mayhem-firmware/firmware/chibios/test/testdyn.c

/*
    ChibiOS/RT - Copyright (C) 2006-2013 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 "ch.h"
#include "test.h"

/**
 * @page test_dynamic Dynamic APIs test
 *
 * File: @ref testdyn.c
 *
 * <h2>Description</h2>
 * This module implements the test sequence for the dynamic thread creation
 * APIs.
 *
 * <h2>Objective</h2>
 * Objective of the test module is to cover 100% of the dynamic APIs code.
 *
 * <h2>Preconditions</h2>
 * The module requires the following kernel options:
 * - @p CH_USE_DYNAMIC
 * - @p CH_USE_HEAP
 * - @p CH_USE_MEMPOOLS
 * .
 * In case some of the required options are not enabled then some or all tests
 * may be skipped.
 *
 * <h2>Test Cases</h2>
 * - @subpage test_dynamic_001
 * - @subpage test_dynamic_002
 * - @subpage test_dynamic_003
 * .
 * @file testdyn.c
 * @brief Dynamic thread APIs test source file
 * @file testdyn.h
 * @brief Dynamic thread APIs test header file
 */

#if CH_USE_DYNAMIC || defined(__DOXYGEN__)
#if (CH_USE_HEAP && !CH_USE_MALLOC_HEAP) || defined(__DOXYGEN__)
static MemoryHeap heap1;
#endif
#if CH_USE_MEMPOOLS || defined(__DOXYGEN__)
static MemoryPool mp1;
#endif

/**
 * @page test_dynamic_001 Threads creation from Memory Heap
 *
 * <h2>Description</h2>
 * Two threads are started by allocating the memory from the Memory Heap then
 * the remaining heap space is arbitrarily allocated and a third tread startup
 * is attempted.<br>
 * The test expects the first two threads to successfully start and the last
 * one to fail.
 */

static msg_t thread(void *p) {

  test_emit_token(*(char *)p);
  return 0;
}

#if (CH_USE_HEAP && !CH_USE_MALLOC_HEAP) || defined(__DOXYGEN__)
static void dyn1_setup(void) {

  chHeapInit(&heap1, test.buffer, sizeof(union test_buffers));
}

static void dyn1_execute(void) {
  size_t n, sz;
  void *p1;
  tprio_t prio = chThdGetPriority();

  (void)chHeapStatus(&heap1, &sz);
  /* Starting threads from the heap. */
  threads[0] = chThdCreateFromHeap(&heap1, THD_WA_SIZE(THREADS_STACK_SIZE),
                                   prio-1, thread, "A");
  threads[1] = chThdCreateFromHeap(&heap1, THD_WA_SIZE(THREADS_STACK_SIZE),
                                   prio-2, thread, "B");
  /* Allocating the whole heap in order to make the thread creation fail.*/
  (void)chHeapStatus(&heap1, &n);
  p1 = chHeapAlloc(&heap1, n);
  threads[2] = chThdCreateFromHeap(&heap1, THD_WA_SIZE(THREADS_STACK_SIZE),
                                   prio-3, thread, "C");
  chHeapFree(p1);

  test_assert(1, (threads[0] != NULL) &&
                 (threads[1] != NULL) &&
                 (threads[2] == NULL) &&
                 (threads[3] == NULL) &&
                 (threads[4] == NULL),
                 "thread creation failed");

  /* Claiming the memory from terminated threads. */
  test_wait_threads();
  test_assert_sequence(2, "AB");

  /* Heap status checked again.*/
  test_assert(3, chHeapStatus(&heap1, &n) == 1, "heap fragmented");
  test_assert(4, n == sz, "heap size changed");
}

ROMCONST struct testcase testdyn1 = {
  "Dynamic APIs, threads creation from heap",
  dyn1_setup,
  NULL,
  dyn1_execute
};
#endif /* (CH_USE_HEAP && !CH_USE_MALLOC_HEAP) */

#if CH_USE_MEMPOOLS || defined(__DOXYGEN__)
/**
 * @page test_dynamic_002 Threads creation from Memory Pool
 *
 * <h2>Description</h2>
 * Five thread creation are attempted from a pool containing only four
 * elements.<br>
 * The test expects the first four threads to successfully start and the last
 * one to fail.
 */

static void dyn2_setup(void) {

  chPoolInit(&mp1, THD_WA_SIZE(THREADS_STACK_SIZE), NULL);
}

static void dyn2_execute(void) {
  int i;
  tprio_t prio = chThdGetPriority();

  /* Adding the WAs to the pool. */
  for (i = 0; i < 4; i++)
    chPoolFree(&mp1, wa[i]);

