102 lines
3.7 KiB
C
102 lines
3.7 KiB
C
/*
|
|
* Test FreeRTOS debug functions and utilities.
|
|
* - Queue registry functions vQueueAddToRegistry(), vQueueUnregisterQueue(),
|
|
* and pcQueueGetName(backported)
|
|
*
|
|
*
|
|
*/
|
|
|
|
#include <stdio.h>
|
|
#include "freertos/FreeRTOS.h"
|
|
#include "freertos/task.h"
|
|
#include "freertos/semphr.h"
|
|
#include "freertos/queue.h"
|
|
#include "unity.h"
|
|
|
|
#if (CONFIG_FREERTOS_QUEUE_REGISTRY_SIZE > 0)
|
|
#define NO_OF_QUEUES_PER_CORE ((int)((CONFIG_FREERTOS_QUEUE_REGISTRY_SIZE - 3)/portNUM_PROCESSORS)) //Save space for some preallocated tasks
|
|
#define NO_OF_QUEUES_TOTAL (NO_OF_QUEUES_PER_CORE * portNUM_PROCESSORS)
|
|
#define QUEUE_NAME_MAX_LENGTH 30
|
|
|
|
static SemaphoreHandle_t start_sem[portNUM_PROCESSORS];
|
|
static SemaphoreHandle_t done_sem = NULL;
|
|
static char *names[NO_OF_QUEUES_TOTAL];
|
|
static QueueHandle_t handles[NO_OF_QUEUES_TOTAL];
|
|
|
|
void test_queue_registry_task(void *arg)
|
|
{
|
|
int core = xPortGetCoreID();
|
|
int offset = core * NO_OF_QUEUES_PER_CORE;
|
|
//Create queues and accompanying queue names
|
|
for(int i = 0; i < NO_OF_QUEUES_PER_CORE; i++){
|
|
handles[i + offset] = xQueueCreate(1,1); //Create queues
|
|
names[i + offset] = calloc(QUEUE_NAME_MAX_LENGTH, sizeof(char));
|
|
sprintf(names[i + offset], "Queue%d%d", core, i);
|
|
}
|
|
|
|
xSemaphoreTake(start_sem[core], portMAX_DELAY); //Wait for start vQueueAddToRegistry()
|
|
for(int i = 0; i < NO_OF_QUEUES_PER_CORE; i++){
|
|
vQueueAddToRegistry(handles[i + offset] , names[i + offset]); //Register queues to queue registry
|
|
}
|
|
xSemaphoreGive(done_sem); //Signal that vQueueAddToRegistry() has completed
|
|
|
|
vTaskDelay(1);
|
|
|
|
xSemaphoreTake(start_sem[core], portMAX_DELAY); //Wait to start vQueueUnregisterQueue()
|
|
for(int i = 0; i < NO_OF_QUEUES_PER_CORE; i++){
|
|
vQueueDelete(handles[i + offset]); //Internally calls vQueueUnregisterQueue
|
|
}
|
|
xSemaphoreGive(done_sem); //Signal done
|
|
|
|
vTaskDelete(NULL); //Delete self
|
|
}
|
|
|
|
TEST_CASE("Test FreeRTOS Queue Registry", "[freertos]")
|
|
{
|
|
//Create synchronization semaphores and tasks to test queue registry
|
|
done_sem = xSemaphoreCreateCounting(portNUM_PROCESSORS, 0);
|
|
for(int i = 0; i < portNUM_PROCESSORS; i++){
|
|
start_sem[i] = xSemaphoreCreateBinary();
|
|
xTaskCreatePinnedToCore(test_queue_registry_task, "testing task", 4096, NULL, UNITY_FREERTOS_PRIORITY+1, NULL, i);
|
|
}
|
|
|
|
portDISABLE_INTERRUPTS();
|
|
for(int i = 0; i < portNUM_PROCESSORS; i++){
|
|
xSemaphoreGive(start_sem[i]); //Trigger start
|
|
}
|
|
portENABLE_INTERRUPTS();
|
|
for(int i = 0; i < portNUM_PROCESSORS; i++){
|
|
xSemaphoreTake(done_sem, portMAX_DELAY); //Wait for tasks to complete vQueueAddToRegistry
|
|
}
|
|
for(int i = 0; i < NO_OF_QUEUES_TOTAL; i++){
|
|
const char *addr = pcQueueGetName(handles[i]);
|
|
TEST_ASSERT(addr == names[i]) //Check vQueueAddToRegistry was successful
|
|
}
|
|
|
|
portDISABLE_INTERRUPTS();
|
|
for(int i = 0; i < portNUM_PROCESSORS; i++){
|
|
xSemaphoreGive(start_sem[i]); //Trigger start
|
|
}
|
|
portENABLE_INTERRUPTS();
|
|
for(int i = 0; i < portNUM_PROCESSORS; i++){
|
|
xSemaphoreTake(done_sem, portMAX_DELAY); //Wait for tasks to complete vQueueUnregisterQueue
|
|
}
|
|
for(int i = 0; i < NO_OF_QUEUES_TOTAL; i++){
|
|
const char *addr = pcQueueGetName(handles[i]);
|
|
TEST_ASSERT(addr == NULL) //Check vQueueUnregisterQueue was successful
|
|
handles[i] = NULL;
|
|
}
|
|
|
|
//Cleanup
|
|
for(int i = 0; i < NO_OF_QUEUES_TOTAL; i++){
|
|
free(names[i]);
|
|
names[i] = NULL;
|
|
}
|
|
for(int i = 0; i < portNUM_PROCESSORS; i++){
|
|
vSemaphoreDelete(start_sem[i]);
|
|
start_sem[i] = NULL;
|
|
}
|
|
vSemaphoreDelete(done_sem);
|
|
done_sem = NULL;
|
|
}
|
|
#endif //(CONFIG_FREERTOS_QUEUE_REGISTRY_SIZE > 0)
|