d0b8d0675e
1. remove the old msg queue and queue: i. msg queue is not a common and reusable/flexible component(need user to config the msg pool size and this componet can only be used by tos_queue) ii. tos_queue can only deliver the pointer message(cannot do a memory buffer deliver) 2. add ring queue(tos_ring_q) componet rinq queue can be reused by tos_chr_fifi/tos_msg_q/tos_mail_q as the foundational data container 3. add message queue(tos_msg_q) a little like the old queue mechanism, supply the capability to deliver a pointer message 4. add mail queue(tos_mail_q) supply the capability to deliver a memory buffer 5. add binary heap(tos_bin_heap) the basement componet to implement priority queue 6. add priority queue(tos_prio_q) can be reused by the priority message/mail queue as the foundational data container. 7. add priority message queue(tos_prio_msg_q) a message(pointer) deliver mechanism, supply the capability of delivering the message with priority(message with higher priority comes faster to the pender than with lower) 8. add priority mail queue(tos_prio_mail_q) a mail(memory buffer) deliver mechanism, supply the capability of delivering the mail with priority(mail with higher priority comes faster to the pender than with lower)
423 lines
13 KiB
C
423 lines
13 KiB
C
#include <stdio.h>
|
|
#include <stdlib.h>
|
|
#include <assert.h>
|
|
|
|
#include "test/test.h"
|
|
#include "greatest/greatest.h"
|
|
|
|
SUITE(suit_priority_mail_queue);
|
|
|
|
k_prio_mail_q_t test_prio_mail_q_00;
|
|
k_prio_mail_q_t test_prio_mail_q_01;
|
|
k_prio_mail_q_t test_prio_mail_q_02;
|
|
|
|
#define TEST_PRIO_MAIL_Q_MAIL_CNT 5
|
|
uint8_t test_prio_mail_q_pool_00[sizeof(test_mail_t) * TEST_PRIO_MAIL_Q_MAIL_CNT];
|
|
uint8_t test_prio_mail_q_pool_01[sizeof(test_mail_t) * TEST_PRIO_MAIL_Q_MAIL_CNT];
|
|
uint8_t test_prio_mail_q_pool_02[sizeof(test_mail_t) * TEST_PRIO_MAIL_Q_MAIL_CNT];
|
|
|
|
static void test_prio_mail_queue_pend_task_entry(void *arg)
|
|
{
|
|
k_err_t err;
|
|
k_prio_mail_q_t *mail_q;
|
|
test_mail_t mail;
|
|
size_t mail_size;
|
|
|
|
mail_q = arg ? (k_prio_mail_q_t *)arg : K_NULL;
|
|
while (K_TRUE) {
|
|
test_context_set(TEST_CONTEXT_00);
|
|
err = tos_prio_mail_q_pend(mail_q, &mail, &mail_size, TOS_TIME_FOREVER);
|
|
test_context_set(TEST_CONTEXT_01);
|
|
test_err_set(err);
|
|
if (err == K_ERR_NONE) {
|
|
test_mail_set(&mail, mail_size);
|
|
tos_task_yield(); // yeild to test main
|
|
}
|
|
|
|
if (err == K_ERR_PEND_DESTROY) {
|
|
tos_task_delay(TOS_TIME_FOREVER - 1);
|
|
}
|
|
|
|
if (test_task_hook) {
|
|
test_task_hook();
|
|
}
|
|
}
|
|
}
|
|
|
|
static void test_prio_mail_queue_pend_timed_task_entry(void *arg)
|
|
{
|
|
k_err_t err;
|
|
k_prio_mail_q_t *mail_q;
|
|
test_mail_t mail;
|
|
size_t mail_size;
|
|
|
|
mail_q = arg ? (k_prio_mail_q_t *)arg : K_NULL;
|
|
|
|
while (K_TRUE) {
|
|
test_context_set(TEST_CONTEXT_00);
|
|
