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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 | /* * Copyright (c) 2012-2016 Wind River Systems, Inc. * * SPDX-License-Identifier: Apache-2.0 */ /** * @file * @brief Test kernel mutex APIs * * * This module demonstrates the kernel's priority inheritance algorithm. * A thread that owns a mutex is promoted to the priority level of the * highest-priority thread attempting to lock the mutex. * * In addition, recursive locking capabilities and the use of a private mutex * are also tested. * * This module tests the following mutex routines: * * sys_mutex_lock * sys_mutex_unlock * * Timeline for priority inheritance testing: * - 0.0 sec: thread_05, thread_06, thread_07, thread_08, thread_09, sleep * : main thread takes mutex_1 then sleeps * - 0.0 sec: thread_11 sleeps * - 0.5 sec: thread_09 wakes and waits on mutex_1 * - 1.0 sec: main thread (@ priority 9) takes mutex_2 then sleeps * - 1.5 sec: thread_08 wakes and waits on mutex_2 * - 2.0 sec: main thread (@ priority 8) takes mutex_3 then sleeps * - 2.5 sec: thread_07 wakes and waits on mutex_3 * - 3.0 sec: main thread (@ priority 7) takes mutex_4 then sleeps * - 3.5 sec: thread_05 wakes and waits on mutex_4 * - 3.5 sec: thread_11 wakes and waits on mutex_3 * - 3.75 sec: thread_06 wakes and waits on mutex_4 * - 4.0 sec: main thread wakes (@ priority 5) then sleeps * - 4.5 sec: thread_05 times out * - 5.0 sec: main thread wakes (@ priority 6) then gives mutex_4 * : main thread (@ priority 7) sleeps * - 5.5 sec: thread_07 times out on mutex_3 * - 6.0 sec: main thread (@ priority 8) gives mutex_3 * : main thread (@ priority 8) gives mutex_2 * : main thread (@ priority 9) gives mutex_1 * : main thread (@ priority 10) sleeps */ #include <tc_util.h> #include <zephyr.h> #include <ztest.h> #include <sys/mutex.h> #define STACKSIZE (512 + CONFIG_TEST_EXTRA_STACKSIZE) static ZTEST_DMEM int tc_rc = TC_PASS; /* test case return code */ ZTEST_BMEM SYS_MUTEX_DEFINE(private_mutex); ZTEST_BMEM SYS_MUTEX_DEFINE(mutex_1); ZTEST_BMEM SYS_MUTEX_DEFINE(mutex_2); ZTEST_BMEM SYS_MUTEX_DEFINE(mutex_3); ZTEST_BMEM SYS_MUTEX_DEFINE(mutex_4); #ifdef CONFIG_USERSPACE static SYS_MUTEX_DEFINE(no_access_mutex); #endif static ZTEST_BMEM SYS_MUTEX_DEFINE(not_my_mutex); static ZTEST_BMEM SYS_MUTEX_DEFINE(bad_count_mutex); /** * * thread_05 - * * @return N/A */ void thread_05(void) { int rv; k_sleep(K_MSEC(3500)); /* Wait and boost owner priority to 5 */ rv = sys_mutex_lock(&mutex_4, K_SECONDS(1)); if (rv != -EAGAIN) { tc_rc = TC_FAIL; TC_ERROR("Failed to timeout on mutex %p\n", &mutex_4); return; } } /** * * thread_06 - * * @return N/A */ void thread_06(void) { int rv; k_sleep(K_MSEC(3750)); /* * Wait for the mutex. There is a higher priority level thread waiting * on the mutex, so request will not immediately contribute to raising * the priority of the owning thread (main thread). When thread_05 * times out this thread will become the highest priority waiting * thread. The priority of the owning thread (main thread) will not * drop back to 7, but will instead drop to 6. */ rv = sys_mutex_lock(&mutex_4, K_SECONDS(2)); if (rv != 0) { tc_rc = TC_FAIL; TC_ERROR("Failed to take mutex %p\n", &mutex_4); return; } sys_mutex_unlock(&mutex_4); } /** * * thread_07 - * * @return N/A */ void thread_07(void) { int rv; k_sleep(K_MSEC(2500)); /* * Wait and boost owner priority to 7. While waiting, another thread of * a very low priority level will also wait for the mutex. thread_07 is * expected to time out around the 5.5 second mark. When it times out, * thread_11 will become the only waiting thread for this mutex and the * priority of the owning main thread will drop to 8. */ rv = sys_mutex_lock(&mutex_3, K_SECONDS(3)); if (rv != -EAGAIN) { tc_rc = TC_FAIL; TC_ERROR("Failed to timeout on mutex %p\n", &mutex_3); return; } } /** * * thread_08 - * * @return N/A */ void thread_08(void) { int rv; k_sleep(K_MSEC(1500)); /* Wait and boost owner priority to 8 */ rv = sys_mutex_lock(&mutex_2, K_FOREVER); if (rv != 0) { tc_rc = TC_FAIL; TC_ERROR("Failed to take mutex %p\n", &mutex_2); return; } sys_mutex_unlock(&mutex_2); } /** * * thread_09 - * * @return N/A */ void thread_09(void) { int rv; k_sleep(K_MSEC(500)); /* Allow lower priority thread to run */ /*<mutex_1> is already locked. */ rv = sys_mutex_lock(&mutex_1, K_NO_WAIT); if (rv != -EBUSY) { /* This attempt to lock the mutex */ /* should not succeed. */ tc_rc = TC_FAIL; TC_ERROR("Failed to NOT take locked mutex %p\n", &mutex_1); return; } /* Wait and boost owner priority to 9 */ rv = sys_mutex_lock(&mutex_1, K_FOREVER); if (rv != 0) { tc_rc = TC_FAIL; TC_ERROR("Failed to take mutex %p\n", &mutex_1); return; } sys_mutex_unlock(&mutex_1); } /** * * thread_11 - * * @return N/A */ void thread_11(void) { int rv; k_sleep(K_MSEC(3500)); rv = sys_mutex_lock(&mutex_3, K_FOREVER); if (rv != 0) { tc_rc = TC_FAIL; TC_ERROR("Failed to take mutex %p\n", &mutex_2); return; } sys_mutex_unlock(&mutex_3); } K_THREAD_STACK_DEFINE(thread_12_stack_area, STACKSIZE); struct k_thread thread_12_thread_data; extern void thread_12(void); /** * * @brief Main thread to test thread_mutex_xxx interfaces * * This thread will lock on mutex_1, mutex_2, mutex_3 and mutex_4. It later * recursively locks private_mutex, releases it, then re-locks it. * * @return N/A */ void test_mutex(void) { /* * Main thread(test_main) priority was 10 but ztest thread runs at * priority -1. To run the test smoothly make both main and ztest * threads run at same priority level. */ k_thread_priority_set(k_current_get(), 10); int rv; int i; struct sys_mutex *mutexes[4] = { &mutex_1, &mutex_2, &mutex_3, &mutex_4 }; struct sys_mutex *givemutex[3] = { &mutex_3, &mutex_2, &mutex_1 }; int priority[4] = { 9, 8, 7, 5 }; int droppri[3] = { 8, 8, 9 }; #ifdef CONFIG_USERSPACE int thread_flags = K_USER | K_INHERIT_PERMS; #else int thread_flags = 0; #endif TC_START("Test kernel Mutex API"); PRINT_LINE; /* * 1st iteration: Take mutex_1; thread_09 waits on mutex_1 * 2nd iteration: Take mutex_2: thread_08 waits on mutex_2 * 3rd iteration: Take mutex_3; thread_07 waits on mutex_3 * 4th iteration: Take mutex_4; thread_05 waits on mutex_4 */ for (i = 0; i < 4; i++) { rv = sys_mutex_lock(mutexes[i], K_NO_WAIT); zassert_equal(rv, 0, "Failed to lock mutex %p\n", mutexes[i]); k_sleep(K_SECONDS(1)); rv = k_thread_priority_get(k_current_get()); zassert_equal(rv, priority[i], "expected priority %d, not %d\n", priority[i], rv); /* Catch any errors from other threads */ zassert_equal(tc_rc, TC_PASS, NULL); } /* ~ 4 seconds have passed */ TC_PRINT("Done LOCKING! Current priority = %d\n", k_thread_priority_get(k_current_get())); k_sleep(K_SECONDS(1)); /* thread_05 should time out */ /* ~ 5 seconds have passed */ rv = k_thread_priority_get(k_current_get()); zassert_equal(rv, 6, "%s timed out and out priority should drop.\n", "thread_05"); zassert_equal(rv, 6, "Expected priority %d, not %d\n", 6, rv); sys_mutex_unlock(&mutex_4); rv = k_thread_priority_get(k_current_get()); zassert_equal(rv, 7, "Gave %s and priority should drop.