761 lines
24 KiB
C
761 lines
24 KiB
C
/*
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* FreeRTOS Kernel V10.3.0
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* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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* the Software without restriction, including without limitation the rights to
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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* the Software, and to permit persons to whom the Software is furnished to do so,
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*
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* http://www.FreeRTOS.org
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* http://aws.amazon.com/freertos
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*
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* 1 tab == 4 spaces!
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*/
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/*
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* This file contains some test scenarios that ensure tasks respond correctly
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* to xTaskAbortDelay() calls. It also ensures tasks return the correct state
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* of eBlocked when blocked indefinitely in both the case where a task is
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* blocked on an object and when a task is blocked on a notification.
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*/
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/* Standard includes. */
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#include "limits.h"
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/* Kernel includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "queue.h"
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#include "semphr.h"
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#include "event_groups.h"
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#include "stream_buffer.h"
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/* Demo includes. */
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#include "AbortDelay.h"
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/* This file can only be used if the functionality it tests is included in the
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build. Remove the whole file if this is not the case. */
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#if (INCLUDE_xTaskAbortDelay == 1)
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#if (INCLUDE_xTaskGetHandle != 1)
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#error This test file uses the xTaskGetHandle() API function so INCLUDE_xTaskGetHandle must be set to 1 in FreeRTOSConfig.h.
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#endif
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/* Task priorities. Allow these to be overridden. */
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#ifndef abtCONTROLLING_PRIORITY
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#define abtCONTROLLING_PRIORITY (configMAX_PRIORITIES - 3)
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#endif
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#ifndef abtBLOCKING_PRIORITY
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#define abtBLOCKING_PRIORITY (configMAX_PRIORITIES - 2)
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#endif
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/* The tests that are performed. */
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#define abtNOTIFY_WAIT_ABORTS 0
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#define abtNOTIFY_TAKE_ABORTS 1
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#define abtDELAY_ABORTS 2
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#define abtDELAY_UNTIL_ABORTS 3
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#define abtSEMAPHORE_TAKE_ABORTS 4
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#define abtEVENT_GROUP_ABORTS 5
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#define abtQUEUE_SEND_ABORTS 6
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#define abtSTREAM_BUFFER_RECEIVE 7
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#define abtMAX_TESTS 8
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/*-----------------------------------------------------------*/
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/*
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* The two test tasks. The controlling task specifies which test to executed.
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* More information is provided in the comments within the tasks.
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*/
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static void prvControllingTask(void *pvParameters);
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static void prvBlockingTask(void *pvParameters);
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/*
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* Test functions called by the blocking task. Each function follows the same
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* pattern, but the way the task blocks is different in each case.
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*
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* In each function three blocking calls are made. The first and third
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* blocking call is expected to time out, while the middle blocking call is
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* expected to be aborted by the controlling task half way through the block
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* time.
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*/
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static void prvTestAbortingTaskNotifyWait(void);
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static void prvTestAbortingTaskNotifyTake(void);
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static void prvTestAbortingTaskDelay(void);
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static void prvTestAbortingTaskDelayUntil(void);
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static void prvTestAbortingSemaphoreTake(void);
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static void prvTestAbortingEventGroupWait(void);
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static void prvTestAbortingQueueSend(void);
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static void prvTestAbortingStreamBufferReceive(void);
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/*
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* Performs a few tests to cover code paths not otherwise covered by the continuous
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* tests.
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*/
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static void prvPerformSingleTaskTests(void);
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/*
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* Checks the amount of time a task spent in the Blocked state is within the
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* expected bounds.