err = tos_prio_mail_q_pend(mail_q, &mail, &mail_size, (k_tick_t)2000u);
|
|
test_context_set(TEST_CONTEXT_01);
|
|
test_err_set(err);
|
|
if (err == K_ERR_NONE) {
|
|
test_mail_set(&mail, mail_size);
|
|
}
|
|
|
|
if (err == K_ERR_PEND_DESTROY) {
|
|
tos_task_delay(TOS_TIME_FOREVER - 1);
|
|
}
|
|
|
|
if (test_task_hook) {
|
|
test_task_hook();
|
|
}
|
|
}
|
|
}
|
|
|
|
TEST test_tos_prio_mail_queue_create(void)
|
|
{
|
|
k_err_t err;
|
|
|
|
err = tos_prio_mail_q_create(&test_prio_mail_q_00, test_prio_mail_q_pool_00, TEST_PRIO_MAIL_Q_MAIL_CNT, sizeof(test_mail_t));
|
|
ASSERT_EQ(err, K_ERR_NONE);
|
|
|
|
err = tos_prio_mail_q_create(&test_prio_mail_q_01, test_prio_mail_q_pool_01, TEST_PRIO_MAIL_Q_MAIL_CNT, sizeof(test_mail_t));
|
|
ASSERT_EQ(err, K_ERR_NONE);
|
|
|
|
err = tos_prio_mail_q_create(&test_prio_mail_q_02, test_prio_mail_q_pool_02, TEST_PRIO_MAIL_Q_MAIL_CNT, sizeof(test_mail_t));
|
|
ASSERT_EQ(err, K_ERR_NONE);
|
|
|
|
err = tos_prio_mail_q_destroy(&test_prio_mail_q_00);
|
|
ASSERT_EQ(err, K_ERR_NONE);
|
|
|
|
err = tos_prio_mail_q_destroy(&test_prio_mail_q_01);
|
|
ASSERT_EQ(err, K_ERR_NONE);
|
|
|
|
err = tos_prio_mail_q_destroy(&test_prio_mail_q_02);
|
|
ASSERT_EQ(err, K_ERR_NONE);
|
|
|
|
PASS();
|
|
}
|
|
|
|
TEST test_tos_prio_mail_queue_destroy(void)
|
|
{
|
|
k_err_t err;
|
|
|
|
#if TOS_CFG_OBJECT_VERIFY_EN > 0u
|
|
err = tos_prio_mail_q_destroy(&test_prio_mail_q_00);
|
|
ASSERT_EQ(err, K_ERR_OBJ_INVALID);
|
|
#endif
|
|
|
|
err = tos_prio_mail_q_destroy(K_NULL);
|
|
ASSERT_EQ(err, K_ERR_OBJ_PTR_NULL);
|
|
|
|
PASS();
|
|
}
|
|
|
|
TEST test_tos_prio_mail_queue_pend(void)
|
|
{
|
|
k_err_t err;
|
|
test_mail_t mail0 = {
|
|
0xDEAD0000,
|
|
"test_mail0",
|
|
'T',
|
|
};
|
|
test_mail_t mail1 = {
|
|
0xDEAD1111,
|
|
"test_mail1",
|
|
'U',
|
|
};
|
|
test_mail_t mail2 = {
|
|
0xDEAD2222,
|
|
"test_mail2",
|
|
'V',
|
|
};
|
|
|
|
test_mail_reset();
|
|
test_context_reset();
|
|
test_count_reset();
|
|
test_task_hook_set(test_count_inc);
|
|
|
|
err = tos_prio_mail_q_create(&test_prio_mail_q_00, test_prio_mail_q_pool_00, TEST_PRIO_MAIL_Q_MAIL_CNT, sizeof(test_mail_t));
|
|
ASSERT_EQ(err, K_ERR_NONE);
|
|
|
|
// create a test task with the same priority than current task
|
|
err = tos_task_create(&test_task_00, "test_task", test_prio_mail_queue_pend_task_entry,
|
|
(void *)(&test_prio_mail_q_00), k_curr_task->prio,
|
|
test_task_stack_00, sizeof(test_task_stack_00),
|
|
0);
|
|
ASSERT_EQ(err, K_ERR_NONE);
|
|
|
|
ASSERT_EQ(test_count, 0);
|
|
ASSERT(test_context != TEST_CONTEXT_00);
|
|
|
|
// we post mail2, mail1, mail0 with the certain priority, the test_task should receive mail according the priority
|
|
tos_prio_mail_q_post(&test_prio_mail_q_00, &mail2, sizeof(test_mail_t), 2);
|
|
tos_prio_mail_q_post(&test_prio_mail_q_00, &mail1, sizeof(test_mail_t), 1);
|
|
tos_prio_mail_q_post(&test_prio_mail_q_00, &mail0, sizeof(test_mail_t), 0);