\n", "mutex_4"); zassert_equal(rv, 7, "Expected priority %d, not %d\n", 7, rv); k_sleep(K_SECONDS(1)); /* thread_07 should time out */ /* ~ 6 seconds have passed */ for (i = 0; i < 3; i++) { rv = k_thread_priority_get(k_current_get()); zassert_equal(rv, droppri[i], "Expected priority %d, not %d\n", droppri[i], rv); sys_mutex_unlock(givemutex[i]); zassert_equal(tc_rc, TC_PASS, NULL); } rv = k_thread_priority_get(k_current_get()); zassert_equal(rv, 10, "Expected priority %d, not %d\n", 10, rv); k_sleep(K_SECONDS(1)); /* Give thread_11 time to run */ zassert_equal(tc_rc, TC_PASS, NULL); /* test recursive locking using a private mutex */ TC_PRINT("Testing recursive locking\n"); rv = sys_mutex_lock(&private_mutex, K_NO_WAIT); zassert_equal(rv, 0, "Failed to lock private mutex"); rv = sys_mutex_lock(&private_mutex, K_NO_WAIT); zassert_equal(rv, 0, "Failed to recursively lock private mutex"); /* Start thread */ k_thread_create(&thread_12_thread_data, thread_12_stack_area, STACKSIZE, (k_thread_entry_t)thread_12, NULL, NULL, NULL, K_PRIO_PREEMPT(12), thread_flags, K_NO_WAIT); k_sleep(K_MSEC(1)); /* Give thread_12 a chance to block on the mutex */ sys_mutex_unlock(&private_mutex); sys_mutex_unlock(&private_mutex); /* thread_12 should now have lock */ rv = sys_mutex_lock(&private_mutex, K_NO_WAIT); zassert_equal(rv, -EBUSY, "Unexpectedly got lock on private mutex"); rv = sys_mutex_lock(&private_mutex, K_SECONDS(1)); zassert_equal(rv, 0, "Failed to re-obtain lock on private mutex"); sys_mutex_unlock(&private_mutex); TC_PRINT("Recursive locking tests successful\n"); } void test_supervisor_access(void) { int rv; #ifdef CONFIG_USERSPACE /* coverage for get_k_mutex checks */ rv = sys_mutex_lock((struct sys_mutex *)NULL, K_NO_WAIT); zassert_true(rv == -EINVAL, "accepted bad mutex pointer"); rv = sys_mutex_lock((struct sys_mutex *)k_current_get(), K_NO_WAIT); zassert_true(rv == -EINVAL, "accepted object that was not a mutex"); rv = sys_mutex_unlock((struct sys_mutex *)NULL); zassert_true(rv == -EINVAL, "accepted bad mutex pointer"); rv = sys_mutex_unlock((struct sys_mutex *)k_current_get()); zassert_true(rv == -EINVAL, "accepted object that was not a mutex"); #endif /* CONFIG_USERSPACE */ rv = sys_mutex_unlock(¬_my_mutex); zassert_true(rv == -EPERM, "unlocked a mutex that wasn't owner"); rv = sys_mutex_unlock(&bad_count_mutex); zassert_true(rv == -EINVAL, "mutex wasn't locked"); } void test_user_access(void) { #ifdef CONFIG_USERSPACE int rv; rv = sys_mutex_lock(&no_access_mutex, K_NO_WAIT); zassert_true(rv == -EACCES, "accessed mutex not in memory domain"); rv = sys_mutex_unlock(&no_access_mutex); zassert_true(rv == -EACCES, "accessed mutex not in memory domain"); #else ztest_test_skip(); #endif /* CONFIG_USERSPACE */ } K_THREAD_DEFINE(THREAD_05, STACKSIZE, thread_05, NULL, NULL, NULL, 5, K_USER, 0); K_THREAD_DEFINE(THREAD_06, STACKSIZE, thread_06, NULL, NULL, NULL, 6, K_USER, 0); K_THREAD_DEFINE(THREAD_07, STACKSIZE, thread_07, NULL, NULL, NULL, 7, K_USER, 0); K_THREAD_DEFINE(THREAD_08, STACKSIZE, thread_08, NULL, NULL, NULL, 8, K_USER, 0); K_THREAD_DEFINE(THREAD_09, STACKSIZE, thread_09, NULL, NULL, NULL, 9, K_USER, 0); K_THREAD_DEFINE(THREAD_11, STACKSIZE, thread_11, NULL, NULL, NULL, 11, K_USER, 0); /*test case main entry*/ void test_main(void) { int rv; #ifdef CONFIG_USERSPACE k_thread_access_grant(k_current_get(), &thread_12_thread_data, &thread_12_stack_area); #endif rv = sys_mutex_lock(¬_my_mutex, K_NO_WAIT); if (rv != 0) { TC_ERROR("Failed to take mutex %p\n", ¬_my_mutex); } /* We deliberately disable userspace, even on platforms that * support it, so that the alternate implementation of sys_mutex * (which is just a very thin wrapper to k_mutex) is exercised. * This requires us to not attempt to start the tests in user * mode, as this will otherwise fail an assertion in the thread code. */ #ifdef CONFIG_USERSPACE ztest_test_suite(mutex_complex, ztest_1cpu_user_unit_test(test_mutex), ztest_user_unit_test(test_user_access), ztest_unit_test(test_supervisor_access)); ztest_run_test_suite(mutex_complex); #else ztest_test_suite(mutex_complex, ztest_1cpu_unit_test(test_mutex), ztest_unit_test(test_user_access), ztest_unit_test(test_supervisor_access)); ztest_run_test_suite(mutex_complex); #endif } |