git.sur5r.net Git - freertos/blob - Demo/Common/Minimal/blocktim.c

   1 /*
   2         FreeRTOS.org V5.0.0 - Copyright (C) 2003-2008 Richard Barry.
   3
   4         This file is part of the FreeRTOS.org distribution.
   5
   6         FreeRTOS.org is free software; you can redistribute it and/or modify
   7         it under the terms of the GNU General Public License as published by
   8         the Free Software Foundation; either version 2 of the License, or
   9         (at your option) any later version.
  10
  11         FreeRTOS.org is distributed in the hope that it will be useful,
  12         but WITHOUT ANY WARRANTY; without even the implied warranty of
  13         MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  14         GNU General Public License for more details.
  15
  16         You should have received a copy of the GNU General Public License
  17         along with FreeRTOS.org; if not, write to the Free Software
  18         Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  19
  20         A special exception to the GPL can be applied should you wish to distribute
  21         a combined work that includes FreeRTOS.org, without being obliged to provide
  22         the source code for any proprietary components.  See the licensing section
  23         of http://www.FreeRTOS.org for full details of how and when the exception
  24         can be applied.
  25
  26     ***************************************************************************
  27     ***************************************************************************
  28     *                                                                         *
  29     * SAVE TIME AND MONEY!  We can port FreeRTOS.org to your own hardware,    *
  30     * and even write all or part of your application on your behalf.          *
  31     * See http://www.OpenRTOS.com for details of the services we provide to   *
  32     * expedite your project.                                                  *
  33     *                                                                         *
  34     ***************************************************************************
  35     ***************************************************************************
  36
  37         Please ensure to read the configuration and relevant port sections of the
  38         online documentation.
  39
  40         http://www.FreeRTOS.org - Documentation, latest information, license and
  41         contact details.
  42
  43         http://www.SafeRTOS.com - A version that is certified for use in safety
  44         critical systems.
  45
  46         http://www.OpenRTOS.com - Commercial support, development, porting,
  47         licensing and training services.
  48 */
  49
  50 /*
  51  * This file contains some test scenarios that ensure tasks do not exit queue
  52  * send or receive functions prematurely.  A description of the tests is
  53  * included within the code.
  54  */
  55
  56 /* Kernel includes. */
  57 #include "FreeRTOS.h"
  58 #include "task.h"
  59 #include "queue.h"
  60
  61 /* Demo includes. */
  62 #include "blocktim.h"
  63
  64 /* Task priorities. */
  65 #define bktPRIMARY_PRIORITY                     ( 3 )
  66 #define bktSECONDARY_PRIORITY           ( 2 )
  67
  68 /* Task behaviour. */
  69 #define bktQUEUE_LENGTH                         ( 5 )
  70 #define bktSHORT_WAIT                           ( ( ( portTickType ) 20 ) / portTICK_RATE_MS )
  71 #define bktPRIMARY_BLOCK_TIME           ( 10 )
  72 #define bktALLOWABLE_MARGIN                     ( 15 )
  73 #define bktTIME_TO_BLOCK                        ( 175 )
  74 #define bktDONT_BLOCK                           ( ( portTickType ) 0 )
  75 #define bktRUN_INDICATOR                        ( ( unsigned portBASE_TYPE ) 0x55 )
  76
  77 /* The queue on which the tasks block. */
  78 static xQueueHandle xTestQueue;
  79
  80 /* Handle to the secondary task is required by the primary task for calls
  81 to vTaskSuspend/Resume(). */
  82 static xTaskHandle xSecondary;
  83
  84 /* Used to ensure that tasks are still executing without error. */
  85 static volatile portBASE_TYPE xPrimaryCycles = 0, xSecondaryCycles = 0;
  86 static volatile portBASE_TYPE xErrorOccurred = pdFALSE;
  87
  88 /* Provides a simple mechanism for the primary task to know when the
  89 secondary task has executed. */
  90 static volatile unsigned portBASE_TYPE xRunIndicator;
  91
  92 /* The two test tasks.  Their behaviour is commented within the files. */
  93 static void vPrimaryBlockTimeTestTask( void *pvParameters );
  94 static void vSecondaryBlockTimeTestTask( void *pvParameters );
  95
  96 /*-----------------------------------------------------------*/
  97
  98 void vCreateBlockTimeTasks( void )
  99 {
 100         /* Create the queue on which the two tasks block. */
 101     xTestQueue = xQueueCreate( bktQUEUE_LENGTH, sizeof( portBASE_TYPE ) );
 102
 103         /* Create the two test tasks. */
 104         xTaskCreate( vPrimaryBlockTimeTestTask, ( signed portCHAR * )"BTest1", configMINIMAL_STACK_SIZE, NULL, bktPRIMARY_PRIORITY, NULL );
 105         xTaskCreate( vSecondaryBlockTimeTestTask, ( signed portCHAR * )"BTest2", configMINIMAL_STACK_SIZE, NULL, bktSECONDARY_PRIORITY, &xSecondary );
 106 }
 107 /*-----------------------------------------------------------*/
