721 lines
24 KiB
C
721 lines
24 KiB
C
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/*
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* FreeRTOS Kernel V10.2.1
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* Copyright (C) 2019 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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* 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 prvCheckExpectedTimeIsWithinAnAcceptableMargin( TickType_t xStartTime, 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", *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( 7 );
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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, configMINIMAL_STACK_SIZE, NULL, abtCONTROLLING_PRIORITY, NULL );
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xTaskCreate( prvBlockingTask, pcBlockingTaskName, 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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{
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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, 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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{
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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( xTimeAtStart, ( 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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{
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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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xControllingTask = xTaskGetHandle( pcControllingTaskName );
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configASSERT( xControllingTask );
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for( ;; )
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{
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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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{
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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 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, 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, 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, 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, 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, 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, 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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{
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xErrorOccurred = pdTRUE;
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}
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prvCheckExpectedTimeIsWithinAnAcceptableMargin( xTimeAtStart, 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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{
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xErrorOccurred = pdTRUE;
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}
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prvCheckExpectedTimeIsWithinAnAcceptableMargin( xTimeAtStart, 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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{
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xErrorOccurred = pdTRUE;
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}
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||
|
|
prvCheckExpectedTimeIsWithinAnAcceptableMargin( xTimeAtStart, xMaxBlockTime );
|
||
|
|
}
|
||
|
|
/*-----------------------------------------------------------*/
|
||
|
|
|
||
|
|
static void prvTestAbortingEventGroupWait( void )
|
||
|
|
{
|
||
|
|
TickType_t xTimeAtStart;
|
||
|
|
EventGroupHandle_t xEventGroup;
|
||
|
|
EventBits_t xBitsToWaitFor = ( EventBits_t ) 0x01, xReturn;
|
||
|
|
|
||
|
|
#if( configSUPPORT_STATIC_ALLOCATION == 1 )
|
||
|
|
{
|
||
|
|
static StaticEventGroup_t xEventGroupBuffer;
|
||
|
|
|
||
|
|
/* Create the event group. Statically allocated memory is used so the
|
||
|
|
creation cannot fail. */
|
||
|
|
xEventGroup = xEventGroupCreateStatic( &xEventGroupBuffer );
|
||
|
|
}
|
||
|
|
#else
|
||
|
|
{
|
||
|
|
xEventGroup = xEventGroupCreate();
|
||
|
|
configASSERT( xEventGroup );
|
||
|
|
}
|
||
|
|
#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 = xEventGroupWaitBits( xEventGroup, xBitsToWaitFor, pdTRUE, pdTRUE, xMaxBlockTime );
|
||
|
|
if( xReturn != 0x00 )
|
||
|
|
{
|
||
|
|
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 = xEventGroupWaitBits( xEventGroup, xBitsToWaitFor, pdTRUE, pdTRUE, 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 = xEventGroupWaitBits( xEventGroup, xBitsToWaitFor, pdTRUE, pdTRUE, xMaxBlockTime );
|
||
|
|
if( xReturn != 0x00 )
|
||
|
|
{
|
||
|
|
xErrorOccurred = pdTRUE;
|
||
|
|
}
|
||
|
|
prvCheckExpectedTimeIsWithinAnAcceptableMargin( xTimeAtStart, xMaxBlockTime );
|
||
|
|
|
||
|
|
/* Not really necessary in this case, but for completeness. */
|
||
|
|
vEventGroupDelete( xEventGroup );
|
||
|
|
}
|
||
|
|
/*-----------------------------------------------------------*/
|
||
|
|
|
||
|
|
static void prvTestAbortingStreamBufferReceive( void )
|
||
|
|
{
|
||
|
|
TickType_t xTimeAtStart;
|
||
|
|
StreamBufferHandle_t xStreamBuffer;
|
||
|
|
EventBits_t xReturn;
|
||
|
|
const size_t xTriggerLevelBytes = ( size_t ) 1;
|
||
|
|
uint8_t uxRxData;
|
||
|
|
|
||
|
|
#if( configSUPPORT_STATIC_ALLOCATION == 1 )
|
||
|
|
{
|
||
|
|
/* Defines the memory that will actually hold the streams within the
|
||
|
|
stream buffer. */
|
||
|
|
static uint8_t ucStorageBuffer[ sizeof( configMESSAGE_BUFFER_LENGTH_TYPE ) + 1 ];
|
||
|
|
|
||
|
|
/* The variable used to hold the stream buffer structure. */
|
||
|
|
StaticStreamBuffer_t xStreamBufferStruct;
|
||
|
|
|
||
|
|
|
||
|
|
xStreamBuffer = xStreamBufferCreateStatic( sizeof( ucStorageBuffer ),
|
||
|
|
xTriggerLevelBytes,
|
||
|
|
ucStorageBuffer,
|
||
|
|
&xStreamBufferStruct );
|
||
|
|
}
|
||
|
|
#else
|
||
|
|
{
|
||
|
|
xStreamBuffer = xStreamBufferCreate( sizeof( uint8_t ), xTriggerLevelBytes );
|
||
|
|
configASSERT( xStreamBuffer );
|
||
|
|
}
|
||
|
|
#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 = xStreamBufferReceive( xStreamBuffer, &uxRxData, sizeof( uxRxData ), xMaxBlockTime );
|
||
|
|
if( xReturn != 0x00 )
|
||
|
|
{
|
||
|
|
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 = 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 */
|