/* the task spins fibers that get lifo data in time, except the last one */
static int test_multiple_fibers_get_data(struct timeout_order_data *test_data,
int test_data_size)
{
struct timeout_order_data *data;
int ii;
for (ii = 0; ii < test_data_size-1; ii++) {
task_fiber_start(timeout_stacks[ii], FIBER_STACKSIZE,
test_fiber_pend_and_get_data,
(int)&test_data[ii], 0,
FIBER_PRIORITY, 0);
}
task_fiber_start(timeout_stacks[ii], FIBER_STACKSIZE,
test_fiber_pend_and_timeout,
(int)&test_data[ii], 0,
FIBER_PRIORITY, 0);
for (ii = 0; ii < test_data_size-1; ii++) {
nano_task_lifo_put(test_data[ii].lifo, get_scratch_packet());
data = nano_task_fifo_get(&timeout_order_fifo, TICKS_UNLIMITED);
if (data->q_order == ii) {
TC_PRINT(" got fiber (q order: %d, t/o: %d, lifo %p) as expected\n",
data->q_order, data->timeout, data->lifo);
} else {
TC_ERROR(" *** fiber %d woke up, expected %d\n",
data->q_order, ii);
return TC_FAIL;
}
}
data = nano_task_fifo_get(&timeout_order_fifo, TICKS_UNLIMITED);
if (data->q_order == ii) {
TC_PRINT(" got fiber (q order: %d, t/o: %d, lifo %p) as expected\n",
data->q_order, data->timeout, data->lifo);
} else {
TC_ERROR(" *** fiber %d woke up, expected %d\n",
data->timeout_order, ii);
return TC_FAIL;
}
return TC_PASS;
}
void RegressionTaskEntry(void)
{
int tcRC;
nano_sem_init(&test_nano_timers_sem);
PRINT_DATA("Starting timer tests\n");
PRINT_LINE;
task_fiber_start(test_nano_timers_stack, 512, test_nano_timers, 0, 0, 5, 0);
/* Test the task_timer_alloc() API */
TC_PRINT("Test the allocation of timers\n");
tcRC = testLowTimerGet();
if (tcRC != TC_PASS) {
goto exitRtn;
}
TC_PRINT("Test the one shot feature of a timer\n");
tcRC = testLowTimerOneShot();
if (tcRC != TC_PASS) {
goto exitRtn;
}
TC_PRINT("Test that a timer does not start\n");
tcRC = testLowTimerDoesNotStart();
if (tcRC != TC_PASS) {
goto exitRtn;
}
TC_PRINT("Test the periodic feature of a timer\n");
tcRC = testLowTimerPeriodicity();
if (tcRC != TC_PASS) {
goto exitRtn;
}
TC_PRINT("Test the stopping of a timer\n");
tcRC = testLowTimerStop();
if (tcRC != TC_PASS) {
goto exitRtn;
}
TC_PRINT("Verifying the nanokernel timer fired\n");
if (!nano_task_sem_take(&test_nano_timers_sem)) {
tcRC = TC_FAIL;
goto exitRtn;
}
TC_PRINT("Verifying the nanokernel timeouts worked\n");
tcRC = task_sem_take_wait_timeout(test_nano_timeouts_sem, SECONDS(5));
tcRC = tcRC == RC_OK ? TC_PASS : TC_FAIL;
exitRtn:
TC_END_RESULT(tcRC);
TC_END_REPORT(tcRC);
}
/* the task spins fibers that get the sem in time, except the last one */
static int test_multiple_fibers_get_sem(struct timeout_order_data *test_data,
int test_data_size)
{
struct timeout_order_data *data;
int ii;
for (ii = 0; ii < test_data_size-1; ii++) {
task_fiber_start(timeout_stacks[ii], FIBER_STACKSIZE,
test_fiber_pend_and_get_sem,
(int)&test_data[ii], 0,
FIBER_PRIORITY, 0);
}
task_fiber_start(timeout_stacks[ii], FIBER_STACKSIZE,
test_fiber_pend_and_timeout,
(int)&test_data[ii], 0,
FIBER_PRIORITY, 0);
for (ii = 0; ii < test_data_size-1; ii++) {
nano_task_sem_give(test_data[ii].sem);
data = nano_task_fifo_get_wait(&timeout_order_fifo);
if (data->q_order == ii) {
TC_PRINT(" got fiber (q order: %d, t/o: %d, sem: %p) as expected\n",
data->q_order, data->timeout, data->sem);
} else {
TC_ERROR(" *** fiber %d woke up, expected %d\n",
data->q_order, ii);
return TC_FAIL;
}
}
data = nano_task_fifo_get_wait(&timeout_order_fifo);
if (data->q_order == ii) {
TC_PRINT(" got fiber (q order: %d, t/o: %d, sem: %p) as expected\n",
data->q_order, data->timeout, data->sem);
} else {
TC_ERROR(" *** fiber %d woke up, expected %d\n",
data->timeout_order, ii);
return TC_FAIL;
}
return TC_PASS;
}
/**
*
* @brief The test main function
*
* @return 0 on success
*/
int nanoIntLatency(void)
{
PRINT_FORMAT(" 1- Measure time to switch from fiber to ISR execution");
TICK_SYNCH();
task_fiber_start(&fiberStack[0], STACKSIZE,
(nano_fiber_entry_t) fiberInt, 0, 0, 6, 0);
PRINT_FORMAT(" switching time is %lu tcs = %lu nsec",
timestamp, SYS_CLOCK_HW_CYCLES_TO_NS(timestamp));
return 0;
}
/**
*
* @brief The test main function
*
* @return 0 on success
*/
int nanoIntToFiber(void)
{
PRINT_FORMAT(" 2- Measure time to switch from ISR back to interrupted"
" fiber");
TICK_SYNCH();
task_fiber_start(&fiberStack[0], STACKSIZE,
(nano_fiber_entry_t) fiberInt, 0, 0, 6, 0);
if (flagVar == 1) {
PRINT_FORMAT(" switching time is %lu tcs = %lu nsec",
timestamp, SYS_CLOCK_HW_CYCLES_TO_NS(timestamp));
}
return 0;
}
void shell_init(const char *str, const struct shell_cmd *cmds)
{
nano_fifo_init(&cmds_queue);
nano_fifo_init(&avail_queue);
commands = cmds;
line_queue_init();
prompt = str ? str : "";
task_fiber_start(stack, STACKSIZE, shell, 0, 0, 7, 0);
/* Register serial console handler */
uart_register_input(&avail_queue, &cmds_queue, completion);
}
void main(void)
{
int rv; /* return value from tests */
TC_START("Test Nanokernel Semaphores");
initNanoObjects();
rv = testSemTaskNoWait();
if (rv != TC_PASS) {
goto doneTests;
}
rv = testSemIsrNoWait();
if (rv != TC_PASS) {
goto doneTests;
}
semTestState = STS_INIT;
/*
* Start the fiber. The fiber will be given a higher priority than the
* main task.
