2 FreeRTOS V8.0.0:rc1 - Copyright (C) 2014 Real Time Engineers Ltd.
\r
5 VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
\r
7 ***************************************************************************
\r
9 * FreeRTOS provides completely free yet professionally developed, *
\r
10 * robust, strictly quality controlled, supported, and cross *
\r
11 * platform software that has become a de facto standard. *
\r
13 * Help yourself get started quickly and support the FreeRTOS *
\r
14 * project by purchasing a FreeRTOS tutorial book, reference *
\r
15 * manual, or both from: http://www.FreeRTOS.org/Documentation *
\r
19 ***************************************************************************
\r
21 This file is part of the FreeRTOS distribution.
\r
23 FreeRTOS is free software; you can redistribute it and/or modify it under
\r
24 the terms of the GNU General Public License (version 2) as published by the
\r
25 Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
\r
27 >>! NOTE: The modification to the GPL is included to allow you to distribute
\r
28 >>! a combined work that includes FreeRTOS without being obliged to provide
\r
29 >>! the source code for proprietary components outside of the FreeRTOS
\r
32 FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
\r
33 WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
\r
34 FOR A PARTICULAR PURPOSE. Full license text is available from the following
\r
35 link: http://www.freertos.org/a00114.html
\r
39 ***************************************************************************
\r
41 * Having a problem? Start by reading the FAQ "My application does *
\r
42 * not run, what could be wrong?" *
\r
44 * http://www.FreeRTOS.org/FAQHelp.html *
\r
46 ***************************************************************************
\r
48 http://www.FreeRTOS.org - Documentation, books, training, latest versions,
\r
49 license and Real Time Engineers Ltd. contact details.
\r
51 http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
\r
52 including FreeRTOS+Trace - an indispensable productivity tool, a DOS
\r
53 compatible FAT file system, and our tiny thread aware UDP/IP stack.
\r
55 http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
\r
56 Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS
\r
57 licenses offer ticketed support, indemnification and middleware.
\r
59 http://www.SafeRTOS.com - High Integrity Systems also provide a safety
\r
60 engineered and independently SIL3 certified version for use in safety and
\r
61 mission critical applications that require provable dependability.
\r
68 * Tests the behaviour when data is peeked from a queue when there are
\r
69 * multiple tasks blocked on the queue.
\r
75 /* Scheduler include files. */
\r
76 #include "FreeRTOS.h"
\r
81 /* Demo program include files. */
\r
84 #define qpeekQUEUE_LENGTH ( 5 )
\r
85 #define qpeekNO_BLOCK ( 0 )
\r
86 #define qpeekSHORT_DELAY ( 10 )
\r
88 #define qpeekLOW_PRIORITY ( tskIDLE_PRIORITY + 0 )
\r
89 #define qpeekMEDIUM_PRIORITY ( tskIDLE_PRIORITY + 1 )
\r
90 #define qpeekHIGH_PRIORITY ( tskIDLE_PRIORITY + 2 )
\r
91 #define qpeekHIGHEST_PRIORITY ( tskIDLE_PRIORITY + 3 )
\r
93 /*-----------------------------------------------------------*/
\r
96 * The following three tasks are used to demonstrate the peeking behaviour.
\r
97 * Each task is given a different priority to demonstrate the order in which
\r
98 * tasks are woken as data is peeked from a queue.
