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/*
ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
*/
#include "hal.h"
#include "ch_test.h"
#include "test_root.h"
/**
* @page test_sequence_001 Tasks Functionality
*
* File: @ref test_sequence_001.c
*
* <h2>Description</h2>
* This sequence tests the NASA OSAL over ChibiOS/RT functionalities
* related to threading.
*
* <h2>Test Cases</h2>
* - @subpage test_001_001
* - @subpage test_001_002
* - @subpage test_001_003
* - @subpage test_001_004
* .
*/
/****************************************************************************
* Shared code.
****************************************************************************/
#include "osapi.h"
static void test_task1(void) {
test_emit_token('A');
}
static void test_task2(void) {
test_emit_token('B');
}
static void test_task3(void) {
test_emit_token('C');
}
static void test_task4(void) {
test_emit_token('D');
}
static void delete_handler(void) {
test_emit_token('C');
}
static void test_task_delete(void) {
test_emit_token('A');
(void) OS_TaskInstallDeleteHandler(delete_handler);
while (!OS_TaskDeleteCheck()) {
(void) OS_TaskDelay(1);
}
test_emit_token('B');
}
/****************************************************************************
* Test cases.
****************************************************************************/
/**
* @page test_001_001 OS_TaskCreate() errors
*
* <h2>Description</h2>
* Parameters checking in OS_TaskCreate() is tested.
*
* <h2>Test Steps</h2>
* - OS_TaskCreate() is invoked with task_id set to NULL, an error is
* expected.
* - OS_TaskCreate() is invoked with task_name set to NULL, an error is
* expected.
* - OS_TaskCreate() is invoked with stack_pointer set to NULL, an
* error is expected.
* - OS_TaskCreate() is invoked with a very long task name, an error is
* expected.
* - OS_TaskCreate() is invoked with priority below and above allowed
* range, an error is expected.
* - OS_TaskCreate() is invoked with a stack size below minimum, an
* error is expected.
* - OS_TaskCreate() is invoked twice with duplicated name and then
* duplicated stack, an error is expected in both cases.
* .
*/
static void test_001_001_execute(void) {
/* OS_TaskCreate() is invoked with task_id set to NULL, an error is
expected.*/
test_set_step(1);
{
int32 err;
err = OS_TaskCreate(NULL, /* Error.*/
"failing task",
test_task1,
(uint32 *)wa_test1,
sizeof wa_test1,
TASKS_BASE_PRIORITY,
0);
test_assert(err == OS_INVALID_POINTER, "NULL not detected");
test_assert_sequence("", "task executed");
}
/* OS_TaskCreate() is invoked with task_name set to NULL, an error is
expected.*/
test_set_step(2);
{
int32 err;
uint32 tid;
err = OS_TaskCreate(&tid,
NULL, /* Error.*/
test_task1,
(uint32 *)wa_test1,
sizeof wa_test1,
TASKS_BASE_PRIORITY,
0);
test_assert(err == OS_INVALID_POINTER, "NULL not detected");
test_assert_sequence("", "task executed");
}
/* OS_TaskCreate() is invoked with stack_pointer set to NULL, an
error is expected.*/
test_set_step(3);
{
int32 err;
uint32 tid;
err = OS_TaskCreate(&tid,
"failing task",
test_task1,
(uint32 *)NULL, /* Error.*/
sizeof wa_test1,
TASKS_BASE_PRIORITY,
0);
test_assert(err == OS_INVALID_POINTER, "NULL not detected");
test_assert_sequence("", "task executed");
}
/* OS_TaskCreate() is invoked with a very long task name, an error is
expected.*/
test_set_step(4);
{
int32 err;
uint32 tid;
err = OS_TaskCreate(&tid,
"this is a very very long task name", /* Error.*/
test_task1,
(uint32 *)wa_test1,
sizeof wa_test1,
TASKS_BASE_PRIORITY,
0);
test_assert(err == OS_ERR_NAME_TOO_LONG, "name limit not detected");
test_assert_sequence("", "task executed");
}
/* OS_TaskCreate() is invoked with priority below and above allowed
range, an error is expected.*/
test_set_step(5);
{
int32 err;
uint32 tid;
err = OS_TaskCreate(&tid,
"failing task",
test_task1,
(uint32 *)wa_test1,
sizeof wa_test1,
0, /* Error.*/
0);
test_assert(err == OS_ERR_INVALID_PRIORITY, "priority error not detected");