*/
task_fiber_start(fiberStack, FIBER_STACKSIZE, fiberEntry,
0, 0, FIBER_PRIORITY, 0);
rv = testSemWait();
if (rv != TC_PASS) {
goto doneTests;
}
rv = test_multiple_waiters();
if (rv != TC_PASS) {
goto doneTests;
}
rv = test_timeout();
if (rv != TC_PASS) {
goto doneTests;
}
doneTests:
TC_END_RESULT(rv);
TC_END_REPORT(rv);
}
void tester_init(void)
{
int i;
nano_fifo_init(&cmds_queue);
nano_fifo_init(&avail_queue);
for (i = 0; i < CMD_QUEUED; i++) {
nano_fifo_put(&avail_queue, &cmd_buf[i * BTP_MTU]);
}
task_fiber_start(stack, STACKSIZE, cmd_handler, 0, 0, 7, 0);
uart_pipe_register(nano_fifo_get(&avail_queue, TICKS_NONE),
BTP_MTU, recv_cb);
printk("BT tester initialized\n");
}
void main(void)
{
net_init();
init_server();
ipsum_len = strlen(lorem_ipsum);
if (!get_context(&unicast, &multicast)) {
PRINT("%s: Cannot get network context\n", __func__);
return;
}
#ifdef CONFIG_MICROKERNEL
receiving();
#else
task_fiber_start(&stack_receiving[0], STACKSIZE,
(nano_fiber_entry_t)receiving, 0, 0, 7, 0);
#endif
}
void main(void)
{
#ifdef CONFIG_OBJECTS_PRINTK
printk("Using printk\n");
#endif
#if CONFIG_STATIC_ISR
IRQ_CONNECT(IRQ_LINE, IRQ_PRIORITY, dummyIsr, NULL, 0);
#endif
#ifdef CONFIG_OBJECTS_FIBER
/* start a trivial fiber */
task_fiber_start(pStack, FIBER_STACK_SIZE, fiberEntry, (int) MESSAGE,
(int) func_array, 10, 0);
#endif
#ifdef CONFIG_OBJECTS_WHILELOOP
while (1) {
i++;
}
#endif
}
static int do_test_multiple_waiters(void)
{
int ii;
/* pend all fibers one the same semaphore */
for (ii = 0; ii < NUM_WAITERS; ii++) {
task_fiber_start(fiber_multi_waiters_stacks[ii], FIBER_STACKSIZE,
fiber_multi_waiters, ii, 0, FIBER_PRIORITY, 0);
}
/* wake up all the fibers: the task is preempted each time */
for (ii = 0; ii < NUM_WAITERS; ii++) {
nano_task_sem_give(&multi_waiters);
}
/* reply_multi_waiters will have been given once for each fiber */
for (ii = 0; ii < NUM_WAITERS; ii++) {
if (!nano_task_sem_take(&reply_multi_waiters)) {
TC_ERROR(" *** Cannot take sem supposedly given by waiters.\n");
return TC_FAIL;
}
}
TC_PRINT("Task took multi-waiter reply semaphore %d times, as expected.\n",
NUM_WAITERS);
if (nano_task_sem_take(&multi_waiters)) {
TC_ERROR(" *** multi_waiters should have been empty.\n");
return TC_FAIL;
}
if (nano_task_sem_take(&reply_multi_waiters)) {
TC_ERROR(" *** reply_multi_waiters should have been empty.\n");
return TC_FAIL;
}
return TC_PASS;
}
int main(void)
{
int i;
PRINTF(DEMO_DESCRIPTION, "fibers", "nanokernel");
for (i = 0; i < N_PHILOSOPHERS; i++) {
nano_sem_init(&forks[i]);
nano_task_sem_give(&forks[i]);
}
/* create philosopher fibers */
for (i = 0; i < N_PHILOSOPHERS; i++) {
task_fiber_start(&philStack[i][0], STSIZE,
(nano_fiber_entry_t) philEntry, 0, 0, 6, 0);
}
/* wait forever */
while (1) {
extern void nano_cpu_idle(void);
nano_cpu_idle();
}
}
void main(void)
{
struct nano_timer timer;
uint32_t data[2] = {0, 0};
task_fiber_start(&fiberStack[0], STACKSIZE,
(nano_fiber_entry_t) fiberEntry, 0, 0, 7, 0);
nano_sem_init(&nanoSemTask);
nano_timer_init(&timer, data);
while (1) {
/* say "hello" */
PRINT("%s: Hello Screen!\n", __FUNCTION__);
/* wait a while, then let fiber have a turn */
nano_task_timer_start(&timer, SLEEPTICKS);
nano_task_timer_wait(&timer);
nano_task_sem_give(&nanoSemFiber);
/* now wait for fiber to let us have a turn */
nano_task_sem_take_wait(&nanoSemTask);
}
}
void main(void)
{
int rv = TC_PASS;
nano_fifo_init(&fifo);
errno = errno_values[N_FIBERS];
printk("task, errno before starting fibers: %x\n", errno);
for (int ii = 0; ii < N_FIBERS; ii++) {
result[ii].pass = TC_FAIL;
}
for (int ii = 0; ii < N_FIBERS; ii++) {
task_fiber_start(stacks[ii], STACK_SIZE, errno_fiber,
ii, errno_values[ii], ii + 5, 0);
}
for (int ii = 0; ii < N_FIBERS; ii++) {
struct result *p = nano_task_fifo_get(&fifo, 10);
if (!p || !p->pass) {
rv = TC_FAIL;
}
}
printk("task, errno after running fibers: %x\n", errno);
if (errno != errno_values[N_FIBERS]) {
rv = TC_FAIL;
}
TC_END_RESULT(rv);
TC_END_REPORT(rv);
}
/* the timeout test entry point */
static int test_timeout(void)
{
int64_t orig_ticks;
int32_t timeout;
int rv;
int test_data_size;
struct reply_packet reply_packet;
nano_sem_init(&sem_timeout[0]);
nano_sem_init(&sem_timeout[1]);
nano_fifo_init(&timeout_order_fifo);
/* test nano_task_sem_take_wait_timeout() with timeout */
timeout = 10;
orig_ticks = nano_tick_get();
rv = nano_task_sem_take_wait_timeout(&sem_timeout[0], timeout);
if (rv) {
TC_ERROR(" *** timeout of %d did not time out.\n", timeout);
return TC_FAIL;
}
if ((nano_tick_get() - orig_ticks) < timeout) {
TC_ERROR(" *** task did not wait long enough on timeout of %d.\n",
timeout);
return TC_FAIL;
}
/* test nano_task_sem_take_wait_timeout with timeout of 0 */
rv = nano_task_sem_take_wait_timeout(&sem_timeout[0], 0);
