Add tests for full coverage.

Author: dmitrykos

build/example/project/eclipse/stm/blinky-cmsis-rtos2-prio-stm32f407g-disc1/src/main.c

@@ -48,7 +48,9 @@
 #include "RTE_Components.h"     // CMSIS_device_header definition, Example driver include
 #include CMSIS_device_header    // STK config
 
-#define FIX_PRIORITY_INHERITANCE_DEADLOCK 0
+// when 1 the RED led will be periodically blinking because MidPrioThread will cooperate
+// and periodically release time to LowPrioThread when MidPrioThread is sleeping
+#define FIX_COOPERATIVE_BEHAVIOR 0
 
 /* --------------------------------------------------------------------------
  *  Mutex
@@ -143,7 +145,7 @@ void MidPrioThread (void *argument) {
      * but this is NOT a blocking wait on a mutex/semaphore/flag – MidPrio
      * will always re-schedule before LowPrio (absent priority inheritance).
      */
-#if FIX_PRIORITY_INHERITANCE_DEADLOCK
+#if FIX_COOPERATIVE_BEHAVIOR
     osThreadYield();
 #endif
   }

build/example/project/eclipse/stm/blinky-cmsis-rtos2-stm32f407g-disc1/.cproject

@@ -283,6 +283,8 @@
 									<listOptionValue builtIn="false" value="STM32F407xx"/>
 									<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
 									<listOptionValue builtIn="false" value="HSE_VALUE=8000000"/>
+									<listOptionValue builtIn="false" value="OS_USE_TRACE_SEMIHOSTING_DEBUG"/>
+									<listOptionValue builtIn="false" value="TRACE"/>
 								</option>
 								<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.input.1578028994" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.c.compiler.input"/>
 							</tool>
@@ -339,6 +341,7 @@
 								<option id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.linker.nostart.105469396" name="Do not use standard start files (-nostartfiles)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.linker.nostart" useByScannerDiscovery="false" value="true" valueType="boolean"/>
 								<option id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.linker.usenewlibnano.278762053" name="Use newlib-nano (--specs=nano.specs)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.linker.usenewlibnano" useByScannerDiscovery="false" value="true" valueType="boolean"/>
 								<option id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.linker.other.1003289561" name="Other linker flags" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.linker.other" useByScannerDiscovery="false" value="-Wl,--print-memory-usage" valueType="string"/>
+								<option id="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.linker.usenewlibnosys.648951868" name="Do not use syscalls (--specs=nosys.specs)" superClass="ilg.gnuarmeclipse.managedbuild.cross.option.cpp.linker.usenewlibnosys" value="false" valueType="boolean"/>
 								<inputType id="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.linker.input.1091267123" superClass="ilg.gnuarmeclipse.managedbuild.cross.tool.cpp.linker.input">
 									<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
 									<additionalInput kind="additionalinput" paths="$(LIBS)"/>

build/example/project/eclipse/stm/blinky-cmsis-rtos2-stm32f407g-disc1/src/main.c

@@ -45,15 +45,15 @@ struct phases_t {
  *      Switch LED on
  *---------------------------------------------------------------------------*/
 void Switch_On (unsigned char led) {
-  printf("LED On:  #%d\n", led);
+  //printf("LED On:  #%d\n", led);
   Led_Set(led, true);
 }
 
 /*----------------------------------------------------------------------------
  *      Switch LED off
  *---------------------------------------------------------------------------*/
 void Switch_Off (unsigned char led) {
-  printf("LED Off: #%d\n", led);
+  //printf("LED Off: #%d\n", led);
   Led_Set(led, false);
 }
 
@@ -152,7 +152,7 @@ void app_main (void */*argument*/) {
   osDelay(osWaitForever);
 }
 
-int main (void) {
+int main (int, char*[]) {
 
   // System Initialization
   SystemCoreClockUpdate();

interop/c/src/stk_c_memory.cpp

@@ -8,7 +8,6 @@
  */
 
 #include <cstddef> // for std::size_t
-#include <cstdlib> // for malloc, free
 
 #include <stk_config.h>
 #include <stk.h>
@@ -26,15 +25,12 @@ template <typename T> static constexpr size_t StkGetWordCountForType()
     return ((sizeof(T) + sizeof(stk::Word) - 1) / sizeof(stk::Word));
 }
 
-// Private memory allocators.
-void *stk::memory::MemoryAllocator::Allocate(size_t size)
-{
-    return malloc(size);
-}
-void stk::memory::MemoryAllocator::Free(void *ptr)
-{
-    free(ptr);
-}
+// Private memory allocators (we define malloc, free here to overcome absence of declaration in
+// case of -ffreestanding compiler flag).
+extern "C" void *malloc(size_t size);
+extern "C" void free(void *ptr);
+void *stk::memory::MemoryAllocator::Allocate(size_t size) { return malloc(size); }
+void stk::memory::MemoryAllocator::Free(void *ptr) { free(ptr); }
 
 // ---------------------------------------------------------------------------
 // stk_blockpool_t — wraps a BlockMemoryPool instance

interop/cmsis/rtos2/src/cmsis_os2_stk.cpp

@@ -46,18 +46,13 @@
  *     recursive (osMutexRecursive is therefore always effective).
  */
 
