Add SMP schedule highest priority on-target test (#1167)
* Add SMP scheduler highest priority task on target test --------- Signed-off-by: Gaurav Aggarwal <aggarg@amazon.com> Co-authored-by: Rahul Kar <118818625+kar-rahul-aws@users.noreply.github.com> Co-authored-by: Gaurav Aggarwal <aggarg@amazon.com> Co-authored-by: Gaurav-Aggarwal-AWS <33462878+aggarg@users.noreply.github.com>pull/1171/head^2
chinglee-iot
11 months ago
committed by
GitHub
parent
d1ef345165
commit
731a4f05fd
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cmake_minimum_required(VERSION 3.13)
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project(example C CXX ASM)
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set(CMAKE_C_STANDARD 11)
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set(CMAKE_CXX_STANDARD 17)
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set(TEST_INCLUDE_PATHS ${CMAKE_CURRENT_LIST_DIR}/../../../../../tests/smp/schedule_highest_priority)
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set(TEST_SOURCE_DIR ${CMAKE_CURRENT_LIST_DIR}/../../../../../tests/smp/schedule_highest_priority)
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add_library(schedule_highest_priority INTERFACE)
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target_sources(schedule_highest_priority INTERFACE
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${BOARD_LIBRARY_DIR}/main.c
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${CMAKE_CURRENT_LIST_DIR}/schedule_highest_priority_test_runner.c
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${TEST_SOURCE_DIR}/schedule_highest_priority.c)
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target_include_directories(schedule_highest_priority INTERFACE
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${CMAKE_CURRENT_LIST_DIR}/../../..
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${TEST_INCLUDE_PATHS}
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)
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target_link_libraries(schedule_highest_priority INTERFACE
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FreeRTOS-Kernel
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FreeRTOS-Kernel-Heap4
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${BOARD_LINK_LIBRARIES})
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add_executable(test_schedule_highest_priority)
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enable_board_functions(test_schedule_highest_priority)
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target_link_libraries(test_schedule_highest_priority schedule_highest_priority)
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target_include_directories(test_schedule_highest_priority PUBLIC
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${BOARD_INCLUDE_PATHS})
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target_compile_definitions(test_schedule_highest_priority PRIVATE
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${BOARD_DEFINES}
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)
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/*
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* FreeRTOS V202212.00
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* Copyright (C) 2022 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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* https://www.FreeRTOS.org
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* https://github.com/FreeRTOS
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*
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*/
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/**
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* @file schedule_highest_priority_test_runner.c
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* @brief The implementation of main function to start test runner task.
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*
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* Procedure:
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* - Initialize environment.
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* - Run the test case.
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*/
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/* Kernel includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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/* Unit testing support functions. */
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#include "unity.h"
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/* Pico includes. */
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#include "pico/multicore.h"
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#include "pico/stdlib.h"
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/*-----------------------------------------------------------*/
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static void prvTestRunnerTask( void * pvParameters );
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/*-----------------------------------------------------------*/
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static void prvTestRunnerTask( void * pvParameters )
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{
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( void ) pvParameters;
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/* Run test case. */
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vRunScheduleHighestPriorityTest();
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vTaskDelete( NULL );
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}
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/*-----------------------------------------------------------*/
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void vRunTest( void )
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{
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xTaskCreate( prvTestRunnerTask,
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"testRunner",
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configMINIMAL_STACK_SIZE,
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NULL,
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configMAX_PRIORITIES - 1,
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NULL );
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}
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/*-----------------------------------------------------------*/
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/*
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* FreeRTOS V202212.00
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* Copyright (C) 2022 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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* https://www.FreeRTOS.org
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* https://github.com/FreeRTOS
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*
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*/
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/**
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* @file schedule_highest_priority.c
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* @brief The scheduler shall correctly schedule the highest priority ready tasks.
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*
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* Procedure:
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* - Create ( num of cores ) tasks ( T0~Tn-1 ). Priority T0 > T1 > ... > Tn-2 > Tn-1.