\r
100 static void prvLowPriorityPeekTask( void *pvParameters );
\r
101 static void prvMediumPriorityPeekTask( void *pvParameters );
\r
102 static void prvHighPriorityPeekTask( void *pvParameters );
\r
103 static void prvHighestPriorityPeekTask( void *pvParameters );
\r
105 /*-----------------------------------------------------------*/
\r
107 /* Flag that will be latched to pdTRUE should any unexpected behaviour be
\r
108 detected in any of the tasks. */
\r
109 static volatile portBASE_TYPE xErrorDetected = pdFALSE;
\r
111 /* Counter that is incremented on each cycle of a test. This is used to
\r
112 detect a stalled task - a test that is no longer running. */
\r
113 static volatile unsigned long ulLoopCounter = 0;
\r
115 /* Handles to the test tasks. */
\r
116 TaskHandle_t xMediumPriorityTask, xHighPriorityTask, xHighestPriorityTask;
\r
117 /*-----------------------------------------------------------*/
\r
119 void vStartQueuePeekTasks( void )
\r
121 QueueHandle_t xQueue;
\r
123 /* Create the queue that we are going to use for the test/demo. */
\r
124 xQueue = xQueueCreate( qpeekQUEUE_LENGTH, sizeof( unsigned long ) );
\r
126 /* vQueueAddToRegistry() adds the queue to the queue registry, if one is
\r
127 in use. The queue registry is provided as a means for kernel aware
\r
128 debuggers to locate queues and has no purpose if a kernel aware debugger
\r
129 is not being used. The call to vQueueAddToRegistry() will be removed
\r
130 by the pre-processor if configQUEUE_REGISTRY_SIZE is not defined or is
\r
131 defined to be less than 1. */
\r
132 vQueueAddToRegistry( xQueue, "QPeek_Test_Queue" );
\r
134 /* Create the demo tasks and pass it the queue just created. We are
\r
135 passing the queue handle by value so it does not matter that it is declared
\r
136 on the stack here. */
\r
137 xTaskCreate( prvLowPriorityPeekTask, "PeekL", configMINIMAL_STACK_SIZE, ( void * ) xQueue, qpeekLOW_PRIORITY, NULL );
\r
138 xTaskCreate( prvMediumPriorityPeekTask, "PeekM", configMINIMAL_STACK_SIZE, ( void * ) xQueue, qpeekMEDIUM_PRIORITY, &xMediumPriorityTask );
\r
139 xTaskCreate( prvHighPriorityPeekTask, "PeekH1", configMINIMAL_STACK_SIZE, ( void * ) xQueue, qpeekHIGH_PRIORITY, &xHighPriorityTask );
\r
140 xTaskCreate( prvHighestPriorityPeekTask, "PeekH2", configMINIMAL_STACK_SIZE, ( void * ) xQueue, qpeekHIGHEST_PRIORITY, &xHighestPriorityTask );
\r
142 /*-----------------------------------------------------------*/
\r
144 static void prvHighestPriorityPeekTask( void *pvParameters )
\r
146 QueueHandle_t xQueue = ( QueueHandle_t ) pvParameters;
\r
147 unsigned long ulValue;
\r
151 void vPrintDisplayMessage( const char * const * ppcMessageToSend );
\r
153 const char * const pcTaskStartMsg = "Queue peek test started.\r\n";
\r
155 /* Queue a message for printing to say the task has started. */
\r
156 vPrintDisplayMessage( &pcTaskStartMsg );
\r
162 /* Try peeking from the queue. The queue should be empty so we will
\r
163 block, allowing the high priority task to execute. */
\r
164 if( xQueuePeek( xQueue, &ulValue, portMAX_DELAY ) != pdPASS )
\r
166 /* We expected to have received something by the time we unblock. */
\r
167 xErrorDetected = pdTRUE;
\r
170 /* When we reach here the high and medium priority tasks should still
\r
171 be blocked on the queue. We unblocked because the low priority task
\r
172 wrote a value to the queue, which we should have peeked. Peeking the
\r
173 data (rather than receiving it) will leave the data on the queue, so
\r
174 the high priority task should then have also been unblocked, but not
\r
176 if( ulValue != 0x11223344 )
\r
178 /* We did not receive the expected value. */
\r
179 xErrorDetected = pdTRUE;
\r
182 if( uxQueueMessagesWaiting( xQueue ) != 1 )
\r
184 /* The message should have been left on the queue. */
\r
185 xErrorDetected = pdTRUE;
\r
188 /* Now we are going to actually receive the data, so when the high
\r
189 priority task runs it will find the queue empty and return to the
\r
192 if( xQueueReceive( xQueue, &ulValue, qpeekNO_BLOCK ) != pdPASS )
\r
194 /* We expected to receive the value. */
\r
195 xErrorDetected = pdTRUE;
\r
198 if( ulValue != 0x11223344 )
\r
200 /* We did not receive the expected value - which should have been
\r
201 the same value as was peeked. */
\r
202 xErrorDetected = pdTRUE;
\r
205 /* Now we will block again as the queue is once more empty. The low
\r
206 priority task can then execute again. */
\r
207 if( xQueuePeek( xQueue, &ulValue, portMAX_DELAY ) != pdPASS )
\r
209 /* We expected to have received something by the time we unblock. */
\r
210 xErrorDetected = pdTRUE;
\r
213 /* When we get here the low priority task should have again written to the
\r
215 if( ulValue != 0x01234567 )
\r
217 /* We did not receive the expected value. */
\r
218 xErrorDetected = pdTRUE;
\r
221 if( uxQueueMessagesWaiting( xQueue ) != 1 )
\r
223 /* The message should have been left on the queue. */
\r
224 xErrorDetected = pdTRUE;
\r
227 /* We only peeked the data, so suspending ourselves now should enable
\r
228 the high priority task to also peek the data. The high priority task
\r
229 will have been unblocked when we peeked the data as we left the data
\r
231 vTaskSuspend( NULL );
\r
235 /* This time we are going to do the same as the above test, but the
\r
236 high priority task is going to receive the data, rather than peek it.