  /* Starting threads from the memory pool. */
  threads[0] = chThdCreateFromMemoryPool(&mp1, prio-1, thread, "A");
  threads[1] = chThdCreateFromMemoryPool(&mp1, prio-2, thread, "B");
  threads[2] = chThdCreateFromMemoryPool(&mp1, prio-3, thread, "C");
  threads[3] = chThdCreateFromMemoryPool(&mp1, prio-4, thread, "D");
  threads[4] = chThdCreateFromMemoryPool(&mp1, prio-5, thread, "E");

  test_assert(1, (threads[0] != NULL) &&
                 (threads[1] != NULL) &&
                 (threads[2] != NULL) &&
                 (threads[3] != NULL) &&
                 (threads[4] == NULL),
                 "thread creation failed");

  /* Claiming the memory from terminated threads. */
  test_wait_threads();
  test_assert_sequence(2, "ABCD");

  /* Now the pool must be full again. */
  for (i = 0; i < 4; i++)
    test_assert(3, chPoolAlloc(&mp1) != NULL, "pool list empty");
  test_assert(4, chPoolAlloc(&mp1) == NULL, "pool list not empty");
}

ROMCONST struct testcase testdyn2 = {
  "Dynamic APIs, threads creation from memory pool",
  dyn2_setup,
  NULL,
  dyn2_execute
};
#endif /* CH_USE_MEMPOOLS */

#if (CH_USE_HEAP && !CH_USE_MALLOC_HEAP && CH_USE_REGISTRY) ||              \
    defined(__DOXYGEN__)
/**
 * @page test_dynamic_003 Registry and References test
 *
 * <h2>Description</h2>
 * Registry and Thread References APIs are tested for functionality and
 * coverage.
 */

static bool_t regfind(Thread *tp) {
  Thread *ftp;
  bool_t found = FALSE;

  ftp = chRegFirstThread();
  do {
    found |= ftp == tp;
    ftp = chRegNextThread(ftp);
  } while (ftp != NULL);
  return found;
}

static void dyn3_setup(void) {

  chHeapInit(&heap1, test.buffer, sizeof(union test_buffers));
}

static void dyn3_execute(void) {
  Thread *tp;
  tprio_t prio = chThdGetPriority();

  /* Testing references increase/decrease and final detach.*/
  tp = chThdCreateFromHeap(&heap1, WA_SIZE, prio-1, thread, "A");
  test_assert(1, tp->p_refs == 1, "wrong initial reference counter");
  chThdAddRef(tp);
  test_assert(2, tp->p_refs == 2, "references increase failure");
  chThdRelease(tp);
  test_assert(3, tp->p_refs == 1, "references decrease failure");

  /* Verify the new threads count.*/
  test_assert(4, regfind(tp), "thread missing from registry");
  test_assert(5, regfind(tp), "thread disappeared");

  /* Detach and let the thread execute and terminate.*/
  chThdRelease(tp);
  test_assert(6, tp->p_refs == 0, "detach failure");
  test_assert(7, tp->p_state == THD_STATE_READY, "invalid state");
  test_assert(8, regfind(tp), "thread disappeared");
  test_assert(9, regfind(tp), "thread disappeared");
  chThdSleepMilliseconds(50);           /* The thread just terminates.      */
  test_assert(10, tp->p_state == THD_STATE_FINAL, "invalid state");

  /* Clearing the zombie by scanning the registry.*/
  test_assert(11, regfind(tp), "thread disappeared");
  test_assert(12, !regfind(tp), "thread still in registry");
}

ROMCONST struct testcase testdyn3 = {
  "Dynamic APIs, registry and references",
  dyn3_setup,
  NULL,
  dyn3_execute
};
#endif /* CH_USE_HEAP && CH_USE_REGISTRY */
#endif /* CH_USE_DYNAMIC */

/**
 * @brief   Test sequence for dynamic APIs.
 */
ROMCONST struct testcase * ROMCONST patterndyn[] = {
#if CH_USE_DYNAMIC || defined(__DOXYGEN__)
#if (CH_USE_HEAP && !CH_USE_MALLOC_HEAP) || defined(__DOXYGEN__)
  &testdyn1,
#endif
#if CH_USE_MEMPOOLS || defined(__DOXYGEN__)
  &testdyn2,
#endif
#if (CH_USE_HEAP && !CH_USE_MALLOC_HEAP && CH_USE_REGISTRY) ||              \
    defined(__DOXYGEN__)
  &testdyn3,
#endif
#endif
  NULL
};