From 4c2be4a8e9211f53e3b460de2ad5e9d3e4be70c8 Mon Sep 17 00:00:00 2001 From: gdisirio Date: Wed, 18 Feb 2009 12:58:35 +0000 Subject: git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@781 35acf78f-673a-0410-8e92-d51de3d6d3f4 --- readme.txt | 1 + src/chdebug.c | 1 + src/include/debug.h | 1 + src/include/mailboxes.h | 19 +++++++-- src/include/queues.h | 56 +++++++++++++-------------- test/test.c | 2 + test/test.mk | 4 +- test/testcond.c | 4 +- test/testdyn.c | 12 +++--- test/testevt.c | 16 ++++---- test/testheap.c | 6 +-- test/testmbox.c | 101 ++++++++++++++++++++++++++++++++++++++++++++++++ test/testmbox.h | 25 ++++++++++++ test/testmtx.c | 2 +- test/testpools.c | 4 +- test/testsem.c | 4 +- todo.txt | 17 ++++---- 17 files changed, 208 insertions(+), 67 deletions(-) create mode 100644 test/testmbox.c create mode 100644 test/testmbox.h diff --git a/readme.txt b/readme.txt index e8fddfe47..d08720d0d 100644 --- a/readme.txt +++ b/readme.txt @@ -80,6 +80,7 @@ Win32-MinGW - ChibiOS/RT simulator and demo into a WIN32 process, - FIX: Fixed wrong assertions in chThdWait() and chHeapFree() (backported in stable branch). - FIX: Fixed a small problem in the chcore.c template file. +- NEW: Mailboxes (asynchronous messages) subsystem and test cases added. - NEW: Mode flexible debug configuration options, removed the old CH_USE_DEBUG and CH_USE_TRACE. Replaced with CH_DBG_ENABLE_ASSERTS, CH_DBG_ENABLE_TRACE and CH_DBG_FILL_THREADS. diff --git a/src/chdebug.c b/src/chdebug.c index 63d5090ee..a3873cb60 100644 --- a/src/chdebug.c +++ b/src/chdebug.c @@ -40,6 +40,7 @@ void trace_init(void) { trace_buffer.tb_size = TRACE_BUFFER_SIZE; trace_buffer.tb_ptr = &trace_buffer.tb_buffer[0]; } + /** * @brief Inserts in the circular debug trace buffer a context switch record. * diff --git a/src/include/debug.h b/src/include/debug.h index ac9034a8b..0526e58a7 100644 --- a/src/include/debug.h +++ b/src/include/debug.h @@ -86,6 +86,7 @@ extern "C" { #endif #if CH_DBG_ENABLE_TRACE extern TraceBuffer trace_buffer; + void trace_init(void); void chDbgTrace(Thread *otp, Thread *ntp); #endif #if CH_DBG_ENABLE_ASSERTS diff --git a/src/include/mailboxes.h b/src/include/mailboxes.h index 03623e7bc..58e386e9f 100644 --- a/src/include/mailboxes.h +++ b/src/include/mailboxes.h @@ -52,22 +52,33 @@ extern "C" { #endif /** - * Verifies if the mailbox has space for an immediate message. + * Returns the mailbox buffer size. + * @param[in] mbp the pointer to an initialized Mailbox object + */ +#define chMBSize(mbp) \ + ((mbp)->mb_top - (mbp)->mb_buffer) + +/** + * Returns the free space into the mailbox. * @param[in] mbp the pointer to an initialized Mailbox object * @return The number of empty message slots. * @note Can be invoked in any system state but if invoked out of a locked * state then the returned value may change after reading. + * @note The returned value can be less than zero when there are waiting + * threads on the internal semaphore. */ -#define chMBHasSpace(mbp) chSemGetCounterI(&(mbp)->mb_emptysem) +#define chMBGetEmpty(mbp) chSemGetCounterI(&(mbp)->mb_emptysem) /** - * Verifies if the mailbox has incoming messages. + * Returns the number of messages into the mailbox. * @param[in] mbp the pointer