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*/
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static void
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prvCheckExpectedTimeIsWithinAnAcceptableMargin(TickType_t xStartTime,
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TickType_t xExpectedBlockTime);
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/*-----------------------------------------------------------*/
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/* Used to ensure that tasks are still executing without error. */
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static volatile BaseType_t xControllingCycles = 0, xBlockingCycles = 0;
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static volatile BaseType_t xErrorOccurred = pdFALSE;
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/* Each task needs to know the other tasks handle so they can send signals to
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each other. The handle is obtained from the task's name. */
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static const char *pcControllingTaskName = "AbtCtrl",
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*pcBlockingTaskName = "AbtBlk";
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/* The maximum amount of time a task will block for. */
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const TickType_t xMaxBlockTime = pdMS_TO_TICKS(100);
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const TickType_t xHalfMaxBlockTime = pdMS_TO_TICKS(50);
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/* The actual block time is dependent on the priority of other tasks in the
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system so the actual block time might be greater than that expected, but it
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should be within an acceptable upper bound. */
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const TickType_t xAllowableMargin = pdMS_TO_TICKS(28);
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/*-----------------------------------------------------------*/
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void vCreateAbortDelayTasks(void)
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{
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/* Create the two test tasks described above. */
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xTaskCreate(prvControllingTask, pcControllingTaskName,
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configMINIMAL_STACK_SIZE, NULL, abtCONTROLLING_PRIORITY,
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NULL);
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xTaskCreate(prvBlockingTask, pcBlockingTaskName,
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configMINIMAL_STACK_SIZE, NULL, abtBLOCKING_PRIORITY, NULL);
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}
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/*-----------------------------------------------------------*/
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static void prvControllingTask(void *pvParameters)
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{
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TaskHandle_t xBlockingTask;
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uint32_t ulTestToPerform = abtNOTIFY_WAIT_ABORTS;
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TickType_t xTimeAtStart;
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const TickType_t xStartMargin = 2UL;
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/* Just to remove compiler warnings. */
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(void)pvParameters;
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xBlockingTask = xTaskGetHandle(pcBlockingTaskName);
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configASSERT(xBlockingTask);
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for (;;) {
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/* Tell the secondary task to perform the next test. */
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xTimeAtStart = xTaskGetTickCount();
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xTaskNotify(xBlockingTask, ulTestToPerform,
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eSetValueWithOverwrite);
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/* The secondary task has a higher priority, so will now be in the
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Blocked state to wait for a maximum of xMaxBlockTime. It expects that
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period to complete with a timeout. It will then block for
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xMaxBlockTimeAgain, but this time it expects to the block time to abort
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half way through. Block until it is time to send the abort to the
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secondary task. xStartMargin is used because this task takes timing
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from the beginning of the test, whereas the blocking task takes timing
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from the entry into the Blocked state - and as the tasks run at
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different priorities, there may be some discrepancy. Also, temporarily
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raise the priority of the controlling task to that of the blocking
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task to minimise discrepancies. */
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vTaskPrioritySet(NULL, abtBLOCKING_PRIORITY);
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vTaskDelay(xMaxBlockTime + xHalfMaxBlockTime + xStartMargin);
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if (xTaskAbortDelay(xBlockingTask) != pdPASS) {
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xErrorOccurred = pdTRUE;
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}
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/* Reset the priority to the normal controlling priority. */