 108
 109 static void vPrimaryBlockTimeTestTask( void *pvParameters )
 110 {
 111 portBASE_TYPE xItem, xData;
 112 portTickType xTimeWhenBlocking;
 113 portTickType xTimeToBlock, xBlockedTime;
 114
 115         ( void ) pvParameters;
 116
 117         for( ;; )
 118         {
 119                 /*********************************************************************
 120         Test 1
 121
 122         Simple block time wakeup test on queue receives. */
 123                 for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
 124                 {
 125                         /* The queue is empty. Attempt to read from the queue using a block
 126                         time.  When we wake, ensure the delta in time is as expected. */
 127                         xTimeToBlock = bktPRIMARY_BLOCK_TIME << xItem;
 128
 129                         xTimeWhenBlocking = xTaskGetTickCount();
 130
 131                         /* We should unblock after xTimeToBlock having not received
 132                         anything on the queue. */
 133                         if( xQueueReceive( xTestQueue, &xData, xTimeToBlock ) != errQUEUE_EMPTY )
 134                         {
 135                                 xErrorOccurred = pdTRUE;
 136                         }
 137
 138                         /* How long were we blocked for? */
 139                         xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
 140
 141                         if( xBlockedTime < xTimeToBlock )
 142                         {
 143                                 /* Should not have blocked for less than we requested. */
 144                                 xErrorOccurred = pdTRUE;
 145                         }
 146
 147                         if( xBlockedTime > ( xTimeToBlock + bktALLOWABLE_MARGIN ) )
 148                         {
 149                                 /* Should not have blocked for longer than we requested,
 150                                 although we would not necessarily run as soon as we were
 151                                 unblocked so a margin is allowed. */
 152                                 xErrorOccurred = pdTRUE;
 153                         }
 154                 }
 155
 156                 /*********************************************************************
 157         Test 2
 158
 159         Simple block time wakeup test on queue sends.
 160
 161                 First fill the queue.  It should be empty so all sends should pass. */
 162                 for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
 163                 {
 164                         if( xQueueSend( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )
 165                         {
 166                                 xErrorOccurred = pdTRUE;
 167                         }
 168
 169                         #if configUSE_PREEMPTION == 0
 170                                 taskYIELD();
 171                         #endif
 172                 }
 173
 174                 for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
 175                 {
 176                         /* The queue is full. Attempt to write to the queue using a block
 177                         time.  When we wake, ensure the delta in time is as expected. */
 178                         xTimeToBlock = bktPRIMARY_BLOCK_TIME << xItem;
 179
 180                         xTimeWhenBlocking = xTaskGetTickCount();
 181
 182                         /* We should unblock after xTimeToBlock having not received
 183                         anything on the queue. */
 184                         if( xQueueSend( xTestQueue, &xItem, xTimeToBlock ) != errQUEUE_FULL )
 185                         {
 186                                 xErrorOccurred = pdTRUE;
 187                         }
 188
 189                         /* How long were we blocked for? */
 190                         xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
 191
 192                         if( xBlockedTime < xTimeToBlock )
 193                         {
 194                                 /* Should not have blocked for less than we requested. */
 195                                 xErrorOccurred = pdTRUE;
 196                         }
 197
 198                         if( xBlockedTime > ( xTimeToBlock + bktALLOWABLE_MARGIN ) )
 199                         {
 200                                 /* Should not have blocked for longer than we requested,
 201                                 although we would not necessarily run as soon as we were
 202                                 unblocked so a margin is allowed. */
 203                                 xErrorOccurred = pdTRUE;
 204                         }
 205                 }
 206
 207                 /*********************************************************************
 208         Test 3
 209
 210                 Wake the other task, it will block attempting to post to the queue.
 211                 When we read from the queue the other task will wake, but before it
 212                 can run we will post to the queue again.  When the other task runs it
 213                 will find the queue still full, even though it was woken.  It should
 214                 recognise that its block time has not expired and return to block for
 215                 the remains of its block time.
