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freertos: Add critical sections to queue sets.

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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 2018-07-11 20:50:43 +08:00
parent 8bc76b3684
commit cabb97f9a9
2 changed files with 151 additions and 6 deletions
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20
components/freertos/queue.c
View file

@ -2458,8 +2458,7 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue;
{
BaseType_t xReturn;
//ToDo: figure out locking
// taskENTER_CRITICAL(&pxQueue->mux);
taskENTER_CRITICAL(&(((Queue_t * )xQueueOrSemaphore)->mux));
{
if( ( ( Queue_t * ) xQueueOrSemaphore )->pxQueueSetContainer != NULL )
{
@ -2478,7 +2477,7 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue;
xReturn = pdPASS;
}
}
// taskEXIT_CRITICAL(&pxQueue->mux);
taskEXIT_CRITICAL(&(((Queue_t * )xQueueOrSemaphore)->mux));
return xReturn;
}
@ -2507,12 +2506,12 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue;
}
else
{
// taskENTER_CRITICAL(&pxQueue->mux);
taskENTER_CRITICAL(&(pxQueueOrSemaphore->mux));
{
/* The queue is no longer contained in the set. */
pxQueueOrSemaphore->pxQueueSetContainer = NULL;
}
// taskEXIT_CRITICAL(&pxQueue->mux);
taskEXIT_CRITICAL(&(pxQueueOrSemaphore->mux));
xReturn = pdPASS;
}
@ -2555,9 +2554,15 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue;
Queue_t *pxQueueSetContainer = pxQueue->pxQueueSetContainer;
BaseType_t xReturn = pdFALSE;
/* This function must be called form a critical section. */
/*
* This function is called with a Queue's / Semaphore's spinlock already
* acquired. Acquiring the Queue set's spinlock is still necessary.
*/
configASSERT( pxQueueSetContainer );
//Acquire the Queue set's spinlock
portENTER_CRITICAL(&(pxQueueSetContainer->mux));
configASSERT( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength );
if( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength )
@ -2588,6 +2593,9 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue;
mtCOVERAGE_TEST_MARKER();
}
//Release the Queue set's spinlock
portEXIT_CRITICAL(&(pxQueueSetContainer->mux));
return xReturn;
}