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vTaskPrioritySet(NULL, abtCONTROLLING_PRIORITY);
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/* Now wait to be notified that the secondary task has completed its
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test. */
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ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
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/* Did the entire test run for the expected time, which is two full
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block times plus the half block time caused by calling
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xTaskAbortDelay()? */
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prvCheckExpectedTimeIsWithinAnAcceptableMargin(
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xTimeAtStart,
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(xMaxBlockTime + xMaxBlockTime + xHalfMaxBlockTime));
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/* Move onto the next test. */
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ulTestToPerform++;
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if (ulTestToPerform >= abtMAX_TESTS) {
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ulTestToPerform = 0;
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}
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/* To indicate this task is still executing. */
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xControllingCycles++;
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}
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}
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/*-----------------------------------------------------------*/
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static void prvBlockingTask(void *pvParameters)
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{
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TaskHandle_t xControllingTask;
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uint32_t ulNotificationValue;
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const uint32_t ulMax = 0xffffffffUL;
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/* Just to remove compiler warnings. */
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(void)pvParameters;
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/* Start by performing a few tests to cover code not exercised in the loops
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below. */
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prvPerformSingleTaskTests();
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xControllingTask = xTaskGetHandle(pcControllingTaskName);
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configASSERT(xControllingTask);
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for (;;) {
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/* Wait to be notified of the test that is to be performed next. */
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xTaskNotifyWait(0, ulMax, &ulNotificationValue, portMAX_DELAY);
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switch (ulNotificationValue) {
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case abtNOTIFY_WAIT_ABORTS:
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prvTestAbortingTaskNotifyWait();
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break;
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case abtNOTIFY_TAKE_ABORTS:
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prvTestAbortingTaskNotifyTake();
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break;
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case abtDELAY_ABORTS:
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prvTestAbortingTaskDelay();
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break;
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case abtDELAY_UNTIL_ABORTS:
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prvTestAbortingTaskDelayUntil();
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break;
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case abtSEMAPHORE_TAKE_ABORTS:
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prvTestAbortingSemaphoreTake();
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break;
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case abtEVENT_GROUP_ABORTS:
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prvTestAbortingEventGroupWait();
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break;
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case abtQUEUE_SEND_ABORTS:
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prvTestAbortingQueueSend();
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break;
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case abtSTREAM_BUFFER_RECEIVE:
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prvTestAbortingStreamBufferReceive();
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break;
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default:
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/* Should not get here. */
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break;
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}
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/* Let the primary task know the test is complete. */
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xTaskNotifyGive(xControllingTask);
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/* To indicate this task is still executing. */
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xBlockingCycles++;
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}
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}
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/*-----------------------------------------------------------*/
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static void prvPerformSingleTaskTests(void)
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{
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TaskHandle_t xThisTask;
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BaseType_t xReturned;
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/* Try unblocking this task using both the task and ISR versions of the API -
