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Merge branch 'bugfix/idle_task_deletes_currently_running_task' into 'master'

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freertos: prvCheckTasksWaitingTermination bugfix

See merge request !1686
This commit is contained in:
Ivan Grokhotkov 2017-12-27 16:44:06 +08:00
parent 8051ac469a c41c02872f
commit cbfd162ea8
2 changed files with 26 additions and 4 deletions
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13
components/freertos/tasks.c
View file

@ -3643,10 +3643,15 @@ static void prvCheckTasksWaitingTermination( void )
/* We only want to kill tasks that ran on this core because e.g. _xt_coproc_release needs to
be called on the core the process is pinned on, if any */
ListItem_t *target = listGET_HEAD_ENTRY(&xTasksWaitingTermination);
for( ; target != listGET_END_MARKER(&xTasksWaitingTermination); target = listGET_NEXT(target) ){
int coreid = (( TCB_t * )listGET_LIST_ITEM_OWNER(target))->xCoreID;
if(coreid == core || coreid == tskNO_AFFINITY){ //Find first item not pinned to other core
pxTCB = ( TCB_t * )listGET_LIST_ITEM_OWNER(target);
for( ; target != listGET_END_MARKER(&xTasksWaitingTermination); target = listGET_NEXT(target) ){ //Walk the list
TCB_t *tgt_tcb = ( TCB_t * )listGET_LIST_ITEM_OWNER(target);
int affinity = tgt_tcb->xCoreID;
//Self deleting tasks are added to Termination List before they switch context. Ensure they aren't still currently running
if( pxCurrentTCB[core] == tgt_tcb || (portNUM_PROCESSORS > 1 && pxCurrentTCB[!core] == tgt_tcb) ){
continue; //Can't free memory of task that is still running
}
if(affinity == core || affinity == tskNO_AFFINITY){ //Find first item not pinned to other core
pxTCB = tgt_tcb;
break;
}
}

17
components/freertos/test/test_freertos_task_delete.c
View file

@ -17,6 +17,7 @@
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "esp_heap_caps.h"
#include "rom/ets_sys.h"
#include "unity.h"
@ -24,6 +25,8 @@
#define DELAY_TICKS 2
#define HEAP_CAPS (MALLOC_CAP_INTERNAL|MALLOC_CAP_DEFAULT)
#define DELAY_US_ITERATIONS 1000
static void tsk_self_del(void *param)
{
@ -35,6 +38,13 @@ static void tsk_extern_del(void *param)
vTaskDelay(portMAX_DELAY); //Await external deletion
}
static void tsk_self_del_us_delay(void *param)
{
uint32_t delay = (uint32_t)param;
ets_delay_us(delay);
vTaskDelete(NULL);
}
TEST_CASE("FreeRTOS Delete Tasks", "[freertos]")
{
/* -------------- Test vTaskDelete() on currently running tasks ----------------*/
@ -63,4 +73,11 @@ TEST_CASE("FreeRTOS Delete Tasks", "[freertos]")
}
TEST_ASSERT_EQUAL(before_heap, heap_caps_get_free_size(HEAP_CAPS));
/* Test self deleting no affinity task is not removed by idle task of other core before context switch */
for(int i = 0; i < DELAY_US_ITERATIONS; i+= 10){
vTaskDelay(1); //Sync to next tick interrupt
xTaskCreatePinnedToCore(tsk_self_del_us_delay, "delay", 1024, (void *)i, UNITY_FREERTOS_PRIORITY - 1, NULL, tskNO_AFFINITY);
ets_delay_us(10); //Busy wait to ensure no affinity task runs on opposite core
}
}