if (rv) {
TC_ERROR(" *** timeout of 0 did not time out.\n");
return TC_FAIL;
}
/* test nano_task_sem_take_wait_timeout with timeout > 0 */
TC_PRINT("test nano_task_sem_take_wait_timeout with timeout > 0\n");
timeout = 3;
orig_ticks = nano_tick_get();
rv = nano_task_sem_take_wait_timeout(&sem_timeout[0], timeout);
if (rv) {
TC_ERROR(" *** timeout of %d did not time out.\n",
timeout);
return TC_FAIL;
}
if (!is_timeout_in_range(orig_ticks, timeout)) {
return TC_FAIL;
}
TC_PRINT("nano_task_sem_take_wait_timeout timed out as expected\n");
/*
* test nano_task_sem_take_wait_timeout with a timeout and fiber that gives
* the semaphore on time
*/
timeout = 5;
orig_ticks = nano_tick_get();
task_fiber_start(timeout_stacks[0], FIBER_STACKSIZE,
test_fiber_give_timeout, (int)&sem_timeout[0],
timeout,
FIBER_PRIORITY, 0);
rv = nano_task_sem_take_wait_timeout(&sem_timeout[0], (int)(timeout + 5));
if (!rv) {
TC_ERROR(" *** timed out even if semaphore was given in time.\n");
return TC_FAIL;
}
if (!is_timeout_in_range(orig_ticks, timeout)) {
return TC_FAIL;
}
TC_PRINT("nano_task_sem_take_wait_timeout got sem in time, as expected\n");
/*
* test nano_task_sem_take_wait_timeout with TICKS_NONE and the
* semaphore unavailable.
*/
if (nano_task_sem_take_wait_timeout(&sem_timeout[0], TICKS_NONE)) {
TC_ERROR("task with TICKS_NONE got sem, but shouldn't have\n");
return TC_FAIL;
}
TC_PRINT("task with TICKS_NONE did not get sem, as expected\n");
/*
* test nano_task_sem_take_wait_timeout with TICKS_NONE and the
* semaphore available.
*/
nano_task_sem_give(&sem_timeout[0]);
if (!nano_task_sem_take_wait_timeout(&sem_timeout[0], TICKS_NONE)) {
TC_ERROR("task with TICKS_NONE did not get available sem\n");
return TC_FAIL;
}
TC_PRINT("task with TICKS_NONE got available sem, as expected\n");
/*
* test nano_task_sem_take_wait_timeout with TICKS_UNLIMITED and the
* semaphore available.
*/
TC_PRINT("Trying to take available sem with TICKS_UNLIMITED:\n"
" will hang the test if it fails.\n");
nano_task_sem_give(&sem_timeout[0]);
if (!nano_task_sem_take_wait_timeout(&sem_timeout[0], TICKS_UNLIMITED)) {
TC_ERROR(" *** This will never be hit!!! .\n");
return TC_FAIL;
}
TC_PRINT("task with TICKS_UNLIMITED got available sem, as expected\n");
/* test fiber with timeout of TICKS_NONE not getting empty semaphore */
task_fiber_start(timeout_stacks[0], FIBER_STACKSIZE,
test_fiber_ticks_special_values,
(int)&reply_packet, TICKS_NONE, FIBER_PRIORITY, 0);
if (!nano_task_fifo_get(&timeout_order_fifo)) {
TC_ERROR(" *** fiber should have run and filled the fifo.\n");
return TC_FAIL;
}
if (reply_packet.reply != 0) {
TC_ERROR(" *** fiber should not have obtained the semaphore.\n");
return TC_FAIL;
}
TC_PRINT("fiber with TICKS_NONE did not get sem, as expected\n");
/* test fiber with timeout of TICKS_NONE getting full semaphore */
nano_task_sem_give(&sem_timeout[0]);
task_fiber_start(timeout_stacks[0], FIBER_STACKSIZE,
test_fiber_ticks_special_values,
(int)&reply_packet, TICKS_NONE, FIBER_PRIORITY, 0);
if (!nano_task_fifo_get(&timeout_order_fifo)) {
TC_ERROR(" *** fiber should have run and filled the fifo.\n");
return TC_FAIL;
}
if (reply_packet.reply != 1) {
TC_ERROR(" *** fiber should have obtained the semaphore.\n");
return TC_FAIL;
}
TC_PRINT("fiber with TICKS_NONE got available sem, as expected\n");
/* test fiber with timeout of TICKS_UNLIMITED getting full semaphore */
nano_task_sem_give(&sem_timeout[0]);
task_fiber_start(timeout_stacks[0], FIBER_STACKSIZE,
test_fiber_ticks_special_values,
(int)&reply_packet, TICKS_UNLIMITED, FIBER_PRIORITY, 0);
if (!nano_task_fifo_get(&timeout_order_fifo)) {
TC_ERROR(" *** fiber should have run and filled the fifo.\n");
return TC_FAIL;
}
if (reply_packet.reply != 1) {
TC_ERROR(" *** fiber should have obtained the semaphore.\n");
return TC_FAIL;
}
TC_PRINT("fiber with TICKS_UNLIMITED got available sem, as expected\n");
/* test multiple fibers pending on the same sem with different timeouts */
test_data_size = ARRAY_SIZE(timeout_order_data);
TC_PRINT("testing timeouts of %d fibers on same sem\n", test_data_size);
rv = test_multiple_fibers_pending(timeout_order_data, test_data_size);
if (rv != TC_PASS) {
TC_ERROR(" *** fibers did not time out in the right order\n");
return TC_FAIL;
}
/* test multiple fibers pending on different sems with different timeouts */
test_data_size = ARRAY_SIZE(timeout_order_data_mult_sem);
TC_PRINT("testing timeouts of %d fibers on different sems\n",
test_data_size);
rv = test_multiple_fibers_pending(timeout_order_data_mult_sem,
test_data_size);
if (rv != TC_PASS) {
TC_ERROR(" *** fibers did not time out in the right order\n");
return TC_FAIL;
}
/*
* test multiple fibers pending on same sem with different timeouts, but
* getting the semaphore in time, except the last one.