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both should return false as this task is not blocked. */
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xThisTask = xTaskGetCurrentTaskHandle();
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xReturned = xTaskAbortDelay(xThisTask);
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if (xReturned != pdFALSE) {
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xErrorOccurred = pdTRUE;
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}
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}
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/*-----------------------------------------------------------*/
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static void prvTestAbortingTaskDelayUntil(void)
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{
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TickType_t xTimeAtStart, xLastBlockTime;
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/* Note the time before the delay so the length of the delay is known. */
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xTimeAtStart = xTaskGetTickCount();
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/* Take a copy of the time as it is updated in the call to
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vTaskDelayUntil() but its original value is needed to determine the actual
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time spend in the Blocked state. */
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xLastBlockTime = xTimeAtStart;
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/* This first delay should just time out. */
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vTaskDelayUntil(&xLastBlockTime, xMaxBlockTime);
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prvCheckExpectedTimeIsWithinAnAcceptableMargin(xTimeAtStart,
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xMaxBlockTime);
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/* This second delay should be aborted by the primary task half way
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through. Again take a copy of the time as it is updated in the call to
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vTaskDelayUntil() buts its original value is needed to determine the amount
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of time actually spent in the Blocked state. */
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xTimeAtStart = xTaskGetTickCount();
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xLastBlockTime = xTimeAtStart;
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vTaskDelayUntil(&xLastBlockTime, xMaxBlockTime);
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prvCheckExpectedTimeIsWithinAnAcceptableMargin(xTimeAtStart,
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xHalfMaxBlockTime);
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/* As with the other tests, the third block period should not time out. */
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xTimeAtStart = xTaskGetTickCount();
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xLastBlockTime = xTimeAtStart;
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vTaskDelayUntil(&xLastBlockTime, xMaxBlockTime);
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prvCheckExpectedTimeIsWithinAnAcceptableMargin(xTimeAtStart,
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xMaxBlockTime);
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}
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/*-----------------------------------------------------------*/
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static void prvTestAbortingTaskDelay(void)
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{
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TickType_t xTimeAtStart;
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/* Note the time before the delay so the length of the delay is known. */
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xTimeAtStart = xTaskGetTickCount();
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/* This first delay should just time out. */
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vTaskDelay(xMaxBlockTime);
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prvCheckExpectedTimeIsWithinAnAcceptableMargin(xTimeAtStart,
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xMaxBlockTime);
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/* Note the time before the delay so the length of the delay is known. */
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xTimeAtStart = xTaskGetTickCount();
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/* This second delay should be aborted by the primary task half way
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through. */
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vTaskDelay(xMaxBlockTime);
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prvCheckExpectedTimeIsWithinAnAcceptableMargin(xTimeAtStart,
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xHalfMaxBlockTime);
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/* Note the time before the delay so the length of the delay is known. */
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xTimeAtStart = xTaskGetTickCount();
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/* This third delay should just time out again. */
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vTaskDelay(xMaxBlockTime);
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prvCheckExpectedTimeIsWithinAnAcceptableMargin(xTimeAtStart,
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xMaxBlockTime);
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}
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/*-----------------------------------------------------------*/
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static void prvTestAbortingTaskNotifyTake(void)
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{
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TickType_t xTimeAtStart;
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uint32_t ulReturn;
