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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 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 | /* * Copyright (c) 2019 Intel Corporation * * SPDX-License-Identifier: Apache-2.0 */ #include <zephyr/ztest.h> #include <zephyr/irq_offload.h> #include <zephyr/sys/sem.h> /* Macro declarations */ #define SEM_INIT_VAL (0U) #define SEM_MAX_VAL (10U) #define SEM_TIMEOUT (K_MSEC(100)) #define STACK_SIZE (512 + CONFIG_TEST_EXTRA_STACK_SIZE) #define TOTAL_THREADS_WAITING (3) /******************************************************************************/ /* declaration */ ZTEST_BMEM struct sys_sem simple_sem; ZTEST_BMEM struct sys_sem low_prio_sem; ZTEST_BMEM struct sys_sem mid_prio_sem; ZTEST_DMEM struct sys_sem high_prio_sem; ZTEST_DMEM SYS_SEM_DEFINE(multiple_thread_sem, SEM_INIT_VAL, SEM_MAX_VAL); K_THREAD_STACK_DEFINE(stack_1, STACK_SIZE); K_THREAD_STACK_DEFINE(stack_2, STACK_SIZE); K_THREAD_STACK_DEFINE(stack_3, STACK_SIZE); K_THREAD_STACK_ARRAY_DEFINE(multiple_stack, TOTAL_THREADS_WAITING, STACK_SIZE); struct k_thread sem_tid, sem_tid_1, sem_tid_2; struct k_thread multiple_tid[TOTAL_THREADS_WAITING]; /******************************************************************************/ /* Helper functions */ static void isr_sem_give(const void *semaphore) { sys_sem_give((struct sys_sem *)semaphore); } static void isr_sem_take(const void *semaphore) { sys_sem_take((struct sys_sem *)semaphore, K_NO_WAIT); } static void sem_give_from_isr(void *semaphore) { irq_offload(isr_sem_give, (const void *)semaphore); } static void sem_take_from_isr(void *semaphore) { irq_offload(isr_sem_take, (const void *)semaphore); } static void sem_give_task(void *p1, void *p2, void *p3) { sys_sem_give(&simple_sem); } static void sem_take_timeout_forever_helper(void *p1, void *p2, void *p3) { k_sleep(K_MSEC(100)); sys_sem_give(&simple_sem); } static void sem_take_timeout_isr_helper(void *p1, void *p2, void *p3) { sem_give_from_isr(&simple_sem); } static void sem_take_multiple_low_prio_helper(void *p1, void *p2, void *p3) { int32_t ret_value; ret_value = sys_sem_take(&low_prio_sem, K_FOREVER); zassert_true(ret_value == 0, "sys_sem_take failed"); ret_value = sys_sem_take(&multiple_thread_sem, K_FOREVER); zassert_true(ret_value == 0, "sys_sem_take failed"); sys_sem_give(&low_prio_sem); } static void sem_take_multiple_mid_prio_helper(void *p1, void *p2, void *p3) { int32_t ret_value; ret_value = sys_sem_take(&mid_prio_sem, K_FOREVER); zassert_true(ret_value == 0, "sys_sem_take failed"); ret_value = sys_sem_take(&multiple_thread_sem, K_FOREVER); zassert_true(ret_value == 0, "sys_sem_take failed"); sys_sem_give(&mid_prio_sem); } static void sem_take_multiple_high_prio_helper(void *p1, void *p2, void *p3) { int32_t ret_value; ret_value = sys_sem_take(&high_prio_sem, K_FOREVER); zassert_true(ret_value == 0, "sys_sem_take failed"); ret_value = sys_sem_take(&multiple_thread_sem, K_FOREVER); zassert_true(ret_value == 0, "sys_sem_take failed"); sys_sem_give(&high_prio_sem); } static void sem_multiple_threads_wait_helper(void *p1, void *p2, void *p3) { int ret_value; /* get blocked until the test thread gives the semaphore */ ret_value = sys_sem_take(&multiple_thread_sem, K_FOREVER); zassert_true(ret_value == 0, "sys_sem_take failed"); /* Inform the test thread that this thread has got multiple_thread_sem*/ sys_sem_give(&simple_sem); } /** * @ingroup sys_sem_tests * @{ */ #ifdef CONFIG_USERSPACE ZTEST(sys_sem, test_basic_sem_test) { int32_t ret_value; ret_value = sys_sem_init(NULL, SEM_INIT_VAL, SEM_MAX_VAL); zassert_true(ret_value == -EINVAL, "sys_sem_init returned not equal -EINVAL"); ret_value = sys_sem_init(&simple_sem, SEM_INIT_VAL, SEM_INIT_VAL); zassert_true(ret_value == -EINVAL, "sys_sem_init returned not equal -EINVAL"); ret_value = sys_sem_init(&simple_sem, UINT_MAX, SEM_MAX_VAL); zassert_true(ret_value == -EINVAL, "sys_sem_init returned not equal -EINVAL"); ret_value = sys_sem_init(&simple_sem, SEM_MAX_VAL, UINT_MAX); zassert_true(ret_value == -EINVAL, "sys_sem_init returned not equal -EINVAL"); sys_sem_init(&simple_sem, SEM_INIT_VAL, SEM_MAX_VAL); sys_sem_take(&simple_sem, SEM_TIMEOUT); sys_sem_give(&simple_sem); } #endif /** * @brief Test semaphore count when given by an ISR */ ZTEST(sys_sem, test_simple_sem_from_isr) { uint32_t signal_count; sys_sem_init(&simple_sem, SEM_INIT_VAL, SEM_MAX_VAL); for (int i = 0; i < 5; i++) { sem_give_from_isr(&simple_sem); signal_count = sys_sem_count_get(&simple_sem); zassert_true(signal_count == (i + 1), "signal count mismatch Expected %d, got %d", (i + 1), signal_count); } } /** * @brief Test semaphore count when given by thread */ ZTEST_USER(sys_sem, test_simple_sem_from_task) { uint32_t signal_count; sys_sem_init(&simple_sem, SEM_INIT_VAL, SEM_MAX_VAL); for (int i = 0; i < 5; i++) { sys_sem_give(&simple_sem); signal_count = sys_sem_count_get(&simple_sem); zassert_true(signal_count == (i + 1), "signal count mismatch Expected %d, got %d", (i + 1), signal_count); } } /** * @brief Test if sys_sem_take() decreases semaphore count */ ZTEST_USER(sys_sem, test_sem_take_no_wait) { uint32_t signal_count; int32_t ret_value; /* Initial condition */ sys_sem_init(&simple_sem, 5, SEM_MAX_VAL); for (int i = 4; i >= 0; i--) { ret_value = sys_sem_take(&simple_sem, K_NO_WAIT); zassert_true(ret_value == 0, "unable to do sys_sem_take which returned %d", ret_value); signal_count = sys_sem_count_get(&simple_sem); zassert_true(signal_count == i, "signal count mismatch Expected %d, got %d", i, signal_count); } } /** * @brief Test sys_sem_take() when there is no semaphore to take */ ZTEST_USER(sys_sem, test_sem_take_no_wait_fails) { uint32_t signal_count; int32_t ret_value; sys_sem_init(&simple_sem, SEM_INIT_VAL, SEM_MAX_VAL); for (int i = 4; i >= 0; i--) { ret_value = sys_sem_take(&simple_sem, K_NO_WAIT); zassert_true(ret_value == -ETIMEDOUT, "sys_sem_take returned when not possible"); signal_count = sys_sem_count_get(&simple_sem); zassert_true(signal_count == 0U, "signal count mismatch Expected 0, got %d", signal_count); } } /** * @brief Test sys_sem_take() with timeout expiry */ ZTEST_USER(sys_sem_1cpu, test_sem_take_timeout_fails) { int32_t ret_value; sys_sem_init(&simple_sem, SEM_INIT_VAL, SEM_MAX_VAL); for (int i = 4; i >= 0; i--) { ret_value = sys_sem_take(&simple_sem, SEM_TIMEOUT); zassert_true(ret_value == -ETIMEDOUT, "sys_sem_take succeeded when its not possible"); } } /** * @brief Test sys_sem_take() with timeout */ ZTEST_USER(sys_sem, test_sem_take_timeout) { int32_t ret_value; #ifdef CONFIG_USERSPACE int thread_flags = K_USER | K_INHERIT_PERMS; #else int thread_flags = 0; #endif sys_sem_init(&simple_sem, SEM_INIT_VAL, SEM_MAX_VAL); k_thread_create(&sem_tid, stack_1, STACK_SIZE, sem_give_task, NULL, NULL, NULL, K_PRIO_PREEMPT(0), thread_flags, K_NO_WAIT); ret_value = sys_sem_take(&simple_sem, SEM_TIMEOUT); zassert_true(ret_value == 0, "sys_sem_take failed when its shouldn't have"); k_thread_join(&sem_tid, K_FOREVER); } /** * @brief Test sys_sem_take() with forever timeout */ ZTEST_USER(sys_sem_1cpu, test_sem_take_timeout_forever) { int32_t ret_value; #ifdef CONFIG_USERSPACE int thread_flags = K_USER | K_INHERIT_PERMS; #else int thread_flags = 0; #endif sys_sem_init(&simple_sem, SEM_INIT_VAL, SEM_MAX_VAL); k_thread_create(&sem_tid, stack_1, STACK_SIZE, sem_take_timeout_forever_helper, NULL, NULL, NULL, K_PRIO_PREEMPT(0), thread_flags, K_NO_WAIT); ret_value = sys_sem_take(&simple_sem, K_FOREVER); zassert_true(ret_value == 0, "sys_sem_take failed when its shouldn't have"); k_thread_join(&sem_tid, K_FOREVER); } /** * @brief Test sys_sem_take() with timeout in ISR context */ ZTEST(sys_sem_1cpu, test_sem_take_timeout_isr) { int32_t ret_value; sys_sem_init(&simple_sem, SEM_INIT_VAL, SEM_MAX_VAL); k_thread_create(&sem_tid, stack_1, STACK_SIZE, sem_take_timeout_isr_helper, NULL, NULL, NULL, K_PRIO_PREEMPT(0), 0, K_NO_WAIT); ret_value = sys_sem_take(&simple_sem, SEM_TIMEOUT); zassert_true(ret_value == 0, "sys_sem_take failed when its shouldn't have"); k_thread_join(&sem_tid, K_FOREVER); } /** * @brief Test multiple semaphore take */ ZTEST_USER(sys_sem_1cpu, test_sem_take_multiple) { uint32_t signal_count; #ifdef CONFIG_USERSPACE int thread_flags = K_USER | K_INHERIT_PERMS; #else int thread_flags = 0; #endif sys_sem_init(&high_prio_sem, SEM_INIT_VAL, SEM_MAX_VAL); sys_sem_init(&mid_prio_sem, SEM_INIT_VAL, SEM_MAX_VAL); sys_sem_init(&low_prio_sem, SEM_INIT_VAL, SEM_MAX_VAL); k_thread_create(&sem_tid, stack_1, STACK_SIZE, sem_take_multiple_low_prio_helper, NULL, NULL, NULL, K_PRIO_PREEMPT(3), thread_flags, K_NO_WAIT); k_thread_create(&sem_tid_1, stack_2, STACK_SIZE, sem_take_multiple_mid_prio_helper, NULL, NULL, NULL, K_PRIO_PREEMPT(2), thread_flags, K_NO_WAIT); k_thread_create(&sem_tid_2, stack_3, STACK_SIZE, sem_take_multiple_high_prio_helper, NULL, NULL, NULL, K_PRIO_PREEMPT(1), thread_flags, K_NO_WAIT); /* Lower the priority */ k_thread_priority_set(k_current_get(), K_PRIO_PREEMPT(3)); /* giving time for those 3 threads to complete */ k_yield(); /* Let these threads proceed to take the multiple_sem */ sys_sem_give(&high_prio_sem); sys_sem_give(&mid_prio_sem); sys_sem_give(&low_prio_sem); k_yield(); /* enable the higher priority thread to run. */ sys_sem_give(&multiple_thread_sem); k_yield(); /* check which threads completed. */ signal_count = sys_sem_count_get(&high_prio_sem); zassert_true(signal_count == 1U, "Higher priority threads didn't execute"); signal_count = sys_sem_count_get(&mid_prio_sem); zassert_true(signal_count == 0U, "Medium priority threads shouldn't have executed"); signal_count = sys_sem_count_get(&low_prio_sem); zassert_true(signal_count == 0U, "low priority threads shouldn't have executed"); /* enable the Medium priority thread to run. */ sys_sem_give(&multiple_thread_sem); k_yield(); /* check which threads completed. */ signal_count = sys_sem_count_get(&high_prio_sem); zassert_true(signal_count == 1U, "Higher priority thread executed again"); signal_count = sys_sem_count_get(&mid_prio_sem); zassert_true(signal_count == 1U, "Medium priority thread didn't get executed"); signal_count = sys_sem_count_get(&low_prio_sem); zassert_true(signal_count == 0U, "low priority thread shouldn't have executed"); /* enable the low priority thread to run. */ sys_sem_give(&multiple_thread_sem); k_yield(); /* check which threads completed. */ signal_count = sys_sem_count_get(&high_prio_sem); zassert_true(signal_count == 1U, "Higher priority thread executed again"); signal_count = sys_sem_count_get(&mid_prio_sem); zassert_true(signal_count == 1U, "Medium priority thread executed again"); signal_count = sys_sem_count_get(&low_prio_sem); zassert_true(signal_count == 1U, "low priority thread didn't get executed"); k_thread_join(&sem_tid, K_FOREVER); k_thread_join(&sem_tid_1, K_FOREVER); k_thread_join(&sem_tid_2, K_FOREVER); } /** * @brief Test semaphore give and take and its count from ISR */ ZTEST(sys_sem, test_sem_give_take_from_isr) { uint32_t signal_count; sys_sem_init(&simple_sem, SEM_INIT_VAL, SEM_MAX_VAL); /* Give semaphore from an isr and do a check for the count */ for (int i = 0; i < SEM_MAX_VAL; i++) { sem_give_from_isr(&simple_sem); signal_count = sys_sem_count_get(&simple_sem); zassert_true(signal_count == i + 1, "signal count mismatch Expected %d, got %d", i + 1, signal_count); } /* Take semaphore from an isr and do a check for the count */ for (int i = SEM_MAX_VAL; i > 0; i--) { sem_take_from_isr(&simple_sem); signal_count = sys_sem_count_get(&simple_sem); zassert_true(signal_count == (i - 1), "signal count mismatch Expected %d, got %d", (i - 1), signal_count); } } /** * @brief Test semaphore give limit count */ ZTEST_USER(sys_sem, test_sem_give_limit) { int32_t ret_value; uint32_t signal_count; sys_sem_init(&simple_sem, SEM_INIT_VAL, SEM_MAX_VAL); /* Give semaphore and do a check for the count */ for (int i = 0; i < SEM_MAX_VAL; i++) { ret_value = sys_sem_give(&simple_sem); zassert_true(ret_value == 0, "sys_sem_give failed when its shouldn't have"); signal_count = sys_sem_count_get(&simple_sem); zassert_true(signal_count == i + 1, "signal count mismatch Expected %d, got %d", i + 1, signal_count); } do { ret_value = sys_sem_give(&simple_sem); if (ret_value == -EAGAIN) { signal_count = sys_sem_count_get(&simple_sem); zassert_true(signal_count == SEM_MAX_VAL, "signal count mismatch Expected %d, got %d", SEM_MAX_VAL, signal_count); sys_sem_take(&simple_sem, K_FOREVER); } else if (ret_value == 0) { signal_count = sys_sem_count_get(&simple_sem); zassert_true(signal_count == SEM_MAX_VAL, "signal count mismatch Expected %d, got %d", SEM_MAX_VAL, signal_count); } } while (ret_value == -EAGAIN); } /** * @brief Test multiple semaphore take and give with wait */ ZTEST_USER(sys_sem_1cpu, test_sem_multiple_threads_wait) { uint32_t signal_count; int32_t ret_value; uint32_t repeat_count = 0U; #ifdef CONFIG_USERSPACE int thread_flags = K_USER | K_INHERIT_PERMS; #else int thread_flags = 0; #endif sys_sem_init(&simple_sem, SEM_INIT_VAL, SEM_MAX_VAL); do { for (int i = 0; i < TOTAL_THREADS_WAITING; i++) { k_thread_create(&multiple_tid[i], multiple_stack[i], STACK_SIZE, sem_multiple_threads_wait_helper, NULL, NULL, NULL, CONFIG_ZTEST_THREAD_PRIORITY, thread_flags, K_NO_WAIT); } /* giving time for the other threads to execute */ k_yield(); /* Give the semaphores */ for (int i = 0; i < TOTAL_THREADS_WAITING; i++) { sys_sem_give(&multiple_thread_sem); } /* giving time for the other threads to execute */ k_yield(); /* check if all the threads are done. */ for (int i = 0; i < TOTAL_THREADS_WAITING; i++) { ret_value = sys_sem_take(&simple_sem, K_FOREVER); zassert_true(ret_value == 0, "Some of the threads didn't get multiple_thread_sem" ); } signal_count = sys_sem_count_get(&simple_sem); zassert_true(signal_count == 0U, "signal count mismatch Expected 0, got %d", signal_count); signal_count = sys_sem_count_get(&multiple_thread_sem); zassert_true(signal_count == 0U, "signal count mismatch Expected 0, got %d", signal_count); repeat_count++; for (int i = 0; i < TOTAL_THREADS_WAITING; i++) { k_thread_join(&multiple_tid[i], K_FOREVER); } } while (repeat_count < 2); } /** * @} */ void k_sys_fatal_error_handler(unsigned int reason, const z_arch_esf_t *pEsf) { printk("Caught system error -- reason %d\n", reason); printk("Unexpected fault during test\n"); printk("PROJECT EXECUTION FAILED\n"); k_fatal_halt(reason); } void *sys_sem_setup(void) { #ifdef CONFIG_USERSPACE k_thread_access_grant(k_current_get(), &stack_1, &stack_2, &stack_3, &sem_tid, &sem_tid_1, &sem_tid_2); for (int i = 0; i < TOTAL_THREADS_WAITING; i++) { k_thread_access_grant(k_current_get(), &multiple_tid[i], &multiple_stack[i]); } #endif return NULL; } ZTEST_SUITE(sys_sem, NULL, sys_sem_setup, NULL, NULL, NULL); ZTEST_SUITE(sys_sem_1cpu, NULL, sys_sem_setup, ztest_simple_1cpu_before, ztest_simple_1cpu_after, NULL); /******************************************************************************/ |