*/
test_data_size = ARRAY_SIZE(timeout_order_data);
TC_PRINT("testing %d fibers timing out, but obtaining the sem in time\n"
"(except the last one, which times out)\n",
test_data_size);
rv = test_multiple_fibers_get_sem(timeout_order_data, test_data_size);
if (rv != TC_PASS) {
TC_ERROR(" *** fibers did not get the sem in the right order\n");
return TC_FAIL;
}
return TC_PASS;
}
void main(void)
{
int count = 0; /* counter */
uint32_t data; /* data used to put and get from the stack queue */
int rc; /* return code */
TC_START("Test Nanokernel STACK");
/* Initialize data */
initData();
/* Initialize the queues and semaphore */
initNanoObjects();
/* Start fiber3 */
task_fiber_start(&fiberStack3[0], STACKSIZE, (nano_fiber_entry_t) fiber3,
0, 0, 7, 0);
/*
* While fiber3 blocks (for one second), wait for an item to be pushed
* onto the stack so that it can be popped. This will put the nanokernel
* into an idle state.
*/
rc = nano_task_stack_pop(&nanoStackObj, &data, TICKS_UNLIMITED);
if ((rc == 0) || (data != myData[0])) {
TC_ERROR("nano_task_stack_pop(TICKS_UNLIMITED) expected 0x%x, but got 0x%x\n",
myData[0], data);
retCode = TC_FAIL;
goto exit;
}
/* Put data */
TC_PRINT("Test Task STACK Push\n");
TC_PRINT("\nTASK STACK Put Order: ");
for (int i=0; i<NUM_STACK_ELEMENT; i++) {
nano_task_stack_push(&nanoStackObj, myData[i]);
TC_PRINT(" %d,", myData[i]);
}
TC_PRINT("\n");
PRINT_LINE;
/* Start fiber */
task_fiber_start(&fiberStack1[0], STACKSIZE,
(nano_fiber_entry_t) fiber1, 0, 0, 7, 0);
if (retCode == TC_FAIL) {
goto exit;
}
/*
* Wait for fiber1 to complete execution. (Using a semaphore gives
* the fiber the freedom to do blocking-type operations if it wants to.)
*
*/
nano_task_sem_take(&nanoSemObj, TICKS_UNLIMITED);
TC_PRINT("Test Task STACK Pop\n");
/* Get all data */
while (nano_task_stack_pop(&nanoStackObj, &data, TICKS_NONE) != 0) {
TC_PRINT("TASK STACK Pop: count = %d, data is %d\n", count, data);
if ((count >= NUM_STACK_ELEMENT) || (data != myData[count])) {
TCERR1(count);
retCode = TC_FAIL;
goto exit;
}
count++;
}
/* Test Task Stack Pop Wait interfaces*/
testTaskStackPopW();
if (retCode == TC_FAIL) {
goto exit;
}
PRINT_LINE;
/* Test ISR interfaces */
testIsrStackFromTask();
PRINT_LINE;
exit:
TC_END_RESULT(retCode);
TC_END_REPORT(retCode);
}
int stack_test(void)
{
uint32_t t;
int i = 0;
int return_value = 0;
/* test get wait & put fiber functions */
fprintf(output_file, sz_test_case_fmt,
"Stack #1");
fprintf(output_file, sz_description,
"\n\tnano_stack_init"
"\n\tnano_fiber_stack_pop_wait"
"\n\tnano_fiber_stack_push");
printf(sz_test_start_fmt);
stack_test_init();
t = BENCH_START();
task_fiber_start(fiber_stack1, STACK_SIZE, stack_fiber1, 0,
NUMBER_OF_LOOPS, 3, 0);
task_fiber_start(fiber_stack2, STACK_SIZE, stack_fiber2, (int) &i,
NUMBER_OF_LOOPS, 3, 0);
t = TIME_STAMP_DELTA_GET(t);
return_value += check_result(i, t);
/* test get/yield & put fiber functions */
fprintf(output_file, sz_test_case_fmt,
"Stack #2");
fprintf(output_file, sz_description,
"\n\tnano_stack_init"
"\n\tnano_fiber_stack_pop_wait"
"\n\tnano_fiber_stack_pop"
"\n\tnano_fiber_stack_push"
"\n\tfiber_yield");
printf(sz_test_start_fmt);
stack_test_init();
t = BENCH_START();
i = 0;
task_fiber_start(fiber_stack1, STACK_SIZE, stack_fiber1, 0,
NUMBER_OF_LOOPS, 3, 0);
task_fiber_start(fiber_stack2, STACK_SIZE, stack_fiber3, (int) &i,
NUMBER_OF_LOOPS, 3, 0);
t = TIME_STAMP_DELTA_GET(t);
return_value += check_result(i, t);
/* test get wait & put fiber/task functions */
fprintf(output_file, sz_test_case_fmt,
"Stack #3");
fprintf(output_file, sz_description,
"\n\tnano_stack_init"
"\n\tnano_fiber_stack_pop_wait"
"\n\tnano_fiber_stack_push"
"\n\tnano_task_stack_pop_wait"
"\n\tnano_task_stack_push");
printf(sz_test_start_fmt);
stack_test_init();
t = BENCH_START();
task_fiber_start(fiber_stack1, STACK_SIZE, stack_fiber1, 0,
NUMBER_OF_LOOPS, 3, 0);
for (i = 0; i < NUMBER_OF_LOOPS / 2; i++) {
uint32_t data;
data = 2 * i;
nano_task_stack_push(&nano_stack_1, data);
data = 2 * i + 1;
nano_task_stack_push(&nano_stack_1, data);
data = nano_task_stack_pop_wait(&nano_stack_2);
if (data != 2 * i + 1) {
break;
}
data = nano_task_stack_pop_wait(&nano_stack_2);