|
|
|
|
tos_task_yield(); // yeild to test_task
|
|
|
|
ASSERT_EQ(test_count, 0);
|
|
ASSERT_EQ(test_err, K_ERR_NONE);
|
|
ASSERT_EQ(test_context, TEST_CONTEXT_01);
|
|
|
|
ASSERT_EQ(test_mail.a, mail0.a);
|
|
ASSERT_EQ(strcmp(test_mail.b, mail0.b), 0);
|
|
ASSERT_EQ(test_mail.c, mail0.c);
|
|
tos_task_yield(); // yeild to test_task
|
|
|
|
ASSERT_EQ(test_count, 1);
|
|
ASSERT_EQ(test_err, K_ERR_NONE);
|
|
ASSERT_EQ(test_context, TEST_CONTEXT_01);
|
|
|
|
ASSERT_EQ(test_mail.a, mail1.a);
|
|
ASSERT_EQ(strcmp(test_mail.b, mail1.b), 0);
|
|
ASSERT_EQ(test_mail.c, mail1.c);
|
|
tos_task_yield(); // yeild to test_task
|
|
|
|
ASSERT_EQ(test_mail.a, mail2.a);
|
|
ASSERT_EQ(strcmp(test_mail.b, mail2.b), 0);
|
|
ASSERT_EQ(test_mail.c, mail2.c);
|
|
tos_task_yield(); // yeild to test_task
|
|
|
|
tos_prio_mail_q_destroy(&test_prio_mail_q_00);
|
|
tos_task_yield(); // yeild to test_task
|
|
ASSERT_EQ(test_err, K_ERR_PEND_DESTROY);
|
|
ASSERT_EQ(test_context, TEST_CONTEXT_01);
|
|
|
|
err = tos_task_destroy(&test_task_00);
|
|
ASSERT_EQ(err, K_ERR_NONE);
|
|
|
|
PASS();
|
|
}
|
|
|
|
TEST test_tos_prio_mail_queue_pend_timed(void)
|
|
{
|
|
k_err_t err;
|
|
k_tick_t begin;
|
|
test_mail_t mail = {
|
|
0xDEADBEEF,
|
|
"test_mail",
|
|
'T',
|
|
};
|
|
|
|
test_mail_reset();
|
|
test_err_reset();
|
|
test_context_reset();
|
|
test_count_reset();
|
|
test_task_hook_set(test_count_inc);
|
|
|
|
err = tos_prio_mail_q_create(&test_prio_mail_q_00, test_prio_mail_q_pool_00, TEST_PRIO_MAIL_Q_MAIL_CNT, sizeof(test_mail_t));
|
|
ASSERT_EQ(err, K_ERR_NONE);
|
|
|
|
// create a test task with a higher priority than current task(numerically smaller)
|
|
err = tos_task_create(&test_task_00, "test_task", test_prio_mail_queue_pend_timed_task_entry,
|
|
(void *)(&test_prio_mail_q_00), k_curr_task->prio - 1,
|
|
test_task_stack_00, sizeof(test_task_stack_00),
|
|
0);
|
|
ASSERT_EQ(err, K_ERR_NONE);
|
|
|
|
// test_task_00 has a higher priority, so it will get running after the task create immediately
|
|
ASSERT_EQ(test_context, TEST_CONTEXT_00);
|
|
|
|
begin = tos_systick_get();
|
|
while (tos_systick_get() - begin < (k_tick_t)(2000u + 20u)) {
|
|
tos_task_yield();
|
|
}
|
|
|
|
ASSERT_EQ(test_context, TEST_CONTEXT_00);
|
|
ASSERT_EQ(test_count, 1);
|
|
ASSERT_EQ(test_err, K_ERR_PEND_TIMEOUT);
|
|
|
|
err = tos_prio_mail_q_post(&test_prio_mail_q_00, &mail, sizeof(test_mail_t), 0);
|
|
ASSERT_EQ(err, K_ERR_NONE);
|
|
|
|
ASSERT_EQ(test_context, TEST_CONTEXT_00);
|
|
ASSERT_EQ(test_count, 2);
|
|
ASSERT_EQ(test_err, K_ERR_NONE);
|
|
|
|
ASSERT_EQ(test_mail.a, mail.a);
|
|
ASSERT_EQ(strcmp(test_mail.b, mail.b), 0);
|
|
ASSERT_EQ(test_mail.c, mail.c);
|
|
|
|
err = tos_prio_mail_q_destroy(&test_prio_mail_q_00);
|
|
ASSERT_EQ(err, K_ERR_NONE);
|
|
|
|
ASSERT_EQ(test_context, TEST_CONTEXT_01);
|
|
ASSERT_EQ(test_err, K_ERR_PEND_DESTROY);
|
|
|
|
err = tos_task_destroy(&test_task_00);