137
components/freertos/test/test_queuesets.c Normal file
View file

@ -0,0 +1,137 @@
#include <stdio.h>
#include <stdlib.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/queue.h"
#include "freertos/semphr.h"
#include "unity.h"
/*
* Basic queue set tests. Multiple queues are added to a queue set then each
* queue is filled in a sequential order. The members returned from the queue
* set must adhered to the order in which the queues were filled.
*/
#define NO_OF_QUEUES 5
#define QUEUE_LEN 4
#define ITEM_SIZE sizeof(uint32_t)
static QueueHandle_t handles[NO_OF_QUEUES];
static QueueSetHandle_t set_handle;
TEST_CASE("Test Queue sets", "[freertos]")
{
//Create queue set, queues, and add queues to queue set
set_handle = xQueueCreateSet(NO_OF_QUEUES * QUEUE_LEN);
for (int i = 0; i < NO_OF_QUEUES; i++) {
handles[i] = xQueueCreate(QUEUE_LEN, ITEM_SIZE);
TEST_ASSERT_MESSAGE(handles[i] != NULL, "Failed to create queue");
TEST_ASSERT_MESSAGE(xQueueAddToSet(handles[i], set_handle) == pdPASS, "Failed to add to queue set");
}
//Fill queue set via filling each queue
for (int i = 0; i < NO_OF_QUEUES; i++) {
for (int j = 0; j < QUEUE_LEN; j++) {
uint32_t item_num = (i * QUEUE_LEN) + j;
TEST_ASSERT_MESSAGE(xQueueSendToBack(handles[i], &item_num, portMAX_DELAY) == pdTRUE, "Failed to send to queue");
}
}
//Check queue set is notified in correct order
for (int i = 0; i < NO_OF_QUEUES; i++) {
for (int j = 0; j < QUEUE_LEN; j++) {
QueueSetMemberHandle_t member = xQueueSelectFromSet(set_handle, portMAX_DELAY);
TEST_ASSERT_EQUAL_MESSAGE(handles[i], member, "Incorrect queue set member returned");
uint32_t item;
xQueueReceive((QueueHandle_t)member, &item, 0);
TEST_ASSERT_EQUAL_MESSAGE(((i * QUEUE_LEN) + j), item, "Incorrect item value");
}
}
//Remove queues from queue set and delete queues
for (int i = 0; i < NO_OF_QUEUES; i++) {
TEST_ASSERT_MESSAGE(xQueueRemoveFromSet(handles[i], set_handle), "Failed to remove from queue set");
vQueueDelete(handles[i]);
}
vQueueDelete(set_handle);
}
/*
* Queue set thread safety test. Test the SMP thread safety by adding two queues
* to a queue set and have a task on each core send to the queues simultaneously.
* Check returned queue set members are valid.
*/
#ifndef CONFIG_FREERTOS_UNICORE
static volatile bool sync_flags[portNUM_PROCESSORS];
static SemaphoreHandle_t sync_sem;
static void send_task(void *arg)
{
QueueHandle_t queue = (QueueHandle_t)arg;
//Wait until task on the other core starts running
xSemaphoreTake(sync_sem, portMAX_DELAY);
sync_flags[xPortGetCoreID()] = true;
while (!sync_flags[!xPortGetCoreID()]) {
;
}
//Fill queue
for (int i = 0; i < QUEUE_LEN; i++) {
uint32_t item = i;
xQueueSendToBack(queue, &item, portMAX_DELAY);
}
xSemaphoreGive(sync_sem);
vTaskDelete(NULL);
}
TEST_CASE("Test Queue sets thread safety", "[freertos]")
{
//Create queue set, queues, and a send task on each core
sync_sem = xSemaphoreCreateCounting(portNUM_PROCESSORS, 0);
QueueHandle_t queue_handles[portNUM_PROCESSORS];
QueueSetHandle_t queueset_handle = xQueueCreateSet(portNUM_PROCESSORS * QUEUE_LEN);
for (int i = 0; i < portNUM_PROCESSORS; i++) {
sync_flags[i] = false;
queue_handles[i] = xQueueCreate(QUEUE_LEN, ITEM_SIZE);
TEST_ASSERT_MESSAGE(xQueueAddToSet(queue_handles[i], queueset_handle) == pdPASS, "Failed to add to queue set");
xTaskCreatePinnedToCore(send_task, "send", 2048, (void *)queue_handles[i], 10, NULL, i);
}
//Start both send tasks
portDISABLE_INTERRUPTS();
for (int i = 0; i < portNUM_PROCESSORS; i++) {
xSemaphoreGive(sync_sem);
}
portENABLE_INTERRUPTS();
vTaskDelay(2);
//Check returned queue set members are valid
uint32_t expect_0 = 0;
uint32_t expect_1 = 0;
for (int i = 0; i < (portNUM_PROCESSORS * QUEUE_LEN); i++) {
QueueSetMemberHandle_t member = xQueueSelectFromSet(queueset_handle, portMAX_DELAY);
uint32_t item;
if (member == queue_handles[0]) {
xQueueReceive((QueueHandle_t)member, &item, 0);
TEST_ASSERT_EQUAL_MESSAGE(expect_0, item, "Incorrect item value");
expect_0++;
} else if (member == queue_handles[1]) {
xQueueReceive((QueueHandle_t)member, &item, 0);
TEST_ASSERT_EQUAL_MESSAGE(expect_1, item, "Incorrect item value");
expect_1++;
} else {
TEST_ASSERT_MESSAGE(0, "Incorrect queue set member returned");
}
}
for (int i = 0; i < portNUM_PROCESSORS; i++) {
xSemaphoreTake(sync_sem, portMAX_DELAY);
}
for (int i = 0; i < portNUM_PROCESSORS; i++) {
xQueueRemoveFromSet(queueset_handle, handles[i]);
vQueueDelete(queue_handles[i]);
}
vQueueDelete(queueset_handle);
}
#endif