38afa32cfb
This commit backports vTaskDelete() behavior from FreeRTOS v9.0.0 which allows for the immediate freeing of task memory if the task being deleted is not currently running and not pinned to the other core. This commit also fixes a bug in prvCheckTasksWaitingTermination which prevented the Idle Task from cleaning up all tasks awaiting deletion. Each iteration of the Idle Task should traverse the xTasksWaitingTermination list and clean up all tasks not pinned to the other core. The previous implementation would cause prvCheckTasksWaitingTermination to return when encountering a task pinned to the other core whilst traversing the xTasksWaitingTermination list. The test case for vTaskDelete() has been updated to test for the bugfix and backported deletion behavior.
67 lines
2.7 KiB
C
67 lines
2.7 KiB
C
/*
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* Test backported deletion behavior by creating tasks of various affinities and
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* check if the task memory is freed immediately under the correct conditions.
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*
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* The behavior of vTaskDelete() has been backported form FreeRTOS v9.0.0. This
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* results in the immediate freeing of task memory and the immediate execution
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* of deletion callbacks under the following conditions...
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* - When deleting a task that is not currently running on either core
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* - When deleting a task that is pinned to the same core (with respect to
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* the core that calls vTaskDelete()
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*
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* If the two conditions are not met, freeing of task memory and execution of
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* deletion callbacks will still be carried out by the Idle Task.
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*/
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#include <stdio.h>
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "esp_heap_caps.h"
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#include "unity.h"
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#define NO_OF_TSKS 3
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#define DELAY_TICKS 2
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#define HEAP_CAPS (MALLOC_CAP_INTERNAL|MALLOC_CAP_DEFAULT)
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static void tsk_self_del(void *param)
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{
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vTaskDelete(NULL); //Deleting self means deleting currently running task
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}
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static void tsk_extern_del(void *param)
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{
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vTaskDelay(portMAX_DELAY); //Await external deletion
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}
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TEST_CASE("FreeRTOS Delete Tasks", "[freertos]")
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{
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/* -------------- Test vTaskDelete() on currently running tasks ----------------*/
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uint32_t before_count = uxTaskGetNumberOfTasks();
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uint32_t before_heap = heap_caps_get_free_size(HEAP_CAPS);
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for(int i = 0; i < portNUM_PROCESSORS; i++){
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for(int j = 0; j < NO_OF_TSKS; j++){
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TEST_ASSERT_EQUAL(pdTRUE, xTaskCreatePinnedToCore(tsk_self_del, "tsk_self", 1024, NULL, configMAX_PRIORITIES - 1, NULL, i));
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}
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}
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vTaskDelay(DELAY_TICKS); //Minimal delay to see if Idle task cleans up all tasks awaiting deletion in a single tick
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TEST_ASSERT_EQUAL(before_count, uxTaskGetNumberOfTasks());
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TEST_ASSERT_EQUAL(before_heap, heap_caps_get_free_size(HEAP_CAPS));
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/* ------------- Test vTaskDelete() on not currently running tasks ------------ */
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TaskHandle_t handles[NO_OF_TSKS];
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before_heap = heap_caps_get_free_size(HEAP_CAPS);
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//Create task pinned to the same core that will not run during task deletion
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for(int j = 0 ; j < NO_OF_TSKS; j++){
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TEST_ASSERT_EQUAL(pdTRUE, xTaskCreatePinnedToCore(tsk_extern_del, "tsk_extern", 4096, NULL, configMAX_PRIORITIES - 1, &handles[j], xPortGetCoreID()));
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}
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TEST_ASSERT_NOT_EQUAL(before_heap, heap_caps_get_free_size(HEAP_CAPS)); //Check tasks have been created
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//Delete the tasks, memory should be freed immediately
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for(int j = 0; j < NO_OF_TSKS; j++){
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vTaskDelete(handles[j]);
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}
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TEST_ASSERT_EQUAL(before_heap, heap_caps_get_free_size(HEAP_CAPS));
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}
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