 216
 217                 Wake the other task so it blocks attempting to post to the already
 218                 full queue. */
 219                 xRunIndicator = 0;
 220                 vTaskResume( xSecondary );
 221
 222                 /* We need to wait a little to ensure the other task executes. */
 223                 while( xRunIndicator != bktRUN_INDICATOR )
 224                 {
 225                         /* The other task has not yet executed. */
 226                         vTaskDelay( bktSHORT_WAIT );
 227                 }
 228                 /* Make sure the other task is blocked on the queue. */
 229                 vTaskDelay( bktSHORT_WAIT );
 230                 xRunIndicator = 0;
 231
 232                 for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
 233                 {
 234                         /* Now when we make space on the queue the other task should wake
 235                         but not execute as this task has higher priority. */
 236                         if( xQueueReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )
 237                         {
 238                                 xErrorOccurred = pdTRUE;
 239                         }
 240
 241                         /* Now fill the queue again before the other task gets a chance to
 242                         execute.  If the other task had executed we would find the queue
 243                         full ourselves, and the other task have set xRunIndicator. */
 244                         if( xQueueSend( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )
 245                         {
 246                                 xErrorOccurred = pdTRUE;
 247                         }
 248
 249                         if( xRunIndicator == bktRUN_INDICATOR )
 250                         {
 251                                 /* The other task should not have executed. */
 252                                 xErrorOccurred = pdTRUE;
 253                         }
 254
 255                         /* Raise the priority of the other task so it executes and blocks
 256                         on the queue again. */
 257                         vTaskPrioritySet( xSecondary, bktPRIMARY_PRIORITY + 2 );
 258
 259                         /* The other task should now have re-blocked without exiting the
 260                         queue function. */
 261                         if( xRunIndicator == bktRUN_INDICATOR )
 262                         {
 263                                 /* The other task should not have executed outside of the
 264                                 queue function. */
 265                                 xErrorOccurred = pdTRUE;
 266                         }
 267
 268                         /* Set the priority back down. */
 269                         vTaskPrioritySet( xSecondary, bktSECONDARY_PRIORITY );
 270                 }
 271
 272                 /* Let the other task timeout.  When it unblockes it will check that it
 273                 unblocked at the correct time, then suspend itself. */
 274                 while( xRunIndicator != bktRUN_INDICATOR )
 275                 {
 276                         vTaskDelay( bktSHORT_WAIT );
 277                 }
 278                 vTaskDelay( bktSHORT_WAIT );
 279                 xRunIndicator = 0;
 280
 281
 282                 /*********************************************************************
 283         Test 4
 284
 285                 As per test 3 - but with the send and receive the other way around.
 286                 The other task blocks attempting to read from the queue.
 287
 288                 Empty the queue.  We should find that it is full. */
 289                 for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
 290                 {
 291                         if( xQueueReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )
 292                         {
 293                                 xErrorOccurred = pdTRUE;
 294                         }
 295                 }
 296
 297                 /* Wake the other task so it blocks attempting to read from  the
 298                 already empty queue. */
 299                 vTaskResume( xSecondary );
 300
 301                 /* We need to wait a little to ensure the other task executes. */
 302                 while( xRunIndicator != bktRUN_INDICATOR )
 303                 {
 304                         vTaskDelay( bktSHORT_WAIT );
 305                 }
 306                 vTaskDelay( bktSHORT_WAIT );
 307                 xRunIndicator = 0;
 308
 309                 for( xItem = 0; xItem < bktQUEUE_LENGTH; xItem++ )
 310                 {
 311                         /* Now when we place an item on the queue the other task should
 312                         wake but not execute as this task has higher priority. */
 313                         if( xQueueSend( xTestQueue, &xItem, bktDONT_BLOCK ) != pdPASS )
 314                         {
 315                                 xErrorOccurred = pdTRUE;
 316                         }
 317
 318                         /* Now empty the queue again before the other task gets a chance to
 319                         execute.  If the other task had executed we would find the queue
 320                         empty ourselves, and the other task would be suspended. */
 321                         if( xQueueReceive( xTestQueue, &xData, bktDONT_BLOCK ) != pdPASS )
 322                         {
 323                                 xErrorOccurred = pdTRUE;
 324                         }
 325
 326                         if( xRunIndicator == bktRUN_INDICATOR )
 327                         {
 328                                 /* The other task should not have executed. */
 329                                 xErrorOccurred = pdTRUE;
 330                         }
 331
 332                         /* Raise the priority of the other task so it executes and blocks