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/* Note the time before the delay so the length of the delay is known. */
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xTimeAtStart = xTaskGetTickCount();
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/* This first delay should just time out. */
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ulReturn = ulTaskNotifyTake(pdFALSE, xMaxBlockTime);
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if (ulReturn != 0) {
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xErrorOccurred = pdTRUE;
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}
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prvCheckExpectedTimeIsWithinAnAcceptableMargin(xTimeAtStart,
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xMaxBlockTime);
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/* Note the time before the delay so the length of the delay is known. */
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xTimeAtStart = xTaskGetTickCount();
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/* This second delay should be aborted by the primary task half way
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through. */
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ulReturn = ulTaskNotifyTake(pdFALSE, xMaxBlockTime);
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if (ulReturn != 0) {
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xErrorOccurred = pdTRUE;
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}
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prvCheckExpectedTimeIsWithinAnAcceptableMargin(xTimeAtStart,
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xHalfMaxBlockTime);
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/* Note the time before the delay so the length of the delay is known. */
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xTimeAtStart = xTaskGetTickCount();
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/* This third delay should just time out again. */
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ulReturn = ulTaskNotifyTake(pdFALSE, xMaxBlockTime);
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if (ulReturn != 0) {
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xErrorOccurred = pdTRUE;
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}
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prvCheckExpectedTimeIsWithinAnAcceptableMargin(xTimeAtStart,
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xMaxBlockTime);
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}
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/*-----------------------------------------------------------*/
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static void prvTestAbortingEventGroupWait(void)
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{
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TickType_t xTimeAtStart;
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EventGroupHandle_t xEventGroup;
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EventBits_t xBitsToWaitFor = (EventBits_t)0x01, xReturn;
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#if (configSUPPORT_STATIC_ALLOCATION == 1)
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{
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static StaticEventGroup_t xEventGroupBuffer;
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/* Create the event group. Statically allocated memory is used so the
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creation cannot fail. */
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xEventGroup = xEventGroupCreateStatic(&xEventGroupBuffer);
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}
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#else
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{
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xEventGroup = xEventGroupCreate();
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configASSERT(xEventGroup);
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}
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#endif
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/* Note the time before the delay so the length of the delay is known. */
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xTimeAtStart = xTaskGetTickCount();
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/* This first delay should just time out. */
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xReturn = xEventGroupWaitBits(xEventGroup, xBitsToWaitFor, pdTRUE,
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pdTRUE, xMaxBlockTime);
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if (xReturn != 0x00) {
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xErrorOccurred = pdTRUE;
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}
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prvCheckExpectedTimeIsWithinAnAcceptableMargin(xTimeAtStart,
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xMaxBlockTime);
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/* Note the time before the delay so the length of the delay is known. */
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xTimeAtStart = xTaskGetTickCount();
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/* This second delay should be aborted by the primary task half way
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through. */
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xReturn = xEventGroupWaitBits(xEventGroup, xBitsToWaitFor, pdTRUE,
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pdTRUE, xMaxBlockTime);
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if (xReturn != 0x00) {
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xErrorOccurred = pdTRUE;
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}
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prvCheckExpectedTimeIsWithinAnAcceptableMargin(xTimeAtStart,
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xHalfMaxBlockTime);
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/* Note the time before the delay so the length of the delay is known. */
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xTimeAtStart = xTaskGetTickCount();
