Queue sets are not SMP safe. This commit adds critical sections to queue sets. Unit tests for queue sets have also been added.
137 lines
4.9 KiB
C
137 lines
4.9 KiB
C
#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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