to an initialized Mailbox object * @return The number of queued messages. * @note Can be invoked in any system state but if invoked out of a locked * state then the returned value may change after reading. + * @note The returned value can be less than zero when there are waiting + * threads on the internal semaphore. */ -#define chMBContainsMessages(mbp) chSemGetCounterI(&(mbp)->mb_fullsem) +#define chMBGetFull(mbp) chSemGetCounterI(&(mbp)->mb_fullsem) /** * Returns the next message in the queue without removing it. diff --git a/src/include/queues.h b/src/include/queues.h index 36495f1a7..eea80e804 100644 --- a/src/include/queues.h +++ b/src/include/queues.h @@ -58,29 +58,27 @@ typedef struct { } Queue; /** Returns the queue's buffer size. */ -#define chQSize(q) \ - ((q)->q_top - (q)->q_buffer) +#define chQSize(q) ((q)->q_top - (q)->q_buffer) -/** Returns the used space if used on an Input Queue and the empty space if - * used on an Output Queue. */ -#define chQSpace(q) \ - ((q)->q_sem.s_cnt) +/** + * Returns the used space if used on an Input Queue and the empty space if + * used on an Output Queue. + * @note The returned value can be less than zero when there are waiting + * threads on the internal semaphore. + */ +#define chQSpace(q) chSemGetCounterI(&(q)->q_sem) /** Evaluates to TRUE if the specified Input Queue is empty. */ -#define chIQIsEmpty(q) \ - (chQSpace(q) <= 0) +#define chIQIsEmpty(q) (chQSpace(q) <= 0) /** Evaluates to TRUE if the specified Input Queue is full. */ -#define chIQIsFull(q) \ - (chQSpace(q) >= chQSize(q)) +#define chIQIsFull(q) (chQSpace(q) >= chQSize(q)) /** Evaluates to TRUE if the specified Output Queue is empty. */ -#define chOQIsEmpty(q) \ - (chQSpace(q) >= chQSize(q)) +#define chOQIsEmpty(q) (chQSpace(q) >= chQSize(q)) /** Evaluates to TRUE if the specified Output Queue is full. */ -#define chOQIsFull(q) \ - (chQSpace(q) <= 0) +#define chOQIsFull(q) (chQSpace(q) <= 0) #ifdef __cplusplus extern "C" { @@ -131,28 +129,30 @@ typedef struct { } HalfDuplexQueue; /** Returns the queue's buffer size. */ -#define chHDQSize(q) \ - ((q)->hdq_top - (q)->hdq_buffer) +#define chHDQSize(q) ((q)->hdq_top - (q)->hdq_buffer) -/** Returns the queue space when in transmission mode. */ -#define chHDQEmptySpace(q) \ - ((q)->hdq_osem.s_cnt) +/** + * Returns the queue space when in transmission mode. + * @note The returned value can be less than zero when there are waiting + * threads on the internal semaphore. + */ +#define chHDQEmptySpace(q) chSemGetCounterI(&(q)->hdq_osem) -/** Returns the number of the bytes in the queue when in receive mode. */ -#define chHDQFilledSpace(q) \ - ((q)->hdq_isem.s_cnt) +/** + * Returns the number of the bytes in the queue when in receive mode. + * @note The returned value can be less than zero when there are waiting + * threads on the internal semaphore. + */ +#define chHDQFilledSpace(q) chSemGetCounterI(&(q)->hdq_isem) /** Evaluates to TRUE if the queue is in transmit mode. */ -#define chHDQIsTransmitting(q) \ - (chHDQEmptySpace(q) < chHDQSize(q)) +#define chHDQIsTransmitting(q) (chHDQEmptySpace(q) < chHDQSize(q)) /** Evaluates to TRUE if the queue is in receive mode. */ -#define chHDQIsReceiving(q) \ - (chHDQEmptySpaceQ(q) >= chHDQSize(q)) +#define chHDQIsReceiving(q) (chHDQEmptySpaceQ(q) >= chHDQSize(q)) /** Evaluates to TRUE if the receive queue is full. */ -#define chHDQIsFullReceive(q) \ - (chHDQFilledSpace(q) >= chHDQSize(q)) +#define chHDQIsFullReceive(q) (chHDQFilledSpace(q) >= chHDQSize(q)) #ifdef __cplusplus extern "C" { diff --git a/test/test.c b/test/test.c index ed9b04b91..15e23e79c 100644 --- a/test/test.c +++ b/test/test.c @@ -25,6 +25,7 @@ #include "testmtx.h" #include "testcond.h" #include "testmsg.h" +#include "testmbox.h" #include "testevt.h" #include "testheap.h" #include "testpools.h" @@ -40,6 +41,7 @@ static const struct testcase **patterns[] = { patternmtx, patterncond, patternmsg, + patternmbox, patternevt, patternheap, patternpools, diff --git a/test/test.mk b/test/test.mk index 100b3d0ed..6cce48f2a 100644 --- a/test/test.mk +++ b/test/test.mk @@ -1,8 +1,8 @@ # List of all the ChibiOS/RT test files. TESTSRC = ../../test/test.c ../../test/testrdy.c ../../test/testsem.c \ ../../test/testmtx.c ../../test/testcond.c ../../test/testmsg.c \ - ../../test/testevt.c ../../test/testheap.c ../../test/testpools.c \ - ../../test/testdyn.c ../../test/testbmk.c + ../../test/testmbox.c ../../test/testevt.c ../../test/testheap.c \ + ../../test/testpools.c ../../test/testdyn.c ../../test/testbmk.c # Required include directories TESTINC = ../../test diff --git a/test/testcond.c b/test/testcond.c index 2771b5202..692ec88d2 100644 --- a/test/testcond.c +++ b/test/testcond.c @@ -55,7 +55,7 @@ static void cond1_execute(void) { threads[2] = chThdCreateStatic(wa[2], WA_SIZE, prio+3, thread1, "C"); threads[3] = chThdCreateStatic(wa[3], WA_SIZE, prio+4, thread1, "B"); threads[4] = chThdCreateStatic(wa[4], WA_SIZE, prio+5, thread1, "A"); - test_assert(prio == chThdGetPriority(), "priority return failure"); + test_assert(prio == chThdGetPriority(), "#1"); /* Priority return failure.*/ chCondSignal(&c1); chCondSignal(&c1); chCondSignal(&c1); @@ -86,7 +86,7 @@ static void cond2_execute(void) { threads[2] = chThdCreateStatic(wa[2], WA_SIZE, prio+3, thread1, "C"); threads[3] = chThdCreateStatic(wa[3], WA_SIZE, prio+4, thread1, "B"); threads[4] = chThdCreateStatic(wa[4], WA_SIZE, prio+5, thread1, "A"); - test_assert(prio == chThdGetPriority(), "priority return failure"); + test_assert(prio == chThdGetPriority(), "#1"); /* Priority return failure.*/ chCondBroadcast(&c1); test_wait_threads(); test_assert_sequence("ABCDE"); diff --git a/test/testdyn.c b/test/testdyn.c index 07b07594c..775e3c795 100644 --- a/test/testdyn.c +++ b/test/testdyn.c @@ -52,15 +52,15 @@ static void dyn1_execute(void) { (threads[2] == NULL) && (threads[3] == NULL) && (threads[4] == NULL), - "thread creation failed"); + "#1"); /* Thread creation failed.*/ /* Claiming the memory from terminated threads. */ test_wait_threads(); test_assert_sequence("AB"); /* Heap status checked again.*/ - test_assert(chHeapStatus(&n) == 1, "heap fragmented"); - test_assert(n == sz, "heap size changed"); + test_assert(chHeapStatus(&n) == 1, "#2"); /* Heap fragmented.*/ + test_assert(n == sz, "#3"); /* Heap size changed.*/ } } @@ -105,7 +105,7 @@ static void dyn2_execute(void) { (threads[2] != NULL) && (threads[3] != NULL) && (threads[4] != NULL), - "thread creation failed"); + "#1"); /* Thread creation failed.