if (data != 2 * i) {
break;
}
}
t = TIME_STAMP_DELTA_GET(t);
return_value += check_result(i * 2, t);
return return_value;
}
/**
*
* @brief The main test entry
*
* @return 1 if success and 0 on failure
*/
int lifo_test(void)
{
uint32_t t;
int i = 0;
int return_value = 0;
int element[2];
int j;
nano_fifo_init(&nanoFifo_sync);
/* test get wait & put fiber functions */
fprintf(output_file, sz_test_case_fmt,
"LIFO #1");
fprintf(output_file, sz_description,
"\n\tnano_lifo_init"
"\n\tnano_fiber_lifo_get(TICKS_UNLIMITED)"
"\n\tnano_fiber_lifo_put");
printf(sz_test_start_fmt);
lifo_test_init();
t = BENCH_START();
task_fiber_start(fiber_stack1, STACK_SIZE, lifo_fiber1, 0,
NUMBER_OF_LOOPS, 3, 0);
task_fiber_start(fiber_stack2, STACK_SIZE, lifo_fiber2, (int) &i,
NUMBER_OF_LOOPS, 3, 0);
t = TIME_STAMP_DELTA_GET(t);
return_value += check_result(i, t);
/* fibers have done their job, they can stop now safely: */
for (j = 0; j < 2; j++) {
nano_task_fifo_put(&nanoFifo_sync, (void *) element);
}
/* test get/yield & put fiber functions */
fprintf(output_file, sz_test_case_fmt,
"LIFO #2");
fprintf(output_file, sz_description,
"\n\tnano_lifo_init"
"\n\tnano_fiber_lifo_get(TICKS_UNLIMITED)"
"\n\tnano_fiber_lifo_get(TICKS_NONE)"
"\n\tnano_fiber_lifo_put"
"\n\tfiber_yield");
printf(sz_test_start_fmt);
lifo_test_init();
t = BENCH_START();
i = 0;
task_fiber_start(fiber_stack1, STACK_SIZE, lifo_fiber1, 0,
NUMBER_OF_LOOPS, 3, 0);
task_fiber_start(fiber_stack2, STACK_SIZE, lifo_fiber3, (int) &i,
NUMBER_OF_LOOPS, 3, 0);
t = TIME_STAMP_DELTA_GET(t);
return_value += check_result(i, t);
/* fibers have done their job, they can stop now safely: */
for (j = 0; j < 2; j++) {
nano_task_fifo_put(&nanoFifo_sync, (void *) element);
}
/* test get wait & put fiber/task functions */
fprintf(output_file, sz_test_case_fmt,
"LIFO #3");
fprintf(output_file, sz_description,
"\n\tnano_lifo_init"
"\n\tnano_fiber_lifo_get(TICKS_UNLIMITED)"
"\n\tnano_fiber_lifo_put"
"\n\tnano_task_lifo_get(TICKS_UNLIMITED)"
"\n\tnano_task_lifo_put");
printf(sz_test_start_fmt);
lifo_test_init();
t = BENCH_START();
task_fiber_start(fiber_stack1, STACK_SIZE, lifo_fiber1, 0,
NUMBER_OF_LOOPS, 3, 0);
for (i = 0; i < NUMBER_OF_LOOPS / 2; i++) {
int element[2];
int *pelement;
element[1] = 2 * i;
nano_task_lifo_put(&nanoLifo1, element);
element[1] = 2 * i + 1;
nano_task_lifo_put(&nanoLifo1, element);
pelement = (int *)nano_task_lifo_get(&nanoLifo2,
TICKS_UNLIMITED);
if (pelement[1] != 2 * i + 1) {
break;
}
pelement = (int *)nano_task_lifo_get(&nanoLifo2,
TICKS_UNLIMITED);
if (pelement[1] != 2 * i) {
break;
}
}
t = TIME_STAMP_DELTA_GET(t);
return_value += check_result(i * 2, t);
/* fibers have done their job, they can stop now safely: */
for (j = 0; j < 2; j++) {
nano_task_fifo_put(&nanoFifo_sync, (void *) element);
}
return return_value;
}
void main(void)
{
int rv; /* return value from tests */
TC_START("Test Nanokernel CPU and thread routines");
TC_PRINT("Initializing nanokernel objects\n");
rv = initNanoObjects();
if (rv != TC_PASS) {
goto doneTests;
}
TC_PRINT("Testing nano_cpu_idle()\n");
rv = nano_cpu_idleTest();
if (rv != TC_PASS) {
goto doneTests;
}
TC_PRINT("Testing interrupt locking and unlocking\n");
rv = nanoCpuDisableInterruptsTest(irq_lockWrapper,
irq_unlockWrapper, -1);
if (rv != TC_PASS) {
goto doneTests;
}
/*
* The Cortex-M3/M4 use the SYSTICK exception for the system timer, which is
* not considered an IRQ by the irq_enable/Disable APIs.
*/
#if !defined(CONFIG_CPU_CORTEX_M3_M4)
/* Disable interrupts coming from the timer. */
TC_PRINT("Testing irq_disable() and irq_enable()\n");
rv = nanoCpuDisableInterruptsTest(irq_disableWrapper,
irq_enableWrapper, TICK_IRQ);
if (rv != TC_PASS) {
goto doneTests;
}
#endif
rv = nanoCtxTaskTest();
if (rv != TC_PASS) {
goto doneTests;
}
TC_PRINT("Spawning a fiber from a task\n");
fiberEvidence = 0;
task_fiber_start(fiberStack1, FIBER_STACKSIZE, fiberEntry,
(int) sys_thread_self_get(), 0, FIBER_PRIORITY, 0);
if (fiberEvidence != 1) {
rv = TC_FAIL;
TC_ERROR(" - fiber did not execute as expected!\n");
goto doneTests;
}
/*
* The fiber ran, now wake it so it can test sys_thread_self_get and
* sys_execution_context_type_get.