|
|
ASSERT_EQ(err, K_ERR_NONE);
|
|
|
|
test_task_hook_reset();
|
|
|
|
PASS();
|
|
}
|
|
|
|
TEST test_tos_prio_mail_queue_post_all(void)
|
|
{
|
|
k_err_t err;
|
|
test_mail_t mail = {
|
|
0xDEADBEEF,
|
|
"test_mail",
|
|
'T',
|
|
};
|
|
|
|
test_err_reset();
|
|
test_context_reset();
|
|
test_count_reset();
|
|
test_task_hook_set(test_count_inc);
|
|
|
|
err = tos_prio_mail_q_create(&test_prio_mail_q_00, test_prio_mail_q_pool_00, TEST_PRIO_MAIL_Q_MAIL_CNT, sizeof(test_mail_t));
|
|
ASSERT_EQ(err, K_ERR_NONE);
|
|
|
|
// create a test task with a higher priority than current task(numerically smaller)
|
|
err = tos_task_create(&test_task_00, "test_task_00", test_prio_mail_queue_pend_task_entry,
|
|
(void *)(&test_prio_mail_q_00), k_curr_task->prio - 1,
|
|
test_task_stack_00, sizeof(test_task_stack_00),
|
|
0);
|
|
ASSERT_EQ(err, K_ERR_NONE);
|
|
|
|
// create a test task with a higher priority than current task(numerically smaller)
|
|
err = tos_task_create(&test_task_01, "test_task_01", test_prio_mail_queue_pend_task_entry,
|
|
(void *)(&test_prio_mail_q_00), k_curr_task->prio - 1,
|
|
test_task_stack_01, sizeof(test_task_stack_01),
|
|
0);
|
|
ASSERT_EQ(err, K_ERR_NONE);
|
|
|
|
// create a test task with a higher priority than current task(numerically smaller)
|
|
err = tos_task_create(&test_task_02, "test_task_02", test_prio_mail_queue_pend_task_entry,
|
|
(void *)(&test_prio_mail_q_00), k_curr_task->prio - 1,
|
|
test_task_stack_02, sizeof(test_task_stack_02),
|
|
0);
|
|
ASSERT_EQ(err, K_ERR_NONE);
|
|
|
|
ASSERT_EQ(test_count, 0);
|
|
|
|
err = tos_prio_mail_q_post_all(&test_prio_mail_q_00, &mail, sizeof(test_mail_t), 0);
|
|
ASSERT_EQ(err, K_ERR_NONE);
|
|
|
|
ASSERT_EQ(test_count, 3);
|
|
ASSERT_EQ(test_mail.a, mail.a);
|
|
ASSERT_EQ(strcmp(test_mail.b, mail.b), 0);
|
|
ASSERT_EQ(test_mail.c, mail.c);
|
|
|
|
err = tos_prio_mail_q_post(&test_prio_mail_q_00, &mail, sizeof(test_mail_t), 0);
|
|
ASSERT_EQ(err, K_ERR_NONE);
|
|
|
|
ASSERT_EQ(test_count, 4);
|
|
ASSERT_EQ(test_mail.a, mail.a);
|
|
ASSERT_EQ(strcmp(test_mail.b, mail.b), 0);
|
|
ASSERT_EQ(test_mail.c, mail.c);
|
|
|
|
err = tos_task_destroy(&test_task_00);
|
|
ASSERT_EQ(err, K_ERR_NONE);
|
|
|
|
err = tos_task_destroy(&test_task_01);
|
|
ASSERT_EQ(err, K_ERR_NONE);
|
|
|
|
err = tos_task_destroy(&test_task_02);
|
|
ASSERT_EQ(err, K_ERR_NONE);
|
|
|
|
err = tos_prio_mail_q_destroy(&test_prio_mail_q_00);
|
|
ASSERT_EQ(err, K_ERR_NONE);
|
|
|
|
test_task_hook_reset();
|
|
|
|
PASS();
|
|
}
|
|
|
|
TEST test_tos_prio_mail_queue_flush(void)
|
|
{
|
|
k_err_t err;
|
|
void *mail0 = (void *)0xDEADBEE0, *mail1 = (void *)0xDEADBEE1, *mail2 = (void *)0xDEADBEE2;
|
|
|
|
test_err_reset();
|
|
test_context_reset();
|
|
test_count_reset();
|
|
test_task_hook_set(test_count_inc);
|
|
|
|
err = tos_prio_mail_q_create(&test_prio_mail_q_00, test_prio_mail_q_pool_00, TEST_PRIO_MAIL_Q_MAIL_CNT, sizeof(test_mail_t));