*/ /* Claiming the memory from terminated threads. */ test_wait_threads(); @@ -113,8 +113,8 @@ static void dyn2_execute(void) { /* Now the pool must be full again. */ for (i = 0; i < 5; i++) - test_assert(chPoolAlloc(&mp1) != NULL, "pool list empty"); - test_assert(chPoolAlloc(&mp1) == NULL, "pool list not empty"); + test_assert(chPoolAlloc(&mp1) != NULL, "#2"); /* Pool list empty.*/ + test_assert(chPoolAlloc(&mp1) == NULL, "#3"); /* Pool list not empty.*/ } const struct testcase testdyn2 = { diff --git a/test/testevt.c b/test/testevt.c index 89c5cf114..7af8b7b73 100644 --- a/test/testevt.c +++ b/test/testevt.c @@ -55,20 +55,20 @@ static void evt1_execute(void) { */ chEvtPend(5); m = chEvtWaitOne(ALL_EVENTS); - test_assert(m == 1, "chEvtWaitOne() error"); + test_assert(m == 1, "#1"); /* Single bit error.*/ m = chEvtWaitOne(ALL_EVENTS); - test_assert(m == 4, "chEvtWaitOne() error"); + test_assert(m == 4, "#2"); /* Single bit error.*/ m = chEvtClear(0); - test_assert(m == 0, "stuck event"); + test_assert(m == 0, "#3"); /* Stuck event.*/ /* * Test on chEvtWaitAny(). */ chEvtPend(5); m = chEvtWaitAny(ALL_EVENTS); - test_assert(m == 5, "chEvtWaitAny() error"); + test_assert(m == 5, "#4"); /* Unexpected pending.*/ m = chEvtClear(0); - test_assert(m == 0, "stuck event"); + test_assert(m == 0, "#5"); /* Stuck event.*/ /* * Test on chEvtWaitAll(), chEvtRegisterMask() and chEvtUnregister(). @@ -82,13 +82,13 @@ static void evt1_execute(void) { m = chEvtWaitAll(5); test_assert_time_window(target_time, target_time + ALLOWED_DELAY); m = chEvtClear(0); - test_assert(m == 0, "stuck event"); + test_assert(m == 0, "#6"); /* Stuck event.*/ test_wait_threads(); chEvtUnregister(&es1, &el1); chEvtUnregister(&es2, &el2); - test_assert(!chEvtIsListening(&es1), "stuck listener"); - test_assert(!chEvtIsListening(&es2), "stuck listener"); + test_assert(!chEvtIsListening(&es1), "#7"); /* Stuck listener.*/ + test_assert(!chEvtIsListening(&es2), "#8"); /* Stuck listener.*/ } const struct testcase testevt1 = { diff --git a/test/testheap.c b/test/testheap.c index 841c084e8..0a84b7b33 100644 --- a/test/testheap.c +++ b/test/testheap.c @@ -47,7 +47,7 @@ static void heap1_execute(void) { chHeapFree(p1); /* Does not merge */ chHeapFree(p2); /* Merges backward */ chHeapFree(p3); /* Merges both sides */ - test_assert(chHeapStatus(&n) == 1, "heap fragmented #1"); + test_assert(chHeapStatus(&n) == 1, "#1"); /* Heap fragmented.*/ /* Reverse order */ p1 = chHeapAlloc(SIZE); @@ -56,9 +56,9 @@ static void heap1_execute(void) { chHeapFree(p3); /* Merges forward */ chHeapFree(p2); /* Merges forward */ chHeapFree(p1); /* Merges forward */ - test_assert(chHeapStatus(&n) == 1, "heap fragmented #2"); + test_assert(chHeapStatus(&n) == 1, "#2"); /* Heap fragmented.*/ - test_assert(n == sz, "heap size changed"); + test_assert(n == sz, "#3"); /* Heap size changed.