\r
237 This means that the medium priority task should never peek the value. */
\r
238 if( xQueuePeek( xQueue, &ulValue, portMAX_DELAY ) != pdPASS )
\r
240 xErrorDetected = pdTRUE;
\r
243 if( ulValue != 0xaabbaabb )
\r
245 xErrorDetected = pdTRUE;
\r
248 vTaskSuspend( NULL );
\r
251 /*-----------------------------------------------------------*/
\r
253 static void prvHighPriorityPeekTask( void *pvParameters )
\r
255 QueueHandle_t xQueue = ( QueueHandle_t ) pvParameters;
\r
256 unsigned long ulValue;
\r
260 /* Try peeking from the queue. The queue should be empty so we will
\r
261 block, allowing the medium priority task to execute. Both the high
\r
262 and highest priority tasks will then be blocked on the queue. */
\r
263 if( xQueuePeek( xQueue, &ulValue, portMAX_DELAY ) != pdPASS )
\r
265 /* We expected to have received something by the time we unblock. */
\r
266 xErrorDetected = pdTRUE;
\r
269 /* When we get here the highest priority task should have peeked the data
\r
270 (unblocking this task) then suspended (allowing this task to also peek
\r
272 if( ulValue != 0x01234567 )
\r
274 /* We did not receive the expected value. */
\r
275 xErrorDetected = pdTRUE;
\r
278 if( uxQueueMessagesWaiting( xQueue ) != 1 )
\r
280 /* The message should have been left on the queue. */
\r
281 xErrorDetected = pdTRUE;
\r
284 /* We only peeked the data, so suspending ourselves now should enable
\r
285 the medium priority task to also peek the data. The medium priority task
\r
286 will have been unblocked when we peeked the data as we left the data
\r
288 vTaskSuspend( NULL );
\r
291 /* This time we are going actually receive the value, so the medium
\r
292 priority task will never peek the data - we removed it from the queue. */
\r
293 if( xQueueReceive( xQueue, &ulValue, portMAX_DELAY ) != pdPASS )
\r
295 xErrorDetected = pdTRUE;
\r
298 if( ulValue != 0xaabbaabb )
\r
300 xErrorDetected = pdTRUE;
\r
303 vTaskSuspend( NULL );
\r
306 /*-----------------------------------------------------------*/
\r
308 static void prvMediumPriorityPeekTask( void *pvParameters )
\r
310 QueueHandle_t xQueue = ( QueueHandle_t ) pvParameters;
\r
311 unsigned long ulValue;
\r
315 /* Try peeking from the queue. The queue should be empty so we will
\r
316 block, allowing the low priority task to execute. The highest, high
\r
317 and medium priority tasks will then all be blocked on the queue. */
\r
318 if( xQueuePeek( xQueue, &ulValue, portMAX_DELAY ) != pdPASS )
\r
320 /* We expected to have received something by the time we unblock. */
\r
321 xErrorDetected = pdTRUE;
\r
324 /* When we get here the high priority task should have peeked the data
\r
325 (unblocking this task) then suspended (allowing this task to also peek
\r
327 if( ulValue != 0x01234567 )
\r
329 /* We did not receive the expected value. */
\r
330 xErrorDetected = pdTRUE;
\r
333 if( uxQueueMessagesWaiting( xQueue ) != 1 )
\r
335 /* The message should have been left on the queue. */
\r
336 xErrorDetected = pdTRUE;
\r
339 /* Just so we know the test is still running. */
\r
342 /* Now we can suspend ourselves so the low priority task can execute
\r
344 vTaskSuspend( NULL );
\r
347 /*-----------------------------------------------------------*/
\r
349 static void prvLowPriorityPeekTask( void *pvParameters )
\r
351 QueueHandle_t xQueue = ( QueueHandle_t ) pvParameters;
\r
352 unsigned long ulValue;
\r
356 /* Write some data to the queue. This should unblock the highest
\r
357 priority task that is waiting to peek data from the queue. */
\r
358 ulValue = 0x11223344;
\r