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/* This third delay should just time out again. */
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xReturn = xEventGroupWaitBits(xEventGroup, xBitsToWaitFor, pdTRUE,
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pdTRUE, xMaxBlockTime);
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if (xReturn != 0x00) {
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xErrorOccurred = pdTRUE;
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}
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prvCheckExpectedTimeIsWithinAnAcceptableMargin(xTimeAtStart,
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xMaxBlockTime);
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/* Not really necessary in this case, but for completeness. */
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vEventGroupDelete(xEventGroup);
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}
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/*-----------------------------------------------------------*/
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static void prvTestAbortingStreamBufferReceive(void)
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{
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TickType_t xTimeAtStart;
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StreamBufferHandle_t xStreamBuffer;
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size_t xReturn;
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const size_t xTriggerLevelBytes = (size_t)1;
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uint8_t uxRxData;
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#if (configSUPPORT_STATIC_ALLOCATION == 1)
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{
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/* Defines the memory that will actually hold the streams within the
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stream buffer. */
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static uint8_t ucStorageBuffer
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[sizeof(configMESSAGE_BUFFER_LENGTH_TYPE) + 1];
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/* The variable used to hold the stream buffer structure. */
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StaticStreamBuffer_t xStreamBufferStruct;
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xStreamBuffer = xStreamBufferCreateStatic(
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sizeof(ucStorageBuffer), xTriggerLevelBytes,
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ucStorageBuffer, &xStreamBufferStruct);
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}
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#else
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{
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xStreamBuffer = xStreamBufferCreate(sizeof(uint8_t),
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xTriggerLevelBytes);
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configASSERT(xStreamBuffer);
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}
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#endif
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/* Note the time before the delay so the length of the delay is known. */
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xTimeAtStart = xTaskGetTickCount();
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/* This first delay should just time out. */
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xReturn = xStreamBufferReceive(xStreamBuffer, &uxRxData,
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sizeof(uxRxData), xMaxBlockTime);
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if (xReturn != 0x00) {
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xErrorOccurred = pdTRUE;
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}
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prvCheckExpectedTimeIsWithinAnAcceptableMargin(xTimeAtStart,
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xMaxBlockTime);
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/* Note the time before the delay so the length of the delay is known. */
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xTimeAtStart = xTaskGetTickCount();
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/* This second delay should be aborted by the primary task half way
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|
through xMaxBlockTime. */
|
|
xReturn = xStreamBufferReceive(xStreamBuffer, &uxRxData,
|
|
sizeof(uxRxData), xMaxBlockTime);
|
|
if (xReturn != 0x00) {
|
|
xErrorOccurred = pdTRUE;
|
|
}
|
|
prvCheckExpectedTimeIsWithinAnAcceptableMargin(xTimeAtStart,
|
|
xHalfMaxBlockTime);
|
|
|
|
/* Note the time before the delay so the length of the delay is known. */
|
|
xTimeAtStart = xTaskGetTickCount();
|
|
|
|
/* This third delay should just time out again. */
|
|
xReturn = xStreamBufferReceive(xStreamBuffer, &uxRxData,
|
|
sizeof(uxRxData), xMaxBlockTime);
|
|
if (xReturn != 0x00) {
|
|
xErrorOccurred = pdTRUE;
|
|
}
|
|
prvCheckExpectedTimeIsWithinAnAcceptableMargin(xTimeAtStart,
|
|
xMaxBlockTime);
|
|
|
|
/* Not really necessary in this case, but for completeness. */
|
|
vStreamBufferDelete(xStreamBuffer);
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvTestAbortingQueueSend(void)
|
|
{
|
|
TickType_t xTimeAtStart;
|
|
BaseType_t xReturn;
|
|
const UBaseType_t xQueueLength = (UBaseType_t)1;
|
|
QueueHandle_t xQueue;
|
|
uint8_t ucItemToQueue;
|
|
|
|
#if (configSUPPORT_STATIC_ALLOCATION == 1)
|
|
{
|
|
static StaticQueue_t xQueueBuffer;
|
|
static uint8_t ucQueueStorage[sizeof(uint8_t)];
|
|
|
|
/* Create the queue. Statically allocated memory is used so the
|
|
creation cannot fail. */
|
|
xQueue = xQueueCreateStatic(xQueueLength, sizeof(uint8_t),
|
|
ucQueueStorage, &xQueueBuffer);
|
|
}
|
|
#else
|
|
{
|
|
xQueue = xQueueCreate(xQueueLength, sizeof(uint8_t));
|
|
configASSERT(xQueue);
|
|
}
|
|
#endif
|
|
|
|
/* This function tests aborting when in the blocked state waiting to send,
|
|
so the queue must be full. There is only one space in the queue. */