*/ } else { test_print("--- Size : "); diff --git a/test/testmbox.c b/test/testmbox.c new file mode 100644 index 000000000..7ab3f6126 --- /dev/null +++ b/test/testmbox.c @@ -0,0 +1,101 @@ +/* + ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio. + + This file is part of ChibiOS/RT. + + ChibiOS/RT is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 3 of the License, or + (at your option) any later version. + + ChibiOS/RT is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#include + +#include "test.h" + +#if CH_USE_MAILBOXES && CH_USE_SEMAPHORES_TIMEOUT + +#define ALLOWED_DELAY MS2ST(5) +#define MB_SIZE 5 + +static msg_t mb1_buf[MB_SIZE]; +static Mailbox mb1; + +static char *mbox1_gettest(void) { + + return "Mailboxes, queuing and timeouts"; +} + +static void mbox1_setup(void) { + + chMBInit(&mb1, mb1_buf, MB_SIZE); +} + +static void mbox1_execute(void) { + msg_t msg1, msg2; + unsigned i; + + /* Testing initial space.*/ + test_assert(chMBGetEmpty(&mb1) == MB_SIZE, "#1"); + + /* Testing enqueuing.*/ + for (i = 0; i < MB_SIZE - 1; i++) { + msg1 = chMBPost(&mb1, 'B' + i, TIME_INFINITE); + test_assert(msg1 == RDY_OK, "#2"); + } + msg1 = chMBPostAhead(&mb1, 'A', TIME_INFINITE); + test_assert(msg1 == RDY_OK, "#3"); + + /* Testing post timeout.*/ + msg1 = chMBPost(&mb1, 'X', 1); + test_assert(msg1 == RDY_TIMEOUT, "#4"); + + /* Testing final conditions.*/ + test_assert(chMBGetEmpty(&mb1) == 0, "#5"); + test_assert(chMBGetFull(&mb1) == MB_SIZE, "#6"); + test_assert(mb1.mb_rdptr == mb1.mb_wrptr, "#7"); + + /* Testing dequeuing.*/ + for (i = 0; i < MB_SIZE; i++) { + msg1 = chMBFetch(&mb1, &msg2, TIME_INFINITE); + test_assert(msg1 == RDY_OK, "#8"); + test_emit_token(msg2); + } + test_assert_sequence("ABCDE"); + + /* Testing fetch timeout.*/ + msg1 = chMBFetch(&mb1, &msg2, 1); + test_assert(msg1 == RDY_TIMEOUT, "#9"); + + /* Testing final conditions.*/ + test_assert(chMBGetEmpty(&mb1) == MB_SIZE, "#10"); + test_assert(chMBGetFull(&mb1) == 0, "#11"); + test_assert(mb1.mb_rdptr == mb1.mb_wrptr, "#12"); +} + +const struct testcase testmbox1 = { + mbox1_gettest, + mbox1_setup, + NULL, + mbox1_execute +}; + +#endif /* CH_USE_MAILBOXES && CH_USE_SEMAPHORES_TIMEOUT */ + +/* + * Test sequence for mailboxes pattern. + */ +const struct testcase *patternmbox[] = { +#if CH_USE_MAILBOXES && CH_USE_SEMAPHORES_TIMEOUT + &testmbox1, +#endif + NULL +}; diff --git a/test/testmbox.h b/test/testmbox.h new file mode 100644 index 000000000..52cb7ee18 --- /dev/null +++ b/test/testmbox.h @@ -0,0 +1,25 @@ +/* + ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio. + + This file is part of ChibiOS/RT. + + ChibiOS/RT is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 3 of the License, or + (at your option) any later version. + + ChibiOS/RT is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . +*/ + +#ifndef _TESTMBOX_H_ +#define _TESTMBOX_H_ + +extern const struct testcase *patternmbox[]; + +#endif /* _TESTMBOX_H_ */ diff --git a/test/testmtx.c b/test/testmtx.c index 6bef57041..685361bba 100644 --- a/test/testmtx.c +++ b/test/testmtx.c @@ -56,7 +56,7 @@ static void mtx1_execute(void) { threads[4] = chThdCreateStatic(wa[4], WA_SIZE, prio+5, thread1, "A"); chMtxUnlock(); test_wait_threads(); - test_assert(prio == chThdGetPriority(), "priority return failure"); + test_assert(prio == chThdGetPriority(), "#1"); /* Priority return failure.