Add a test for get_at

Author: victor-Lopez25

Inc/HALAL/Services/Time/Scheduler.hpp

@@ -9,6 +9,13 @@
 /* Uso del scheduler, descrito en la wiki:
  * https://wiki.hyperloopupv.com/es/firmware/Timing/Scheduler */
 
+/* To allow debugging of inline functions only when testing */
+#ifdef SIM_ON
+# define HYPER_INLINE inline
+#else
+# define HYPER_INLINE
+#endif
+
 #include "stm32h7xx_ll_tim_wrapper.h"
 
 #include <array>
@@ -42,7 +49,7 @@ struct Scheduler {
     static bool cancel_timeout(uint16_t id);
 
     // internal
-    static void on_timer_update();
+    static inline void on_timer_update();
     static void schedule_next_interval();
     static constexpr uint32_t FREQUENCY = 1'000'000u; // 1 MHz -> 1us precision
 #ifndef SIM_ON
@@ -90,10 +97,19 @@ struct Scheduler {
     static void remove_sorted(uint8_t id);
 
     // helpers
-    static inline uint8_t get_at(uint8_t idx);
-    static inline void set_at(uint8_t idx, uint8_t id);
-    static inline void pop_front();
-    static inline uint8_t front_id();
+    static HYPER_INLINE uint8_t get_at(uint8_t idx) {
+        return (uint8_t)((sorted_task_ids_ >> (idx * 4)) & 0xF);
+    }
+    static HYPER_INLINE void set_at(uint8_t idx, uint8_t id) {
+        uint32_t shift = idx * 4;
+        uint64_t clearmask = ~(0xFFULL << shift);
+        Scheduler::sorted_task_ids_ = (sorted_task_ids_ & clearmask) | (id << shift);
+    }
+    static HYPER_INLINE uint8_t front_id()  { return *((uint8_t*)&sorted_task_ids_) & 0xF; }
+    static HYPER_INLINE void pop_front() {
+        Scheduler::active_task_count_--;
+        Scheduler::sorted_task_ids_ >>= 4;
+    }
 
     static inline void global_timer_disable();
     static inline void global_timer_enable();

Src/HALAL/Services/Time/Scheduler.cpp

@@ -31,21 +31,6 @@ uint64_t Scheduler::global_tick_us_{0};
 uint32_t Scheduler::current_interval_us_{0};
 uint16_t Scheduler::timeout_idx_{1};
 
-inline uint8_t Scheduler::get_at(uint8_t idx) {
-    return (uint8_t)((sorted_task_ids_ >> (idx * 4)) & 0xF);
-}
-inline void Scheduler::set_at(uint8_t idx, uint8_t id) {
-    uint32_t shift = idx * 4;
-    uint64_t clearmask = ~(0xFFULL << shift);
-    Scheduler::sorted_task_ids_ = (sorted_task_ids_ & clearmask) | (id << shift);
-}
-inline uint8_t Scheduler::front_id() { return *((uint8_t*)&sorted_task_ids_) & 0xF; }
-inline void Scheduler::pop_front() {
-    // O(1) remove of logical index 0
-    Scheduler::active_task_count_--;
-    Scheduler::sorted_task_ids_ >>= 4;
-}
-
 // ----------------------------
 
 inline void Scheduler::global_timer_disable() {
@@ -303,7 +288,7 @@ void Scheduler::schedule_next_interval() {
     Scheduler::global_timer_enable();
 }
 
-void Scheduler::on_timer_update() {
+inline void Scheduler::on_timer_update() {
     global_tick_us_ += current_interval_us_;
 
     while (active_task_count_ > 0) { // Pop all due tasks, several might be due in the same tick

Tests/Time/scheduler_test.cpp

@@ -32,6 +32,14 @@ class SchedulerTests : public ::testing::Test {
     }
 };
 
+TEST_F(SchedulerTests, GetAt) {
+    Scheduler::sorted_task_ids_ = 0xFEDCBA9876543210ULL;
+    for(uint64_t i = 0; i < 16; i++) {
+        uint64_t val = Scheduler::get_at(i);
+        EXPECT_EQ(val, i);
+    }
+}
+
 TEST_F(SchedulerTests, FreeBitmap) {
     Scheduler::register_task(10, &fake_workload);
     EXPECT_EQ(Scheduler::free_bitmap_, 0xFFFF'FFFE);