test_assert_sequence("", "task executed");
err = OS_TaskCreate(&tid,
"failing task",
test_task1,
(uint32 *)wa_test1,
sizeof wa_test1,
256, /* Error.*/
0);
test_assert(err == OS_ERR_INVALID_PRIORITY, "priority error not detected");
test_assert_sequence("", "task executed");
}
/* OS_TaskCreate() is invoked with a stack size below minimum, an
error is expected.*/
test_set_step(6);
{
int32 err;
uint32 tid;
err = OS_TaskCreate(&tid,
"failing task",
test_task1,
(uint32 *)wa_test1,
16, /* Error.*/
TASKS_BASE_PRIORITY,
0);
test_assert(err == OS_INVALID_INT_NUM, "stack insufficient size not detected");
test_assert_sequence("", "task executed");
}
/* OS_TaskCreate() is invoked twice with duplicated name and then
duplicated stack, an error is expected in both cases.*/
test_set_step(7);
{
int32 err;
uint32 tid;
err = OS_TaskCreate(&tid,
"running task",
test_task1,
(uint32 *)wa_test1,
sizeof wa_test1,
TASKS_BASE_PRIORITY,
0);
test_assert(err == OS_SUCCESS, "task creation failed");
err = OS_TaskCreate(&tid,
"running task",
test_task2,
(uint32 *)wa_test2,
sizeof wa_test2,
TASKS_BASE_PRIORITY,
0);
test_assert(err == OS_ERR_NAME_TAKEN, "name conflict not detected");
err = OS_TaskCreate(&tid,
"conflicting task",
test_task1,
(uint32 *)wa_test1,
sizeof wa_test1,
TASKS_BASE_PRIORITY,
0);
test_assert(err == OS_ERR_NO_FREE_IDS, "stack conflict not detected");
err = OS_TaskWait(tid);
test_assert(err == OS_SUCCESS, "wait failed");
test_assert_sequence("A", "task not executed");
err = OS_TaskCreate(&tid,
"running task",
test_task1,
(uint32 *)wa_test1,
sizeof wa_test1,
TASKS_BASE_PRIORITY,
0);
test_assert(err == OS_SUCCESS, "task creation failed");
err = OS_TaskWait(tid);
test_assert(err == OS_SUCCESS, "wait failed");
test_assert_sequence("A", "task not executed");
}
}
static const testcase_t test_001_001 = {
"OS_TaskCreate() errors",
NULL,
NULL,
test_001_001_execute
};
/**
* @page test_001_002 OS_TaskCreate() priority ordering
*
* <h2>Description</h2>
* Four tasks are created at different priorities and in different
* order. The execution order must happen in order of priority
* regardless the creation order.
*
* <h2>Test Steps</h2>
* - Four tasks are created in priority order from low to high.
* - Tasks are made runnable atomically and their execution order
* tested.
* - Four tasks are created in priority order from high to low.
* - Tasks are made runnable atomically and their execution order
* tested.
* - Four tasks are created in an not ordered way.
* - Tasks are made runnable atomically and their execution order
* tested.
* .
*/
static void test_001_002_execute(void) {
/* Four tasks are created in priority order from low to high.*/
test_set_step(1);
{
int32 err;
uint32 tid1, tid2, tid3, tid4;
err = OS_TaskCreate(&tid4,
"running task 4",
test_task4,
(uint32 *)wa_test4,
sizeof wa_test4,
TASKS_BASE_PRIORITY - 0,
0);
test_assert(err == OS_SUCCESS, "task 4 creation failed");
err = OS_TaskCreate(&tid3,
"running task 3",
test_task3,
(uint32 *)wa_test3,
sizeof wa_test3,
TASKS_BASE_PRIORITY - 1,
0);
test_assert(err == OS_SUCCESS, "task 3 creation failed");
err = OS_TaskCreate(&tid2,
"running task 2",
test_task2,
(uint32 *)wa_test2,
sizeof wa_test2,
TASKS_BASE_PRIORITY - 2,
0);
test_assert(err == OS_SUCCESS, "task 2 creation failed");
err = OS_TaskCreate(&tid1,
"running task 1",
test_task1,
(uint32 *)wa_test1,
sizeof wa_test1,
TASKS_BASE_PRIORITY - 3,
0);
test_assert(err == OS_SUCCESS, "task 1 creation failed");
}
/* Tasks are made runnable atomically and their execution order
tested.*/
test_set_step(2);
{
OS_TaskDelay(5);
test_assert_sequence("ABCD", "task order violation");
}
/* Four tasks are created in priority order from high to low.*/
test_set_step(3);
{
int32 err;
uint32 tid1, tid2, tid3, tid4;
err = OS_TaskCreate(&tid1,
"running task 1",
test_task1,
(uint32 *)wa_test1,
sizeof wa_test1,
TASKS_BASE_PRIORITY - 3,
0);
test_assert(err == OS_SUCCESS, "task 1 creation failed");