*/
TC_PRINT("Fiber to test sys_thread_self_get() and sys_execution_context_type_get\n");
nano_task_sem_give(&wakeFiber);
if (fiberDetectedError != 0) {
rv = TC_FAIL;
TC_ERROR(" - failure detected in fiber; fiberDetectedError = %d\n",
fiberDetectedError);
goto doneTests;
}
TC_PRINT("Fiber to test fiber_yield()\n");
nano_task_sem_give(&wakeFiber);
if (fiberDetectedError != 0) {
rv = TC_FAIL;
TC_ERROR(" - failure detected in fiber; fiberDetectedError = %d\n",
fiberDetectedError);
goto doneTests;
}
nano_task_sem_give(&wakeFiber);
rv = test_timeout();
if (rv != TC_PASS) {
goto doneTests;
}
/* Cortex-M3/M4 does not implement connecting non-IRQ exception handlers */
#if !defined(CONFIG_CPU_CORTEX_M3_M4)
/*
* Test divide by zero exception handler.
*
* WARNING: This code has been very carefully crafted so that it does
* what it is supposed to. Both "error" and "excHandlerExecuted" must be
* volatile to prevent the compiler from issuing a "divide by zero"
* warning (since otherwise in knows "excHandlerExecuted" is zero),
* and to ensure the compiler issues the two byte "idiv" instruction
* that the exception handler is designed to deal with.
*/
volatile int error; /* used to create a divide by zero error */
TC_PRINT("Verifying exception handler installed\n");
excHandlerExecuted = 0;
error = error / excHandlerExecuted;
TC_PRINT("excHandlerExecuted: %d\n", excHandlerExecuted);
rv = (excHandlerExecuted == 1) ? TC_PASS : TC_FAIL;
#endif
doneTests:
TC_END_RESULT(rv);
TC_END_REPORT(rv);
}
/* the timeout test entry point */
static int test_timeout(void)
{
int64_t orig_ticks;
int32_t timeout;
int rv;
void *packet, *scratch_packet;
int test_data_size;
int ii;
struct reply_packet reply_packet;
nano_lifo_init(&lifo_timeout[0]);
nano_lifo_init(&lifo_timeout[1]);
nano_fifo_init(&timeout_order_fifo);
nano_fifo_init(&scratch_q_packets_fifo);
for (ii = 0; ii < NUM_SCRATCH_Q_PACKETS; ii++) {
scratch_q_packets[ii].data_if_needed = (void *)ii;
nano_task_fifo_put(&scratch_q_packets_fifo,
&scratch_q_packets[ii]);
}
/* test nano_task_lifo_get() with timeout */
timeout = 10;
orig_ticks = sys_tick_get();
packet = nano_task_lifo_get(&lifo_timeout[0], timeout);
if (packet) {
TC_ERROR(" *** timeout of %d did not time out.\n", timeout);
return TC_FAIL;
}
if ((sys_tick_get() - orig_ticks) < timeout) {
TC_ERROR(" *** task did not wait long enough on timeout of %d.\n",
timeout);
return TC_FAIL;
}
/* test nano_task_lifo_get() with timeout of 0 */
packet = nano_task_lifo_get(&lifo_timeout[0], 0);
if (packet) {
TC_ERROR(" *** timeout of 0 did not time out.\n");
return TC_FAIL;
}
/* test nano_task_lifo_get() with timeout > 0 */
TC_PRINT("test nano_task_lifo_get() with timeout > 0\n");
timeout = 3;
orig_ticks = sys_tick_get();
packet = nano_task_lifo_get(&lifo_timeout[0], timeout);
if (packet) {
TC_ERROR(" *** timeout of %d did not time out.\n",
timeout);
return TC_FAIL;
}
if (!is_timeout_in_range(orig_ticks, timeout)) {
return TC_FAIL;
}
TC_PRINT("nano_task_lifo_get() timed out as expected\n");
/*
* test nano_task_lifo_get() with a timeout and fiber that puts
* data on the lifo on time
*/
timeout = 5;
orig_ticks = sys_tick_get();
task_fiber_start(timeout_stacks[0], FIBER_STACKSIZE,
test_fiber_put_timeout, (int)&lifo_timeout[0],
timeout,
FIBER_PRIORITY, 0);
packet = nano_task_lifo_get(&lifo_timeout[0],
(int)(timeout + 5));
if (!packet) {
TC_ERROR(" *** data put in time did not return valid pointer.\n");
return TC_FAIL;
}
put_scratch_packet(packet);
if (!is_timeout_in_range(orig_ticks, timeout)) {
return TC_FAIL;
}
TC_PRINT("nano_task_lifo_get() got lifo in time, as expected\n");
/*
* test nano_task_lifo_get() with TICKS_NONE and no data
* unavailable.
*/
if (nano_task_lifo_get(&lifo_timeout[0], TICKS_NONE)) {
TC_ERROR("task with TICKS_NONE got data, but shouldn't have\n");
return TC_FAIL;
}
TC_PRINT("task with TICKS_NONE did not get data, as expected\n");
/*
* test nano_task_lifo_get() with TICKS_NONE and some data
* available.
*/
scratch_packet = get_scratch_packet();
nano_task_lifo_put(&lifo_timeout[0], scratch_packet);
if (!nano_task_lifo_get(&lifo_timeout[0], TICKS_NONE)) {
TC_ERROR("task with TICKS_NONE did not get available data\n");
return TC_FAIL;
}
put_scratch_packet(scratch_packet);
TC_PRINT("task with TICKS_NONE got available data, as expected\n");
/*
* test nano_task_lifo_get() with TICKS_UNLIMITED and the
* data available.