|
|
ASSERT_EQ(err, K_ERR_NONE);
|
|
|
|
// create a test task with a lower priority than current task(numerically bigger)
|
|
err = tos_task_create(&test_task_00, "test_task_00", test_prio_mail_queue_pend_task_entry,
|
|
(void *)(&test_prio_mail_q_00), k_curr_task->prio + 1,
|
|
test_task_stack_00, sizeof(test_task_stack_00),
|
|
0);
|
|
ASSERT_EQ(err, K_ERR_NONE);
|
|
|
|
err = tos_prio_mail_q_post(&test_prio_mail_q_00, &mail0, sizeof(test_mail_t), 0);
|
|
ASSERT_EQ(err, K_ERR_NONE);
|
|
|
|
err = tos_prio_mail_q_post(&test_prio_mail_q_00, &mail1, sizeof(test_mail_t), 0);
|
|
ASSERT_EQ(err, K_ERR_NONE);
|
|
|
|
err = tos_prio_mail_q_post(&test_prio_mail_q_00, &mail2, sizeof(test_mail_t), 0);
|
|
ASSERT_EQ(err, K_ERR_NONE);
|
|
|
|
// we have post three mail, but we flush them, test_task_00 should not receive any message
|
|
err = tos_prio_mail_q_flush(&test_prio_mail_q_00);
|
|
ASSERT_EQ(err, K_ERR_NONE);
|
|
|
|
// yeild cpu to test_task_00
|
|
tos_task_delay(500);
|
|
|
|
ASSERT_EQ(test_context, TEST_CONTEXT_00);
|
|
ASSERT_EQ(test_count, 0);
|
|
|
|
err = tos_prio_mail_q_post(&test_prio_mail_q_00, &mail0, sizeof(test_mail_t), 0);
|
|
ASSERT_EQ(err, K_ERR_NONE);
|
|
|
|
err = tos_prio_mail_q_post(&test_prio_mail_q_00, &mail1, sizeof(test_mail_t), 0);
|
|
ASSERT_EQ(err, K_ERR_NONE);
|
|
|
|
// yeild cpu to test_task_00
|
|
tos_task_delay(500);
|
|
|
|
ASSERT_EQ(test_context, TEST_CONTEXT_00);
|
|
ASSERT_EQ(test_err, K_ERR_NONE);
|
|
ASSERT_EQ(test_count, 2);
|
|
|
|
// test_task_00 is pending, this post will send mail0 to test_task_00
|
|
err = tos_prio_mail_q_post(&test_prio_mail_q_00, &mail0, sizeof(test_mail_t), 0);
|
|
ASSERT_EQ(err, K_ERR_NONE);
|
|
|
|
err = tos_prio_mail_q_post(&test_prio_mail_q_00, &mail1, sizeof(test_mail_t), 0);
|
|
ASSERT_EQ(err, K_ERR_NONE);
|
|
|
|
err = tos_prio_mail_q_post(&test_prio_mail_q_00, &mail2, sizeof(test_mail_t), 0);
|
|
ASSERT_EQ(err, K_ERR_NONE);
|
|
|
|
// mail1/mail2 has not been received yet, queue flush will discard these two message
|
|
err = tos_prio_mail_q_flush(&test_prio_mail_q_00);
|
|
ASSERT_EQ(err, K_ERR_NONE);
|
|
|
|
// yeild cpu to test_task_00
|
|
tos_task_delay(500);
|
|
|
|
ASSERT_EQ(test_context, TEST_CONTEXT_00);
|
|
ASSERT_EQ(test_err, K_ERR_NONE);
|
|
ASSERT_EQ(test_count, 3);
|
|
|
|
err = tos_task_destroy(&test_task_00);
|
|
ASSERT_EQ(err, K_ERR_NONE);
|
|
|
|
err = tos_prio_mail_q_destroy(&test_prio_mail_q_00);
|
|
ASSERT_EQ(err, K_ERR_NONE);
|
|
|
|
test_task_hook_reset();
|
|
|
|
PASS();
|
|
}
|
|
|
|
SUITE(suit_priority_mail_queue)
|
|
{
|
|
RUN_TEST(test_tos_prio_mail_queue_create);
|
|
RUN_TEST(test_tos_prio_mail_queue_destroy);
|
|
RUN_TEST(test_tos_prio_mail_queue_pend);
|
|
RUN_TEST(test_tos_prio_mail_queue_pend_timed);
|
|
RUN_TEST(test_tos_prio_mail_queue_post_all);
|
|
RUN_TEST(test_tos_prio_mail_queue_flush);
|
|
}
|
|
|