; i < portNUM_PROCESSORS; i++) {
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xQueueRemoveFromSet(queueset_handle, handles[i]);
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vQueueDelete(queue_handles[i]);
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}
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vQueueDelete(queueset_handle);
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}
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#endif
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