*/
TC_PRINT("Trying to take available data with TICKS_UNLIMITED:\n"
" will hang the test if it fails.\n");
scratch_packet = get_scratch_packet();
nano_task_lifo_put(&lifo_timeout[0], scratch_packet);
if (!nano_task_lifo_get(&lifo_timeout[0], TICKS_UNLIMITED)) {
TC_ERROR(" *** This will never be hit!!! .\n");
return TC_FAIL;
}
put_scratch_packet(scratch_packet);
TC_PRINT("task with TICKS_UNLIMITED got available data, as expected\n");
/* test fiber with timeout of TICKS_NONE not getting data on empty lifo */
task_fiber_start(timeout_stacks[0], FIBER_STACKSIZE,
test_fiber_ticks_special_values,
(int)&reply_packet, TICKS_NONE, FIBER_PRIORITY, 0);
if (!nano_task_fifo_get(&timeout_order_fifo, TICKS_NONE)) {
TC_ERROR(" *** fiber should have run and filled the fifo.\n");
return TC_FAIL;
}
if (reply_packet.reply != 0) {
TC_ERROR(" *** fiber should not have obtained the data.\n");
return TC_FAIL;
}
TC_PRINT("fiber with TICKS_NONE did not get data, as expected\n");
/* test fiber with timeout of TICKS_NONE getting data when available */
scratch_packet = get_scratch_packet();
nano_task_lifo_put(&lifo_timeout[0], scratch_packet);
task_fiber_start(timeout_stacks[0], FIBER_STACKSIZE,
test_fiber_ticks_special_values,
(int)&reply_packet, TICKS_NONE, FIBER_PRIORITY, 0);
put_scratch_packet(scratch_packet);
if (!nano_task_fifo_get(&timeout_order_fifo, TICKS_NONE)) {
TC_ERROR(" *** fiber should have run and filled the fifo.\n");
return TC_FAIL;
}
if (reply_packet.reply != 1) {
TC_ERROR(" *** fiber should have obtained the data.\n");
return TC_FAIL;
}
TC_PRINT("fiber with TICKS_NONE got available data, as expected\n");
/* test fiber with TICKS_UNLIMITED timeout getting data when availalble */
scratch_packet = get_scratch_packet();
nano_task_lifo_put(&lifo_timeout[0], scratch_packet);
task_fiber_start(timeout_stacks[0], FIBER_STACKSIZE,
test_fiber_ticks_special_values,
(int)&reply_packet, TICKS_UNLIMITED, FIBER_PRIORITY, 0);
put_scratch_packet(scratch_packet);
if (!nano_task_fifo_get(&timeout_order_fifo, TICKS_NONE)) {
TC_ERROR(" *** fiber should have run and filled the fifo.\n");
return TC_FAIL;
}
if (reply_packet.reply != 1) {
TC_ERROR(" *** fiber should have obtained the data.\n");
return TC_FAIL;
}
TC_PRINT("fiber with TICKS_UNLIMITED got available data, as expected\n");
/* test multiple fibers pending on the same lifo with different timeouts */
test_data_size = ARRAY_SIZE(timeout_order_data);
TC_PRINT("testing timeouts of %d fibers on same lifo\n", test_data_size);
rv = test_multiple_fibers_pending(timeout_order_data, test_data_size);
if (rv != TC_PASS) {
TC_ERROR(" *** fibers did not time out in the right order\n");
return TC_FAIL;
}
/* test mult. fibers pending on different lifos with different timeouts */
test_data_size = ARRAY_SIZE(timeout_order_data_mult_lifo);
TC_PRINT("testing timeouts of %d fibers on different lifos\n",
test_data_size);
rv = test_multiple_fibers_pending(timeout_order_data_mult_lifo,
test_data_size);
if (rv != TC_PASS) {
TC_ERROR(" *** fibers did not time out in the right order\n");
return TC_FAIL;
}
/*
* test multiple fibers pending on same lifo with different timeouts, but
* getting the data in time, except the last one.
*/
test_data_size = ARRAY_SIZE(timeout_order_data);
TC_PRINT("testing %d fibers timing out, but obtaining the data in time\n"
"(except the last one, which times out)\n",
test_data_size);
rv = test_multiple_fibers_get_data(timeout_order_data, test_data_size);
if (rv != TC_PASS) {
TC_ERROR(" *** fibers did not get the data in the right order\n");
return TC_FAIL;
}
return TC_PASS;
}
void main(void)
{
void *pData; /* pointer to FIFO object get from the queue */
int count = 0; /* counter */
TC_START("Test Nanokernel FIFO");
/* Initialize the FIFO queues and semaphore */
initNanoObjects();
/* Create and start the three (3) fibers. */
task_fiber_start(&fiberStack1[0], FIBER_STACKSIZE, (nano_fiber_entry_t) fiber1,
0, 0, 7, 0);
task_fiber_start(&fiberStack2[0], FIBER_STACKSIZE, (nano_fiber_entry_t) fiber2,
0, 0, 7, 0);
task_fiber_start(&fiberStack3[0], FIBER_STACKSIZE, (nano_fiber_entry_t) fiber3,
0, 0, 7, 0);
/*
* The three fibers have each blocked on a different semaphore. Giving
* the semaphore nanoSemObjX will unblock fiberX (where X = {1, 2, 3}).
*
* Activate fibers #1 and #2. They will each block on nanoFifoObj.
*/
nano_task_sem_give(&nanoSemObj1);
nano_task_sem_give(&nanoSemObj2);
/* Put two items into <nanoFifoObj> to unblock fibers #1 and #2. */
nano_task_fifo_put(&nanoFifoObj, pPutList1[0]); /* Wake fiber1 */
nano_task_fifo_put(&nanoFifoObj, pPutList1[1]); /* Wake fiber2 */
/* Activate fiber #3 */
nano_task_sem_give(&nanoSemObj3);
/*
* All three fibers should be blocked on their semaphores. Put data into
* <nanoFifoObj2>. Fiber #3 will read it after it is reactivated.
*/
nano_task_fifo_put(&nanoFifoObj2, pPutList2[0]);
nano_task_sem_give(&nanoSemObj3); /* Reactivate fiber #3 */
for (int i = 0; i < 4; i++) {
pData = nano_task_fifo_get(&nanoFifoObj2, TICKS_UNLIMITED);
if (pData != pPutList2[i]) {
TC_ERROR("nano_task_fifo_get() expected 0x%x, got 0x%x\n",
pPutList2[i], pData);
goto exit;
}
}
/* Add items to <nanoFifoObj> for fiber #2 */
for (int i = 0; i < 4; i++) {
nano_task_fifo_put(&nanoFifoObj, pPutList1[i]);
}
nano_task_sem_give(&nanoSemObj2); /* Activate fiber #2 */
/* Wait for fibers to finish */
nano_task_sem_take(&nanoSemObjTask, TICKS_UNLIMITED);
if (retCode == TC_FAIL) {
goto exit;
}
/*
* Entries in the FIFO queue have to be unique.
* Put data to queue.
*/
TC_PRINT("Test Task FIFO Put\n");
TC_PRINT("\nTASK FIFO Put Order: ");
for (int i = 0; i < NUM_FIFO_ELEMENT; i++) {
nano_task_fifo_put(&nanoFifoObj, pPutList1[i]);
TC_PRINT(" %p,", pPutList1[i]);
}
TC_PRINT("\n");
PRINT_LINE;
nano_task_sem_give(&nanoSemObj1); /* Activate fiber1 */
if (retCode == TC_FAIL) {
goto exit;
}
/*
* Wait for fiber1 to complete execution. (Using a semaphore gives
* the fiber the freedom to do blocking-type operations if it wants to.)