*/ test_assert_sequence("ABCDE"); } diff --git a/test/testpools.c b/test/testpools.c index fae7402c3..759a28c44 100644 --- a/test/testpools.c +++ b/test/testpools.c @@ -44,10 +44,10 @@ static void pools1_execute(void) { /* Empting the pool again. */ for (i = 0; i < MAX_THREADS; i++) - test_assert(chPoolAlloc(&mp1) != NULL, "pool list empty"); + test_assert(chPoolAlloc(&mp1) != NULL, "#1"); /* Pool list empty.*/ /* Now must be empty. */ - test_assert(chPoolAlloc(&mp1) == NULL, "pool list not empty"); + test_assert(chPoolAlloc(&mp1) == NULL, "#2"); /* Pool list not empty.*/ } const struct testcase testpools1 = { diff --git a/test/testsem.c b/test/testsem.c index c582d9531..35e37d965 100644 --- a/test/testsem.c +++ b/test/testsem.c @@ -86,8 +86,8 @@ static void sem2_execute(void) { for (i = 0; i < 5; i++) { test_emit_token('A' + i); chSemWaitTimeout(&sem1, MS2ST(500)); - test_assert(isempty(&sem1.s_queue), "queue not empty"); - test_assert(&sem1.s_cnt != 0, "counter not zero"); + test_assert(isempty(&sem1.s_queue), "#1"); /* Queue not empty */ + test_assert(&sem1.s_cnt != 0, "#2"); /* Counter not zero */ } test_assert_sequence("ABCDE"); test_assert_time_window(target_time, target_time + ALLOWED_DELAY); diff --git a/todo.txt b/todo.txt index 37fd04ca2..c8f992bf5 100644 --- a/todo.txt +++ b/todo.txt @@ -1,27 +1,22 @@ After 1.0.0: X Improve makefiles by adding an options head section and making it shared. -- Update C++ wrapper (Heap, Pools). +* Queues macros should not refer to the semaphore counters directly. * Priority ordering option for semaphores. * chSysLock() and chSysUnlock() with counter (option). * OSEK-style chSysSuspendAll()/chSysResumeAll()/chSysEnable()/chSysDisable(), implemented this as the new Suspended and Disabled states in 1.1. -X lwIP TCP/IP stack integration and demo. - X "Wide Queues" or Mailboxes, lwIP requires them. -X FatFS library integration and demo. +* Mailboxes subsystem (lwIP requires them). * Multiple debug switches. X Stack checks option. * Threads profiling option. - - Objects registry. * Idle loop hook macro. * Switch the configuration options to TRUE/FALSE rather than def/undef. + +After 1.2.0: - Threads Pools manager in the library. - New chThdCreate() that takes just two parameters, a pointer to a thread descriptor and the tread parameter. It could wrap the current variants or just be an alternative. -- Fix the names of the Queues macros, also do not refer to the semaphore - counters directly. - -After 1.2.0: - Minimal optional C-runtime library (complete enough for lwIP). - OSEK-style simple tasks within the idle thread. - Think to something for threads restart. @@ -30,6 +25,7 @@ After 1.2.0: - Move the serial drivers implementations in library al keep the I/O channel interface as part of the kernel. Better keep the core as compact as possible. +- Update C++ wrapper (Heap, Pools, Mailboxes and any new feature). Ideas for 2.x.x: - Reference counter for threads, concept of detached threads, threads @@ -38,12 +34,15 @@ Ideas for 2.x.x: - Multicore support. Side projects: +X lwIP TCP/IP stack integration and demo. +X FatFS library integration and demo. X ChibiOS Wizard, UML modeling and ChibiOS applications code and documentation generator. X OSEK layer. - Posix layer. X File System - Visual debugger interfaced to OpenOCD. + - Objects registry. Lower priority: - More demos -- cgit v1.2.3