-#include "cmsis_os2.h"
-
-#include <cstring>
-#include <cstdlib>
-#include <new>
-#include <stdint.h>
-
 #include "stk.h"
 #include "sync/stk_sync.h"
 #include "time/stk_time.h"
 #include "memory/stk_memory.h"
 
+#include "cmsis_os2.h"
+
 // ---------------------------------------------------------------------------
 // Kernel version / identification
 // ---------------------------------------------------------------------------
@@ -90,15 +85,12 @@ template <typename T> static constexpr size_t StkGetWordCountForType()
     return ((sizeof(T) + sizeof(stk::Word) - 1) / sizeof(stk::Word));
 }
 
-// Private memory allocators.
-void *stk::memory::MemoryAllocator::Allocate(size_t size)
-{
-    return malloc(size);
-}
-void stk::memory::MemoryAllocator::Free(void *ptr)
-{
-    free(ptr);
-}
+// Private memory allocators (we define malloc, free here to overcome absence of declaration in
+// case of -ffreestanding compiler flag).
+extern "C" void *malloc(size_t size);
+extern "C" void free(void *ptr);
+void *stk::memory::MemoryAllocator::Allocate(size_t size) { return malloc(size); }
+void stk::memory::MemoryAllocator::Free(void *ptr) { free(ptr); }
 
 // ---------------------------------------------------------------------------
 // Priority mapping:

stk/include/stk.h

@@ -1054,7 +1054,29 @@ final
             task->Wake();
     }
 
-     /*! \brief     Enumerate tasks.
+   /*! \brief     Enumerate kernel tasks.
+       \param[in,out] user_tasks: Pointer to the array for IKernelTask pointers.
+       \param[in] max_size: Max size of the provided array.
+       \return    Number of tasks in the array.
+   */
+   size_t EnumerateKernelTasks(IKernelTask **tasks, const size_t max_size) override
+   {
+       size_t count = 0U;
+
+       // avoid race with OnTick
+       hw::CriticalSection::ScopedLock cs_;
+
+       for (uint32_t i = 0U; i < Min(max_size, static_cast<size_t>(TASKS_MAX)); ++i)
+       {
+           KernelTask *task = &m_task_storage[i];
+           if (task->IsBusy())
+               tasks[count++] = task;
+       }
+
+       return count;
+   }
+
+    /*! \brief     Enumerate tasks.
         \param[in,out] user_tasks: Pointer to the array for ITask pointers.
         \param[in] max_size: Max size of the provided array.
         \return    Number of tasks in the array.

stk/include/stk_common.h

@@ -1084,7 +1084,15 @@ class IKernel
     */
     virtual void ResumeTask(ITask *user_task) = 0;
 
-    /*! \brief     Enumerate tasks.
+    /*! \brief     Enumerate kernel tasks.
+        \param[in,out] user_tasks: Pointer to the array for IKernelTask pointers.
+        \param[in] max_size: Max size of the provided array.
+        \return    Number of tasks in the array.
+        \warning   ISR-safe.
+    */
+    virtual size_t EnumerateKernelTasks(IKernelTask **tasks, size_t max_size) = 0;
+
+    /*! \brief     Enumerate user tasks.
         \param[in,out] user_tasks: Pointer to the array for ITask pointers.
         \param[in] max_size: Max size of the provided array.
         \return    Number of tasks in the array.

test/blockpool/test_blockpool.cpp

@@ -37,8 +37,8 @@ STK_TEST_DECL_ASSERT;
 
 // Private memory allocators (we define malloc, free here to overcome absence of declaration in
 // case of -ffreestanding compiler flag).
-extern "C" void* malloc(size_t size);
-extern "C" void free(void* ptr);
+extern "C" void *malloc(size_t size);
+extern "C" void free(void *ptr);
 void *stk::memory::MemoryAllocator::Allocate(size_t size) { return malloc(size); }
 void stk::memory::MemoryAllocator::Free(void *ptr) { free(ptr); }
 

test/generic/stktest_kernel.cpp

@@ -1545,6 +1545,116 @@ TEST(Kernel, SyncWaitTicklessDuration)
     CHECK_EQUAL(true, mutex.m_locked);
 }
 