359 if( xQueueSendToBack( xQueue, &ulValue, qpeekNO_BLOCK ) != pdPASS )
\r
361 /* We were expecting the queue to be empty so we should not of
\r
362 had a problem writing to the queue. */
\r
363 xErrorDetected = pdTRUE;
\r
366 #if configUSE_PREEMPTION == 0
\r
370 /* By the time we get here the data should have been removed from
\r
372 if( uxQueueMessagesWaiting( xQueue ) != 0 )
\r
374 xErrorDetected = pdTRUE;
\r
377 /* Write another value to the queue, again waking the highest priority
\r
378 task that is blocked on the queue. */
\r
379 ulValue = 0x01234567;
\r
380 if( xQueueSendToBack( xQueue, &ulValue, qpeekNO_BLOCK ) != pdPASS )
\r
382 /* We were expecting the queue to be empty so we should not of
\r
383 had a problem writing to the queue. */
\r
384 xErrorDetected = pdTRUE;
\r
387 #if configUSE_PREEMPTION == 0
\r
391 /* All the other tasks should now have successfully peeked the data.
\r
392 The data is still in the queue so we should be able to receive it. */
\r
394 if( xQueueReceive( xQueue, &ulValue, qpeekNO_BLOCK ) != pdPASS )
\r
396 /* We expected to receive the data. */
\r
397 xErrorDetected = pdTRUE;
\r
400 if( ulValue != 0x01234567 )
\r
402 /* We did not receive the expected value. */
\r
405 /* Lets just delay a while as this is an intensive test as we don't
\r
406 want to starve other tests of processing time. */
\r
407 vTaskDelay( qpeekSHORT_DELAY );
\r
409 /* Unsuspend the other tasks so we can repeat the test - this time
\r
410 however not all the other tasks will peek the data as the high
\r
411 priority task is actually going to remove it from the queue. Send
\r
412 to front is used just to be different. As the queue is empty it
\r
413 makes no difference to the result. */
\r
414 vTaskResume( xMediumPriorityTask );
\r
415 vTaskResume( xHighPriorityTask );
\r
416 vTaskResume( xHighestPriorityTask );
\r
418 #if( configUSE_PREEMPTION == 0 )
\r
422 ulValue = 0xaabbaabb;
\r
423 if( xQueueSendToFront( xQueue, &ulValue, qpeekNO_BLOCK ) != pdPASS )
\r
425 /* We were expecting the queue to be empty so we should not of
\r
426 had a problem writing to the queue. */
\r
427 xErrorDetected = pdTRUE;
\r
430 #if configUSE_PREEMPTION == 0
\r
434 /* This time we should find that the queue is empty. The high priority
\r
435 task actually removed the data rather than just peeking it. */
\r
436 if( xQueuePeek( xQueue, &ulValue, qpeekNO_BLOCK ) != errQUEUE_EMPTY )
\r
438 /* We expected to receive the data. */
\r
439 xErrorDetected = pdTRUE;
\r
442 /* Unsuspend the highest and high priority tasks so we can go back
\r
443 and repeat the whole thing. The medium priority task should not be
\r
444 suspended as it was not able to peek the data in this last case. */
\r
445 vTaskResume( xHighPriorityTask );
\r
446 vTaskResume( xHighestPriorityTask );
\r
448 /* Lets just delay a while as this is an intensive test as we don't
\r
449 want to starve other tests of processing time. */
\r
450 vTaskDelay( qpeekSHORT_DELAY );
\r
453 /*-----------------------------------------------------------*/
\r
455 /* This is called to check that all the created tasks are still running. */
\r
456 portBASE_TYPE xAreQueuePeekTasksStillRunning( void )
\r
458 static unsigned long ulLastLoopCounter = 0;
\r
460 /* If the demo task is still running then we expect the loopcounter to
\r
461 have incremented since this function was last called. */
\r
462 if( ulLastLoopCounter == ulLoopCounter )
\r
464 xErrorDetected = pdTRUE;
\r
467 ulLastLoopCounter = ulLoopCounter;
\r
469 /* Errors detected in the task itself will have latched xErrorDetected
\r
472 return !xErrorDetected;
\r