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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 | /* * Copyright (c) 2016 Intel Corporation * * SPDX-License-Identifier: Apache-2.0 */ #include "test_sched.h" #include <ksched.h> #define THREAD_NUM 4 static struct k_thread tdata_prio[THREAD_NUM]; static struct k_thread tdata; static int last_prio; static uint8_t tid_num[4]; static struct k_sem sync_sema; static void thread_entry(void *p1, void *p2, void *p3) { last_prio = k_thread_priority_get(k_current_get()); } static void thread_entry_prio(void *p1, void *p2, void *p3) { static int i; k_sem_take(&sync_sema, K_MSEC(100)); tid_num[i++] = POINTER_TO_INT(p1); } /* test cases */ /** * @brief Validate that the cooperative thread will * not be preempted * * @details Create a cooperative thread with priority higher * than the current cooperative thread. Make sure that the higher * priority thread will not preempt the lower priority cooperative * thread. * * @ingroup kernel_sched_tests */ ZTEST(threads_scheduling, test_priority_cooperative) { int old_prio = k_thread_priority_get(k_current_get()); /* set current thread to a negative priority */ last_prio = -1; k_thread_priority_set(k_current_get(), last_prio); /* spawn thread with higher priority */ int spawn_prio = last_prio - 1; k_tid_t tid = k_thread_create(&tdata, tstack, STACK_SIZE, thread_entry, NULL, NULL, NULL, spawn_prio, 0, K_NO_WAIT); /* checkpoint: current thread shouldn't preempted by higher thread */ zassert_true(last_prio == k_thread_priority_get(k_current_get())); k_sleep(K_MSEC(100)); /* checkpoint: spawned thread get executed */ zassert_true(last_prio == spawn_prio); k_thread_abort(tid); /* restore environment */ k_thread_priority_set(k_current_get(), old_prio); } /** * @brief Validate preemptiveness of preemptive thread * * @details Create a preemptive thread which is of priority * lower than current thread. Current thread is made has preemptive. * Make sure newly created thread is not preempted. Now create a * preemptive thread which is of priority higher than current * thread. Make sure newly created thread is preempted * * @ingroup kernel_sched_tests */ ZTEST(threads_scheduling, test_priority_preemptible) { int old_prio = k_thread_priority_get(k_current_get()); /* set current thread to a non-negative priority */ last_prio = 2; k_thread_priority_set(k_current_get(), last_prio); int spawn_prio = last_prio - 1; k_tid_t tid = k_thread_create(&tdata, tstack, STACK_SIZE, thread_entry, NULL, NULL, NULL, spawn_prio, 0, K_NO_WAIT); /* checkpoint: thread is preempted by higher thread */ zassert_true(last_prio == spawn_prio); k_sleep(K_MSEC(100)); k_thread_abort(tid); spawn_prio = last_prio + 1; tid = k_thread_create(&tdata, tstack, STACK_SIZE, thread_entry, NULL, NULL, NULL, spawn_prio, 0, K_NO_WAIT); /* checkpoint: thread is not preempted by lower thread */ zassert_false(last_prio == spawn_prio); k_thread_abort(tid); /* restore environment */ k_thread_priority_set(k_current_get(), old_prio); } /** * @brief Validate scheduling sequence of preemptive threads with start delay * * @details Create four preemptive threads which are of priority * higher than current thread. Make sure that the highest priority * and longest waiting thread is scheduled first. * * @ingroup kernel_sched_tests */ ZTEST(threads_scheduling_1cpu, test_priority_preemptible_wait_prio) { int old_prio = k_thread_priority_get(k_current_get()); k_tid_t tid[THREAD_NUM]; uint8_t tid_chk[4] = { 0, 1, 2, 3 }; k_sem_init(&sync_sema, 0, THREAD_NUM); /* Ensure that this code starts running at the start of a system tick */ k_usleep(1); /* set current thread to a non-negative priority */ last_prio = K_PRIO_PREEMPT(2); k_thread_priority_set(k_current_get(), last_prio); /* the highest-priority thread that has waited the longest */ tid[0] = k_thread_create(&tdata_prio[0], tstacks[0], STACK_SIZE, thread_entry_prio, INT_TO_POINTER(0), NULL, NULL, K_PRIO_PREEMPT(0), 0, K_MSEC(10)); /* the highest-priority thread that has waited the shorter */ tid[1] = k_thread_create(&tdata_prio[1], tstacks[1], STACK_SIZE, thread_entry_prio, INT_TO_POINTER(1), NULL, NULL, K_PRIO_PREEMPT(0), 0, K_MSEC(20)); /* the lowest-priority thread that has waited longest */ tid[2] = k_thread_create(&tdata_prio[2], tstacks[2], STACK_SIZE, thread_entry_prio, INT_TO_POINTER(2), NULL, NULL, K_PRIO_PREEMPT(1), 0, K_MSEC(10)); /* the lowest-priority thread that has waited shorter */ tid[3] = k_thread_create(&tdata_prio[3], tstacks[3], STACK_SIZE, thread_entry_prio, INT_TO_POINTER(3), NULL, NULL, K_PRIO_PREEMPT(1), 0, K_MSEC(20)); /* relinquish CPU for above threads to start */ k_sleep(K_MSEC(30)); for (int i = 0; i < THREAD_NUM; i++) { k_sem_give(&sync_sema); } zassert_true((memcmp(tid_num, tid_chk, 4) == 0), "scheduling priority failed"); /* test case tear down */ for (int i = 0; i < THREAD_NUM; i++) { k_thread_abort(tid[i]); } /* restore environment */ k_thread_priority_set(k_current_get(), old_prio); } extern void idle(void *p1, void *p2, void *p3); /** * Validate checking priority values * * Our test cases don't cover every outcome of whether a priority is valid, * do so here. * * @ingroup kernel_sched_tests */ ZTEST(threads_scheduling, test_bad_priorities) { struct prio_test { int prio; void *entry; bool result; } testcases[] = { { K_IDLE_PRIO, idle, true }, { K_IDLE_PRIO, NULL, false }, { K_HIGHEST_APPLICATION_THREAD_PRIO - 1, NULL, false }, { K_LOWEST_APPLICATION_THREAD_PRIO + 1, NULL, false }, { K_HIGHEST_APPLICATION_THREAD_PRIO, NULL, true }, { K_LOWEST_APPLICATION_THREAD_PRIO, NULL, true }, { CONFIG_MAIN_THREAD_PRIORITY, NULL, true } }; for (int i = 0; i < ARRAY_SIZE(testcases); i++) { zassert_equal(_is_valid_prio(testcases[i].prio, testcases[i].entry), testcases[i].result, "failed check %d", i); /* XXX why are these even separate APIs? */ zassert_equal(Z_VALID_PRIO(testcases[i].prio, testcases[i].entry), testcases[i].result, "failed check %d", i); } } |