err = OS_TaskCreate(&tid2,
"running task 2",
test_task2,
(uint32 *)wa_test2,
sizeof wa_test2,
TASKS_BASE_PRIORITY - 2,
0);
test_assert(err == OS_SUCCESS, "task 2 creation failed");
err = OS_TaskCreate(&tid3,
"running task 3",
test_task3,
(uint32 *)wa_test3,
sizeof wa_test3,
TASKS_BASE_PRIORITY - 1,
0);
test_assert(err == OS_SUCCESS, "task 3 creation failed");
err = OS_TaskCreate(&tid4,
"running task 4",
test_task4,
(uint32 *)wa_test4,
sizeof wa_test4,
TASKS_BASE_PRIORITY - 0,
0);
test_assert(err == OS_SUCCESS, "task 4 creation failed");
}
/* Tasks are made runnable atomically and their execution order
tested.*/
test_set_step(4);
{
OS_TaskDelay(5);
test_assert_sequence("ABCD", "task order violation");
}
/* Four tasks are created in an not ordered way.*/
test_set_step(5);
{
int32 err;
uint32 tid1, tid2, tid3, tid4;
err = OS_TaskCreate(&tid2,
"running task 2",
test_task2,
(uint32 *)wa_test2,
sizeof wa_test2,
TASKS_BASE_PRIORITY - 2,
0);
test_assert(err == OS_SUCCESS, "task 2 creation failed");
err = OS_TaskCreate(&tid1,
"running task 1",
test_task1,
(uint32 *)wa_test1,
sizeof wa_test1,
TASKS_BASE_PRIORITY - 3,
0);
test_assert(err == OS_SUCCESS, "task 1 creation failed");
err = OS_TaskCreate(&tid4,
"running task 4",
test_task4,
(uint32 *)wa_test4,
sizeof wa_test4,
TASKS_BASE_PRIORITY - 0,
0);
test_assert(err == OS_SUCCESS, "task 4 creation failed");
err = OS_TaskCreate(&tid3,
"running task 3",
test_task3,
(uint32 *)wa_test3,
sizeof wa_test3,
TASKS_BASE_PRIORITY - 1,
0);
test_assert(err == OS_SUCCESS, "task 3 creation failed");
}
/* Tasks are made runnable atomically and their execution order
tested.*/
test_set_step(6);
{
OS_TaskDelay(5);
test_assert_sequence("ABCD", "task order violation");
}
}
static const testcase_t test_001_002 = {
"OS_TaskCreate() priority ordering",
NULL,
NULL,
test_001_002_execute
};
/**
* @page test_001_003 OS_TaskDelete() errors
*
* <h2>Description</h2>
* Parameters checking in OS_TaskDelete() is tested.
*
* <h2>Test Steps</h2>
* - OS_TaskDelete() is invoked with task_id set to -1, an error is
* expected.
* .
*/
static void test_001_003_execute(void) {
/* OS_TaskDelete() is invoked with task_id set to -1, an error is
expected.*/
test_set_step(1);
{
int32 err;
err = OS_TaskDelete((uint32)-1);
test_assert(err == OS_ERR_INVALID_ID, "wrong task id not detected");
}
}
static const testcase_t test_001_003 = {
"OS_TaskDelete() errors",
NULL,
NULL,
test_001_003_execute
};
/**
* @page test_001_004 OS_TaskDelete() and OS_TaskInstallDeleteHandler() functionality
*
* <h2>Description</h2>
* OS_TaskDelete() and OS_TaskInstallDeleteHandler() are tested for
* functionality.
*
* <h2>Test Steps</h2>
* - Creating a task executing an infinite loop.
* - Letting the task run for a while then deleting it. A check is
* performed on the correct execution of the delete handler.
* .
*/
static void test_001_004_execute(void) {
uint32 tid;
/* Creating a task executing an infinite loop.*/
test_set_step(1);
{
int32 err;
err = OS_TaskCreate(&tid,
"deletable task",
test_task_delete,
(uint32 *)wa_test1,
sizeof wa_test1,
TASKS_BASE_PRIORITY,
0);
test_assert(err == OS_SUCCESS, "deletable task creation failed");
}
/* Letting the task run for a while then deleting it. A check is
performed on the correct execution of the delete handler.*/
test_set_step(2);
{
int32 err;
(void) OS_TaskDelay(50);
err = OS_TaskDelete(tid);
test_assert(err == OS_SUCCESS, "delete failed");
test_assert_sequence("ABC", "events order violation");
}
}
static const testcase_t test_001_004 = {
"OS_TaskDelete() and OS_TaskInstallDeleteHandler() functionality",
NULL,
NULL,
test_001_004_execute
};
/****************************************************************************
* Exported data.
****************************************************************************/
/**
* @brief Tasks Functionality.
*/
const testcase_t * const test_sequence_001[] = {
&test_001_001,
&test_001_002,
&test_001_003,
&test_001_004,
NULL
};
|