 333                         on the queue again. */
 334                         vTaskPrioritySet( xSecondary, bktPRIMARY_PRIORITY + 2 );
 335
 336                         /* The other task should now have re-blocked without exiting the
 337                         queue function. */
 338                         if( xRunIndicator == bktRUN_INDICATOR )
 339                         {
 340                                 /* The other task should not have executed outside of the
 341                                 queue function. */
 342                                 xErrorOccurred = pdTRUE;
 343                         }
 344                         vTaskPrioritySet( xSecondary, bktSECONDARY_PRIORITY );
 345                 }
 346
 347                 /* Let the other task timeout.  When it unblockes it will check that it
 348                 unblocked at the correct time, then suspend itself. */
 349                 while( xRunIndicator != bktRUN_INDICATOR )
 350                 {
 351                         vTaskDelay( bktSHORT_WAIT );
 352                 }
 353                 vTaskDelay( bktSHORT_WAIT );
 354
 355                 xPrimaryCycles++;
 356         }
 357 }
 358 /*-----------------------------------------------------------*/
 359
 360 static void vSecondaryBlockTimeTestTask( void *pvParameters )
 361 {
 362 portTickType xTimeWhenBlocking, xBlockedTime;
 363 portBASE_TYPE xData;
 364
 365         ( void ) pvParameters;
 366
 367         for( ;; )
 368         {
 369                 /*********************************************************************
 370         Test 1 and 2
 371
 372                 This task does does not participate in these tests. */
 373                 vTaskSuspend( NULL );
 374
 375                 /*********************************************************************
 376         Test 3
 377
 378                 The first thing we do is attempt to read from the queue.  It should be
 379                 full so we block.  Note the time before we block so we can check the
 380                 wake time is as per that expected. */
 381                 xTimeWhenBlocking = xTaskGetTickCount();
 382
 383                 /* We should unblock after bktTIME_TO_BLOCK having not received
 384                 anything on the queue. */
 385                 xData = 0;
 386                 xRunIndicator = bktRUN_INDICATOR;
 387                 if( xQueueSend( xTestQueue, &xData, bktTIME_TO_BLOCK ) != errQUEUE_FULL )
 388                 {
 389                         xErrorOccurred = pdTRUE;
 390                 }
 391
 392                 /* How long were we inside the send function? */
 393                 xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
 394
 395                 /* We should not have blocked for less time than bktTIME_TO_BLOCK. */
 396                 if( xBlockedTime < bktTIME_TO_BLOCK )
 397                 {
 398                         xErrorOccurred = pdTRUE;
 399                 }
 400
 401                 /* We should of not blocked for much longer than bktALLOWABLE_MARGIN
 402                 either.  A margin is permitted as we would not necessarily run as
 403                 soon as we unblocked. */
 404                 if( xBlockedTime > ( bktTIME_TO_BLOCK + bktALLOWABLE_MARGIN ) )
 405                 {
 406                         xErrorOccurred = pdTRUE;
 407                 }
 408
 409                 /* Suspend ready for test 3. */
 410                 xRunIndicator = bktRUN_INDICATOR;
 411                 vTaskSuspend( NULL );
 412
 413                 /*********************************************************************
 414         Test 4
 415
 416                 As per test three, but with the send and receive reversed. */
 417                 xTimeWhenBlocking = xTaskGetTickCount();
 418
 419                 /* We should unblock after bktTIME_TO_BLOCK having not received
 420                 anything on the queue. */
 421                 xRunIndicator = bktRUN_INDICATOR;
 422                 if( xQueueReceive( xTestQueue, &xData, bktTIME_TO_BLOCK ) != errQUEUE_EMPTY )
 423                 {
 424                         xErrorOccurred = pdTRUE;
 425                 }
 426
 427                 xBlockedTime = xTaskGetTickCount() - xTimeWhenBlocking;
 428
 429                 /* We should not have blocked for less time than bktTIME_TO_BLOCK. */
 430                 if( xBlockedTime < bktTIME_TO_BLOCK )
 431                 {
 432                         xErrorOccurred = pdTRUE;
 433                 }
 434
 435                 /* We should of not blocked for much longer than bktALLOWABLE_MARGIN
 436                 either.  A margin is permitted as we would not necessarily run as soon
 437                 as we unblocked. */
 438                 if( xBlockedTime > ( bktTIME_TO_BLOCK + bktALLOWABLE_MARGIN ) )
 439                 {
 440                         xErrorOccurred = pdTRUE;
 441                 }
 442
 443                 xRunIndicator = bktRUN_INDICATOR;
 444
 445                 xSecondaryCycles++;
 446         }
 447 }
 448 /*-----------------------------------------------------------*/
 449
 450 portBASE_TYPE xAreBlockTimeTestTasksStillRunning( void )
 451 {
 452 static portBASE_TYPE xLastPrimaryCycleCount = 0, xLastSecondaryCycleCount = 0;
 453 portBASE_TYPE xReturn = pdPASS;
 454
 455         /* Have both tasks performed at least one cycle since this function was
 456         last called? */
 457         if( xPrimaryCycles == xLastPrimaryCycleCount )
 458         {
 459                 xReturn = pdFAIL;
 460         }
 461
 462         if( xSecondaryCycles == xLastSecondaryCycleCount )
 463         {
 464                 xReturn = pdFAIL;
 465         }
 466
 467         if( xErrorOccurred == pdTRUE )
 468         {
 469                 xReturn = pdFAIL;
 470         }
 471
 472         xLastSecondaryCycleCount = xSecondaryCycles;
 473         xLastPrimaryCycleCount = xPrimaryCycles;
 474
 475         return xReturn;
 476 }