+static struct SyncFindWeightHigherThanContext
+{
+    SyncFindWeightHigherThanContext()
+    {
+        Reset();
+    }
+
+    void Reset()
+    {
+        counter  = 0;
+        platform = NULL;
+        sobj     = NULL;
+    }
+
+    uint32_t          counter;
+    PlatformTestMock *platform;
+    SyncObjectMock   *sobj;
+
+    void Process()
+    {
+        platform->ProcessTick();
+        ++counter;
+
+        if (counter == 1)
+        {
+            CHECK_EQUAL(2, sobj->FindWeightHigherThan(0));
+        }
+    }
+}
+g_SyncFindWeightHigherThan;
+
+static void SyncFindWeightHigherThanRelaxCpu()
+{
+    g_SyncFindWeightHigherThan.Process();
+}
+
+TEST(Kernel, SyncFindWeightHigherThan)
+{
+    Kernel<KERNEL_STATIC | KERNEL_SYNC, 2, SwitchStrategyFP32, PlatformTestMock> kernel;
+    PlatformTestMock *platform = static_cast<PlatformTestMock *>(kernel.GetPlatform());
+    TaskMockW<1, ACCESS_USER> task1;
+    TaskMockW<2, ACCESS_USER> task2;
+
+    MutexMock mutex;
+    SyncObjectMock sobj;
+
+    g_SyncFindWeightHigherThan.Reset();
+    g_SyncFindWeightHigherThan.platform = platform;
+    g_SyncFindWeightHigherThan.sobj     = &sobj;
+    g_RelaxCpuHandler = SyncFindWeightHigherThanRelaxCpu;
+
+    kernel.Initialize();
+    kernel.AddTask(&task1);
+    kernel.AddTask(&task2);
+    kernel.Start();
+
+    // no task is waiting
+    CHECK_EQUAL(NO_WEIGHT, sobj.FindWeightHigherThan(0));
+
+    MutexMock::ScopedLock guard(mutex);
+
+    // sleep_ticks should be equal to 2 on first OnTick call
+    IWaitObject *wo = IKernelService::GetInstance()->Wait(&sobj, &mutex, 5);
+
+    CHECK_TRUE(wo != nullptr);
+    CHECK_EQUAL(true, mutex.m_locked);
+
+    // no task is waiting here
+    CHECK_EQUAL(NO_WEIGHT, sobj.FindWeightHigherThan(0));
+}
+
+TEST(Kernel, SyncInheritWeight)
+{
+    Kernel<KERNEL_STATIC | KERNEL_SYNC, 2, SwitchStrategyFP32, PlatformTestMock> kernel;
+    TaskMockW<1, ACCESS_USER> task1;
+    TaskMockW<2, ACCESS_USER> task2;
+
+    MutexMock mutex;
+    SyncObjectMock sobj;
+
+    kernel.Initialize();
+    kernel.AddTask(&task1);
+    kernel.AddTask(&task2);
+    kernel.Start();
+
+    IKernelTask *ktasks[2];
+    kernel.EnumerateKernelTasks(ktasks, 2);
+
+    // current weight is dynamic value used by strategy with PRIORITY_INHERITANCE_API, if not overridden
+    // by InheritWeight should be NO_WEIGHT
+    CHECK_EQUAL(NO_WEIGHT, ktasks[0]->GetCurrentWeight());
+
+    // original weight
+    CHECK_EQUAL(1, ktasks[0]->GetWeight());
+
+    IKernelService::GetInstance()->InheritWeight(task1.GetId(), 2);
+
+    // boosted weight
+    CHECK_EQUAL(2, ktasks[0]->GetCurrentWeight());
+    CHECK_EQUAL(2, ktasks[0]->GetWeight()); // using GetCurrentWeight
+
+    IKernelService::GetInstance()->RestoreWeight(task1.GetId());
+
+    // dynamic is back to NO_WEIGHT
+    CHECK_EQUAL(NO_WEIGHT, ktasks[0]->GetCurrentWeight());
+
+    // back to own weight
+    CHECK_EQUAL(1, ktasks[0]->GetWeight());
+}
+
 TEST(Kernel, EnumTasks)
 {
     Kernel<KERNEL_STATIC, 2, SwitchStrategyRR, PlatformTestMock> kernel;

test/generic/stktest_misc.cpp

@@ -62,6 +62,16 @@ TEST(Basic, MinMax)
     }
 }
 
+TEST(Basic, ISwitchStrategyStub)
+{
+    SwitchStrategyRR ss;
+
+    // these are just stubs for interface noop functions to achieve 100% coverage, providing nullptr
+    // for ITasks should be noop too
+    ss.OnTaskDeadlineMissed(nullptr);
+    ss.OnTaskWeightChange(nullptr, NO_WEIGHT);
+}
+
 // ============================================================================ //
 // ============================= UserTask ===================================== //
 // ============================================================================ //
@@ -134,8 +144,14 @@ TEST(UserTask, GetIdAndName)
     TaskMock<ACCESS_USER> task;
     TaskMockW<1, ACCESS_USER> taskw;
 
-    CHECK_EQUAL((Word)&task, task.GetId());
-    CHECK_EQUAL((Word)&taskw, taskw.GetId());
+    CHECK_EQUAL((TId)&task, task.GetId());
+    CHECK_EQUAL((TId)&taskw, taskw.GetId());
+
+    CHECK_EQUAL((TId)&task, stk::GetTidFromUserTask(&task));
+    CHECK_EQUAL((TId)&taskw, stk::GetTidFromUserTask(&taskw));
+
+    CHECK_EQUAL(&task, stk::GetUserTaskFromTid(stk::GetTidFromUserTask(&task)));
+    CHECK_EQUAL(&taskw, stk::GetUserTaskFromTid(stk::GetTidFromUserTask(&taskw)));
 
     // expect NULL name by default
     CHECK_EQUAL((const char *)NULL, task.GetTraceName());