|
|
xReturn = xQueueSend(xQueue, &ucItemToQueue, xMaxBlockTime);
|
|
if (xReturn != pdPASS) {
|
|
xErrorOccurred = pdTRUE;
|
|
}
|
|
|
|
/* Note the time before the delay so the length of the delay is known. */
|
|
xTimeAtStart = xTaskGetTickCount();
|
|
|
|
/* This first delay should just time out. */
|
|
xReturn = xQueueSend(xQueue, &ucItemToQueue, xMaxBlockTime);
|
|
if (xReturn != pdFALSE) {
|
|
xErrorOccurred = pdTRUE;
|
|
}
|
|
prvCheckExpectedTimeIsWithinAnAcceptableMargin(xTimeAtStart,
|
|
xMaxBlockTime);
|
|
|
|
/* Note the time before the delay so the length of the delay is known. */
|
|
xTimeAtStart = xTaskGetTickCount();
|
|
|
|
/* This second delay should be aborted by the primary task half way
|
|
through. */
|
|
xReturn = xQueueSend(xQueue, &ucItemToQueue, xMaxBlockTime);
|
|
if (xReturn != pdFALSE) {
|
|
xErrorOccurred = pdTRUE;
|
|
}
|
|
prvCheckExpectedTimeIsWithinAnAcceptableMargin(xTimeAtStart,
|
|
xHalfMaxBlockTime);
|
|
|
|
/* Note the time before the delay so the length of the delay is known. */
|
|
xTimeAtStart = xTaskGetTickCount();
|
|
|
|
/* This third delay should just time out again. */
|
|
xReturn = xQueueSend(xQueue, &ucItemToQueue, xMaxBlockTime);
|
|
if (xReturn != pdFALSE) {
|
|
xErrorOccurred = pdTRUE;
|
|
}
|
|
prvCheckExpectedTimeIsWithinAnAcceptableMargin(xTimeAtStart,
|
|
xMaxBlockTime);
|
|
|
|
/* Not really necessary in this case, but for completeness. */
|
|
vQueueDelete(xQueue);
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvTestAbortingSemaphoreTake(void)
|
|
{
|
|
TickType_t xTimeAtStart;
|
|
BaseType_t xReturn;
|
|
SemaphoreHandle_t xSemaphore;
|
|
|
|
#if (configSUPPORT_STATIC_ALLOCATION == 1)
|
|
{
|
|
static StaticSemaphore_t xSemaphoreBuffer;
|
|
|
|
/* Create the semaphore. Statically allocated memory is used so the
|
|
creation cannot fail. */
|
|
xSemaphore = xSemaphoreCreateBinaryStatic(&xSemaphoreBuffer);
|
|
}
|
|
#else
|
|
{
|
|
xSemaphore = xSemaphoreCreateBinary();
|
|
}
|
|
#endif
|
|
|
|
/* Note the time before the delay so the length of the delay is known. */
|
|
xTimeAtStart = xTaskGetTickCount();
|
|
|
|
/* This first delay should just time out. */
|
|
xReturn = xSemaphoreTake(xSemaphore, xMaxBlockTime);
|
|
if (xReturn != pdFALSE) {
|
|
xErrorOccurred = pdTRUE;
|
|
}
|
|
prvCheckExpectedTimeIsWithinAnAcceptableMargin(xTimeAtStart,
|
|
xMaxBlockTime);
|
|
|
|
/* Note the time before the delay so the length of the delay is known. */
|
|
xTimeAtStart = xTaskGetTickCount();
|
|
|
|
/* This second delay should be aborted by the primary task half way
|
|
through xMaxBlockTime. */
|
|
xReturn = xSemaphoreTake(xSemaphore, portMAX_DELAY);
|
|
if (xReturn != pdFALSE) {
|
|
xErrorOccurred = pdTRUE;
|
|
}
|
|
prvCheckExpectedTimeIsWithinAnAcceptableMargin(xTimeAtStart,
|
|
xHalfMaxBlockTime);
|
|
|
|
/* Note the time before the delay so the length of the delay is known. */
|
|
xTimeAtStart = xTaskGetTickCount();
|
|
|
|
/* This third delay should just time out again. */
|
|
xReturn = xSemaphoreTake(xSemaphore, xMaxBlockTime);
|
|
if (xReturn != pdFALSE) {
|
|
xErrorOccurred = pdTRUE;
|
|
}
|
|
prvCheckExpectedTimeIsWithinAnAcceptableMargin(xTimeAtStart,
|
|
xMaxBlockTime);
|
|
|
|
/* Not really necessary in this case, but for completeness. */
|
|
vSemaphoreDelete(xSemaphore);
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void prvTestAbortingTaskNotifyWait(void)
|
|
{
|
|
TickType_t xTimeAtStart;
|
|
BaseType_t xReturn;
|
|
|
|
/* Note the time before the delay so the length of the delay is known. */
|
|
xTimeAtStart = xTaskGetTickCount();
|
|
|
|
/* This first delay should just time out. */
|
|
xReturn = xTaskNotifyWait(0, 0, NULL, xMaxBlockTime);
|
|
if (xReturn != pdFALSE) {
|
|
xErrorOccurred = pdTRUE;
|
|
}
|
|
prvCheckExpectedTimeIsWithinAnAcceptableMargin(xTimeAtStart,
|
|
xMaxBlockTime);
|
|
|
|
/* Note the time before the delay so the length of the delay is known. */
|
|
xTimeAtStart = xTaskGetTickCount();
|
|
|
|
/* This second delay should be aborted by the primary task half way
|
|
through xMaxBlockTime. */
|
|
xReturn = xTaskNotifyWait(0, 0, NULL, portMAX_DELAY);
|
|
if (xReturn != pdFALSE) {
|
|
xErrorOccurred = pdTRUE;
|
|
}
|
|
prvCheckExpectedTimeIsWithinAnAcceptableMargin(xTimeAtStart,
|
|
xHalfMaxBlockTime);
|
|
|
|
/* Note the time before the delay so the length of the delay is known. */
|
|
xTimeAtStart = xTaskGetTickCount();
|
|
|
|
/* This third delay should just time out again. */
|
|
xReturn = xTaskNotifyWait(0, 0, NULL, xMaxBlockTime);
|
|
if (xReturn != pdFALSE) {
|
|
xErrorOccurred = pdTRUE;
|
|
}
|
|
prvCheckExpectedTimeIsWithinAnAcceptableMargin(xTimeAtStart,
|
|
xMaxBlockTime);
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
static void
|
|
prvCheckExpectedTimeIsWithinAnAcceptableMargin(TickType_t xStartTime,
|
|
TickType_t xExpectedBlockTime)
|
|
{
|
|
TickType_t xTimeNow, xActualBlockTime;
|
|
|
|
xTimeNow = xTaskGetTickCount();
|
|
xActualBlockTime = xTimeNow - xStartTime;
|
|
|
|
/* The actual block time should not be less than the expected block time. */
|
|
if (xActualBlockTime < xExpectedBlockTime) {
|
|
xErrorOccurred = pdTRUE;
|
|
}
|
|
|
|
/* The actual block time can be greater than the expected block time, as it
|
|
depends on the priority of the other tasks, but it should be within an
|
|
acceptable margin. */
|
|
if (xActualBlockTime > (xExpectedBlockTime + xAllowableMargin)) {
|
|
xErrorOccurred = pdTRUE;
|
|
}
|
|
}
|
|
/*-----------------------------------------------------------*/
|
|
|
|
BaseType_t xAreAbortDelayTestTasksStillRunning(void)
|
|
{
|
|
static BaseType_t xLastControllingCycleCount = 0,
|
|
xLastBlockingCycleCount = 0;
|
|
BaseType_t xReturn = pdPASS;
|
|
|
|
/* Have both tasks performed at least one cycle since this function was
|
|
last called? */
|
|
if (xControllingCycles == xLastControllingCycleCount) {
|
|
xReturn = pdFAIL;
|
|
}
|
|
|
|
if (xBlockingCycles == xLastBlockingCycleCount) {
|
|
xReturn = pdFAIL;
|
|
}
|
|
|
|
if (xErrorOccurred == pdTRUE) {
|
|
xReturn = pdFAIL;
|
|
}
|
|
|
|
xLastBlockingCycleCount = xBlockingCycles;
|
|
xLastControllingCycleCount = xControllingCycles;
|
|
|
|
return xReturn;
|
|
}
|
|
|
|
#endif /* INCLUDE_xTaskAbortDelay == 1 */
|