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* - for each task Ti in [T0..Tn-1]:
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* - Tasks T0..Ti-1 are running. If any of the task in T0..Ti-1 is not
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* running notify the test runner task about error.
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* - If i == n -1:
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* - Notify test runner task about success.
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* Expected:
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* - When a task runs, all tasks of higher priority are running.
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*/
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/* Standard includes. */
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#include <stdint.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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/* Unit testing support functions. */
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#include "unity.h"
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/*-----------------------------------------------------------*/
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#if ( configNUMBER_OF_CORES < 2 )
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#error This test is for FreeRTOS SMP and therefore, requires at least 2 cores.
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#endif /* #if ( configNUMBER_OF_CORES < 2 ) */
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#if ( configMAX_PRIORITIES <= configNUMBER_OF_CORES )
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#error This test creates tasks with different priority, requires configMAX_PRIORITIES to be larger than configNUMBER_OF_CORES.
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#endif /* #if ( configMAX_PRIORITIES <= configNUMBER_OF_CORES ) */
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/*-----------------------------------------------------------*/
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/**
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* @brief Timeout value to stop test.
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*/
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#define TEST_TIMEOUT_MS ( 10000U )
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/**
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* @brief Nop operation for busy looping.
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*/
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#ifdef portNOP
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#define TEST_NOP portNOP
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#else
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#define TEST_NOP() __asm volatile ( "nop" )
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#endif
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/*-----------------------------------------------------------*/
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/**
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* @brief Function that implements a never blocking FreeRTOS task.
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*/
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static void prvEverRunningTask( void * pvParameters );
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/*-----------------------------------------------------------*/
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/**
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* @brief Handle of the test runner task.
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*/
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static TaskHandle_t xTestRunnerTaskHandle;
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/**
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* @brief Handles of the tasks created in this test.
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*/
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static TaskHandle_t xTaskHandles[ configNUMBER_OF_CORES ];
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/**
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* @brief Indexes of the tasks created in this test.
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*/
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static uint32_t xTaskIndexes[ configNUMBER_OF_CORES ];
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/*-----------------------------------------------------------*/
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/**
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* @brief Ever running task function.
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*
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* Test runner task is notified with the following values:
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* - A value between 0 and ( configNUMBER_OF_CORES -1 ) : Task with the index
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* equal to value encountered an error during the test.
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* - configNUMBER_OF_CORES : The test finished without any error.
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*/
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static void prvEverRunningTask( void * pvParameters )
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{
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uint32_t i;
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uint32_t uxCurrentTaskIdx = *( ( uint32_t * ) pvParameters );
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eTaskState xTaskState;
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/* Tasks with index smaller than the current task are of higher priority and
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* must be running when this task is running. */
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for( i = 0; i < uxCurrentTaskIdx; i++ )
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{
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xTaskState = eTaskGetState( xTaskHandles[ i ] );
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if( eRunning != xTaskState )
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{
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/* Notify the test runner task about the error. */
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( void ) xTaskNotify( xTestRunnerTaskHandle, uxCurrentTaskIdx, eSetValueWithoutOverwrite );
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}
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}
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/* If current task is the last task, then we finish the check because all
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* tasks are checked. */
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if( uxCurrentTaskIdx == ( configNUMBER_OF_CORES - 1 ) )
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{
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/* Notify the test runner task about success. */
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( void ) xTaskNotify( xTestRunnerTaskHandle, configNUMBER_OF_CORES, eSetValueWithoutOverwrite );
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}
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for( ; ; )
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{
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/* Busy looping in this task. */
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TEST_NOP();
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}
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}
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/*-----------------------------------------------------------*/
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/**
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* @brief Test running task.
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*
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* It waits for a notification from one of the ever running tasks.