*/
nano_task_sem_take(&nanoSemObjTask, TICKS_UNLIMITED);
TC_PRINT("Test Task FIFO Get\n");
/* Get all FIFOs */
while ((pData = nano_task_fifo_get(&nanoFifoObj, TICKS_NONE)) != NULL) {
TC_PRINT("TASK FIFO Get: count = %d, ptr is %p\n", count, pData);
if ((count >= NUM_FIFO_ELEMENT) || (pData != pPutList2[count])) {
TCERR1(count);
retCode = TC_FAIL;
goto exit;
}
count++;
}
/* Test FIFO Get Wait interfaces*/
testTaskFifoGetW();
PRINT_LINE;
testIsrFifoFromTask();
PRINT_LINE;
/* test timeouts */
if (test_fifo_timeout() != TC_PASS) {
retCode = TC_FAIL;
goto exit;
}
PRINT_LINE;
exit:
TC_END_RESULT(retCode);
TC_END_REPORT(retCode);
}
void testFiberInit(void)
{
nano_sem_init(&fiberSem);
task_fiber_start(fiberStack, FIBER_STACK_SIZE, (nano_fiber_entry_t)testFiberEntry,
0, 0, FIBER_PRIORITY, 0);
}
static int test_timeout(void)
{
int32_t timeout;
int rv;
int ii;
struct timeout_order_data *data;
/*
* sys_thread_busy_wait() is currently unsupported for ARM
*/
#ifndef CONFIG_ARM
/* test sys_thread_busy_wait() */
TC_PRINT("Testing sys_thread_busy_wait()\n");
timeout = 2;
task_fiber_start(timeout_stacks[0], FIBER_STACKSIZE,
test_fiber_busy_wait, (int)timeout, 0,
FIBER_PRIORITY, 0);
rv = nano_task_sem_take(&reply_timeout, timeout + 2);
if (!rv) {
rv = TC_FAIL;
TC_ERROR(" *** task timed out waiting for sys_thread_busy_wait()\n");
return TC_FAIL;
}
#endif /* CONFIG_ARM */
/* test fiber_sleep() */
TC_PRINT("Testing fiber_sleep()\n");
timeout = 5;
task_fiber_start(timeout_stacks[0], FIBER_STACKSIZE,
test_fiber_sleep, (int)timeout, 0,
FIBER_PRIORITY, 0);
rv = nano_task_sem_take(&reply_timeout, timeout + 5);
if (!rv) {
rv = TC_FAIL;
TC_ERROR(" *** task timed out waiting for fiber on fiber_sleep().\n");
return TC_FAIL;
}
/* test fiber_delayed_start() without cancellation */
TC_PRINT("Testing fiber_delayed_start() without cancellation\n");
for (ii = 0; ii < NUM_TIMEOUT_FIBERS; ii++) {
(void)task_fiber_delayed_start(timeout_stacks[ii], FIBER_STACKSIZE,
delayed_fiber, ii, 0, 5, 0,
timeout_order_data[ii].timeout);
}
for (ii = 0; ii < NUM_TIMEOUT_FIBERS; ii++) {
data = nano_task_fifo_get(&timeout_order_fifo, TIMEOUT_TWO_INTERVALS);
if (!data) {
TC_ERROR(" *** timeout while waiting for delayed fiber\n");
return TC_FAIL;
}
if (data->timeout_order != ii) {
TC_ERROR(" *** wrong delayed fiber ran (got %d, expected %d)\n",
data->timeout_order, ii);
return TC_FAIL;
}
TC_PRINT(" got fiber (q order: %d, t/o: %d) as expected\n",
data->q_order, data->timeout);
}
/* ensure no more fibers fire */
data = nano_task_fifo_get(&timeout_order_fifo, TIMEOUT_TWO_INTERVALS);
if (data) {
TC_ERROR(" *** got something on the fifo, but shouldn't have...\n");
return TC_FAIL;
}
/* test fiber_delayed_start() with cancellation */
TC_PRINT("Testing fiber_delayed_start() with cancellations\n");
int cancellations[] = {0, 3, 4, 6};
int num_cancellations = ARRAY_SIZE(cancellations);
int next_cancellation = 0;
void *delayed_fibers[NUM_TIMEOUT_FIBERS];
for (ii = 0; ii < NUM_TIMEOUT_FIBERS; ii++) {
delayed_fibers[ii] =
task_fiber_delayed_start(timeout_stacks[ii], FIBER_STACKSIZE,
delayed_fiber, ii, 0, 5, 0,
timeout_order_data[ii].timeout);
}
for (ii = 0; ii < NUM_TIMEOUT_FIBERS; ii++) {
int jj;
if (ii == cancellations[next_cancellation]) {
TC_PRINT(" cancelling [q order: %d, t/o: %d, t/o order: %d]\n",
timeout_order_data[ii].q_order,
timeout_order_data[ii].timeout, ii);
for (jj = 0; jj < NUM_TIMEOUT_FIBERS; jj++) {
if (timeout_order_data[jj].timeout_order == ii) {
break;
}
}
task_fiber_delayed_start_cancel(delayed_fibers[jj]);
++next_cancellation;
continue;
}
data = nano_task_fifo_get(&timeout_order_fifo, TIMEOUT_TEN_INTERVALS);
if (!data) {
TC_ERROR(" *** timeout while waiting for delayed fiber\n");
return TC_FAIL;
}
if (data->timeout_order != ii) {
TC_ERROR(" *** wrong delayed fiber ran (got %d, expected %d)\n",
data->timeout_order, ii);
return TC_FAIL;
}
TC_PRINT(" got (q order: %d, t/o: %d, t/o order %d) as expected\n",
data->q_order, data->timeout);
}
if (num_cancellations != next_cancellation) {
TC_ERROR(" *** wrong number of cancellations (expected %d, got %d\n",
num_cancellations, next_cancellation);
return TC_FAIL;
}
/* ensure no more fibers fire */
data = nano_task_fifo_get(&timeout_order_fifo, TIMEOUT_TWO_INTERVALS);
if (data) {
TC_ERROR(" *** got something on the fifo, but shouldn't have...\n");
return TC_FAIL;
}
return TC_PASS;
}
