mayhem-firmware/firmware/chibios/test/testthd.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_threads Threads and Scheduler test
 *
 * File: @ref testthd.c
 *
 * <h2>Description</h2>
 * This module implements the test sequence for the @ref scheduler,
 * @ref threads and @ref time subsystems.<br>
 * Note that the tests on those subsystems are formally required but most of
 * their functionality is already demonstrated because the test suite itself
 * depends on them, anyway double check is good.
 *
 * <h2>Objective</h2>
 * Objective of the test module is to cover 100% of the subsystems code.
 *
 * <h2>Preconditions</h2>
 * None.
 *
 * <h2>Test Cases</h2>
 * - @subpage test_threads_001
 * - @subpage test_threads_002
 * - @subpage test_threads_003
 * - @subpage test_threads_004
 * .
 * @file testthd.c
 * @brief Threads and Scheduler test source file
 * @file testthd.h
 * @brief Threads and Scheduler test header file
 */

/**
 * @page test_threads_001 Ready List functionality #1
 *
 * <h2>Description</h2>
 * Five threads, with increasing priority, are enqueued in the ready list
 * and atomically executed.<br>
 * The test expects the threads to perform their operations in increasing
 * priority order regardless of the initial order.
 */

static msg_t thread(void *p) {

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

static void thd1_execute(void) {

  threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriority()-5, thread, "E");
  threads[1] = chThdCreateStatic(wa[1], WA_SIZE, chThdGetPriority()-4, thread, "D");
  threads[2] = chThdCreateStatic(wa[2], WA_SIZE, chThdGetPriority()-3, thread, "C");
  threads[3] = chThdCreateStatic(wa[3], WA_SIZE, chThdGetPriority()-2, thread, "B");
  threads[4] = chThdCreateStatic(wa[4], WA_SIZE, chThdGetPriority()-1, thread, "A");
  test_wait_threads();
  test_assert_sequence(1, "ABCDE");
}

ROMCONST struct testcase testthd1 = {
  "Threads, enqueuing test #1",
  NULL,
  NULL,
  thd1_execute
};

/**
 * @page test_threads_002 Ready List functionality #2
 *
 * <h2>Description</h2>
 * Five threads, with pseudo-random priority, are enqueued in the ready list
 * and atomically executed.<br>
 * The test expects the threads to perform their operations in increasing
 * priority order regardless of the initial order.
 */

static void thd2_execute(void) {

  threads[1] = chThdCreateStatic(wa[1], WA_SIZE, chThdGetPriority()-4, thread, "D");
  threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriority()-5, thread, "E");
  threads[4] = chThdCreateStatic(wa[4], WA_SIZE, chThdGetPriority()-1, thread, "A");
  threads[3] = chThdCreateStatic(wa[3], WA_SIZE, chThdGetPriority()-2, thread, "B");
  /* Done this way for coverage of chThdCreateI() and chThdResume().*/
  chSysLock();
  threads[2] = chThdCreateI(wa[2], WA_SIZE, chThdGetPriority()-3, thread, "C");
  chSysUnlock();
  chThdResume(threads[2]);
  test_wait_threads();
  test_assert_sequence(1, "ABCDE");
}

ROMCONST struct testcase testthd2 = {
  "Threads, enqueuing test #2",
  NULL,
  NULL,
  thd2_execute
};

/**
 * @page test_threads_003 Threads priority change test
 *
 * <h2>Description</h2>
 * A series of priority changes are performed on the current thread in order
 * to verify that the priority change happens as expected.<br>
 * If the @p CH_USE_MUTEXES option is enabled then the priority changes are
 * also tested under priority inheritance boosted priority state.
 */

static void thd3_execute(void) {
  tprio_t prio, p1;

  prio = chThdGetPriority();
  p1 = chThdSetPriority(prio + 1);
  test_assert(1, p1 == prio,
              "unexpected returned priority level");
  test_assert(2, chThdGetPriority() == prio + 1,
              "unexpected priority level");
  p1 = chThdSetPriority(p1);
  test_assert(3, p1 == prio + 1,
              "unexpected returned priority level");
  test_assert(4, chThdGetPriority() == prio,
              "unexpected priority level");

#if CH_USE_MUTEXES || defined(__DOXYGEN__)
  /* Simulates a priority boost situation (p_prio > p_realprio).*/
  chSysLock();
  chThdSelf()->p_prio += 2;
  chSysUnlock();
  test_assert(5, chThdGetPriority() == prio + 2,
              "unexpected priority level");

  /* Tries to raise but below the boost level. */
  p1 = chThdSetPriority(prio + 1);
  test_assert(6, p1 == prio,
              "unexpected returned priority level");
  test_assert(7, chThdSelf()->p_prio == prio + 2,
              "unexpected priority level");
  test_assert(8, chThdSelf()->p_realprio == prio + 1,
              "unexpected returned real priority level");

  /* Tries to raise above the boost level. */
  p1 = chThdSetPriority(prio + 3);
  test_assert(9, p1 == prio + 1,
              "unexpected returned priority level");
  test_assert(10, chThdSelf()->p_prio == prio + 3,
              "unexpected priority level");
  test_assert(11, chThdSelf()->p_realprio == prio + 3,
              "unexpected real priority level");

  chSysLock();
  chThdSelf()->p_prio = prio;
  chThdSelf()->p_realprio = prio;
  chSysUnlock();
#endif
}

ROMCONST struct testcase testthd3 = {
  "Threads, priority change",
  NULL,
  NULL,
  thd3_execute
};

/**
 * @page test_threads_004 Threads delays test
 *
 * <h2>Description</h2>
 * Delay APIs and associated macros are tested, the invoking thread is verified
 * to wake up at the exact expected time.
 */

static void thd4_execute(void) {
  systime_t time;

  test_wait_tick();

  /* Timeouts in microseconds.*/
  time = chTimeNow();
  chThdSleepMicroseconds(100000);
  test_assert_time_window(1, time + US2ST(100000), time + US2ST(100000) + 1);

  /* Timeouts in milliseconds.*/
  time = chTimeNow();
  chThdSleepMilliseconds(100);
  test_assert_time_window(2, time + MS2ST(100), time + MS2ST(100) + 1);

  /* Timeouts in seconds.*/
  time = chTimeNow();
  chThdSleepSeconds(1);
  test_assert_time_window(3, time + S2ST(1), time + S2ST(1) + 1);

  /* Absolute timelines.*/
  time = chTimeNow() + MS2ST(100);
  chThdSleepUntil(time);
  test_assert_time_window(4, time, time + 1);
}

ROMCONST struct testcase testthd4 = {
  "Threads, delays",
  NULL,
  NULL,
  thd4_execute
};

/**
 * @brief   Test sequence for threads.
 */
ROMCONST struct testcase * ROMCONST patternthd[] = {
  &testthd1,
  &testthd2,
  &testthd3,
  &testthd4,
  NULL
};