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*/
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void Test_ScheduleHighestPriority( void )
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{
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uint32_t ulNotifiedValue;
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BaseType_t xReturn;
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xReturn = xTaskNotifyWait( 0U, ULONG_MAX, &ulNotifiedValue, pdMS_TO_TICKS( TEST_TIMEOUT_MS ) );
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/* Test runner task is notified within TEST_TIMEOUT_MS. */
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TEST_ASSERT_EQUAL( pdTRUE, xReturn );
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/* The notified value indicates that no error occurred during the test. */
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TEST_ASSERT_EQUAL_INT( configNUMBER_OF_CORES, ulNotifiedValue );
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}
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/*-----------------------------------------------------------*/
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/**
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* @brief Runs before every test, put init calls here.
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*/
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void setUp( void )
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{
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uint32_t i;
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BaseType_t xTaskCreationResult;
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/* Save the test runner task handle here. It is used to notify test runner
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* from ever running tasks. */
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xTestRunnerTaskHandle = xTaskGetCurrentTaskHandle();
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/* Create configNUMBER_OF_CORES tasks with decending priority. */
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for( i = 0; i < configNUMBER_OF_CORES; i++ )
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{
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xTaskIndexes[ i ] = i;
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xTaskCreationResult = xTaskCreate( prvEverRunningTask,
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"EverRun",
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configMINIMAL_STACK_SIZE * 2,
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&( xTaskIndexes[ i ] ),
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configMAX_PRIORITIES - 1 - i,
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&( xTaskHandles[ i ] ) );
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TEST_ASSERT_EQUAL_MESSAGE( pdPASS, xTaskCreationResult, "Task creation failed." );
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}
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}
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/*-----------------------------------------------------------*/
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/**
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* @brief Runs after every test, put clean-up calls here.
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*/
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void tearDown( void )
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{
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uint32_t i;
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/* Delete all the tasks. */
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for( i = 0; i < configNUMBER_OF_CORES; i++ )
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{
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if( xTaskHandles[ i ] != NULL )
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{
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vTaskDelete( xTaskHandles[ i ] );
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}
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}
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}
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/*-----------------------------------------------------------*/
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/**
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* @brief Entry point for test runner to run highest priority test.
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*/
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void vRunScheduleHighestPriorityTest( void )
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{
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UNITY_BEGIN();
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RUN_TEST( Test_ScheduleHighestPriority );
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UNITY_END();
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}
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/*-----------------------------------------------------------*/
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@ -0,0 +1,63 @@
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/*
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* FreeRTOS V202212.00
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* Copyright (C) 2022 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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* https://www.FreeRTOS.org
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* https://github.com/FreeRTOS
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*
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*/
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#ifndef TEST_CONFIG_H
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#define TEST_CONFIG_H
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/* This file must be included at the end of the FreeRTOSConfig.h. It contains
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* any FreeRTOS specific configurations that the test requires. */
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#ifdef configRUN_MULTIPLE_PRIORITIES
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#undef configRUN_MULTIPLE_PRIORITIES
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#endif /* #ifdef configRUN_MULTIPLE_PRIORITIES */
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#ifdef configUSE_TIME_SLICING
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#undef configUSE_TIME_SLICING
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#endif /* #ifdef configUSE_TIME_SLICING */
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#ifdef configUSE_PREEMPTION
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#undef configUSE_PREEMPTION
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#endif /* #ifdef configUSE_PREEMPTION */
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#ifdef configUSE_TASK_NOTIFICATIONS
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#undef configUSE_TASK_NOTIFICATIONS
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#endif /* #ifdef configUSE_TASK_NOTIFICATIONS */
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#define configRUN_MULTIPLE_PRIORITIES 1
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#define configUSE_TIME_SLICING 1
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#define configUSE_PREEMPTION 1
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#define configUSE_TASK_NOTIFICATIONS 1
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/*-----------------------------------------------------------*/
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/**
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* @brief Entry point for test runner to run highest priority test.
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*/
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void vRunScheduleHighestPriorityTest( void );
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/*-----------------------------------------------------------*/
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#endif /* ifndef TEST_CONFIG_H */
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