extra files
This commit is contained in:
nathan
parent
aef9b02d49
commit
7662f944df
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdint.h>
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extern "C" {
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#include "platform.h"
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#include "scheduler/scheduler.h"
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}
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#include "unittest_macros.h"
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#include "gtest/gtest.h"
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enum {
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systemTime = 10,
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pidLoopCheckerTime = 650,
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updateAccelerometerTime = 192,
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handleSerialTime = 30,
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updateBeeperTime = 1,
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updateBatteryTime = 1,
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updateRxCheckTime = 34,
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updateRxMainTime = 10,
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processGPSTime = 10,
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updateCompassTime = 195,
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updateBaroTime = 201,
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updateSonarTime = 10,
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calculateAltitudeTime = 154,
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updateDisplayTime = 10,
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updateMaxOSDTime = 10,
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telemetryTime = 10,
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ledStripTime = 10,
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transponderTime = 10
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};
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extern "C" {
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cfTask_t * unittest_scheduler_selectedTask;
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uint8_t unittest_scheduler_selectedTaskDynPrio;
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uint16_t unittest_scheduler_waitingTasks;
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uint32_t unittest_scheduler_timeToNextRealtimeTask;
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bool unittest_outsideRealtimeGuardInterval;
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// set up micros() to simulate time
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uint32_t simulatedTime = 0;
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uint32_t micros(void) {return simulatedTime;}
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// set up tasks to take a simulated representative time to execute
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void taskMainPidLoopChecker(void) {simulatedTime+=pidLoopCheckerTime;}
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void taskUpdateAccelerometer(void) {simulatedTime+=updateAccelerometerTime;}
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void taskHandleSerial(void) {simulatedTime+=handleSerialTime;}
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void taskUpdateBeeper(void) {simulatedTime+=updateBeeperTime;}
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void taskUpdateBattery(void) {simulatedTime+=updateBatteryTime;}
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bool taskUpdateRxCheck(uint32_t currentDeltaTime) {UNUSED(currentDeltaTime);simulatedTime+=updateRxCheckTime;return false;}
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void taskUpdateRxMain(void) {simulatedTime+=updateRxMainTime;}
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void taskProcessGPS(void) {simulatedTime+=processGPSTime;}
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void taskUpdateCompass(void) {simulatedTime+=updateCompassTime;}
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void taskUpdateBaro(void) {simulatedTime+=updateBaroTime;}
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void taskUpdateSonar(void) {simulatedTime+=updateSonarTime;}
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void taskCalculateAltitude(void) {simulatedTime+=calculateAltitudeTime;}
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void taskUpdateDisplay(void) {simulatedTime+=updateDisplayTime;}
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void taskUpdateMaxOSD(void) {simulatedTime+=updateMaxOSDTime;}
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void taskTelemetry(void) {simulatedTime+=telemetryTime;}
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void taskLedStrip(void) {simulatedTime+=ledStripTime;}
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void taskTransponder(void) {simulatedTime+=transponderTime;}
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extern cfTask_t* taskQueueArray[];
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extern void queueClear(void);
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extern int queueSize();
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extern bool queueContains(cfTask_t *task);
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extern bool queueAdd(cfTask_t *task);
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extern bool queueRemove(cfTask_t *task);
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extern cfTask_t *queueFirst(void);
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extern cfTask_t *queueNext(void);
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}
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TEST(SchedulerUnittest, TestPriorites)
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{
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EXPECT_EQ(14, TASK_COUNT);
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// if any of these fail then task priorities have changed and ordering in TestQueue needs to be re-checked
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EXPECT_EQ(TASK_PRIORITY_HIGH, cfTasks[TASK_SYSTEM].staticPriority);
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EXPECT_EQ(TASK_PRIORITY_REALTIME, cfTasks[TASK_GYROPID].staticPriority);
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EXPECT_EQ(TASK_PRIORITY_MEDIUM, cfTasks[TASK_ACCEL].staticPriority);
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EXPECT_EQ(TASK_PRIORITY_LOW, cfTasks[TASK_SERIAL].staticPriority);
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EXPECT_EQ(TASK_PRIORITY_MEDIUM, cfTasks[TASK_BATTERY].staticPriority);
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}
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TEST(SchedulerUnittest, TestQueueInit)
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{
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queueClear();
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EXPECT_EQ(0, queueSize());
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EXPECT_EQ(0, queueFirst());
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EXPECT_EQ(0, queueNext());
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for (int ii = 0; ii <= TASK_COUNT; ++ii) {
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EXPECT_EQ(0, taskQueueArray[ii]);
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}
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}
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cfTask_t *deadBeefPtr = reinterpret_cast<cfTask_t*>(0xDEADBEEF);
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TEST(SchedulerUnittest, TestQueue)
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{
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queueClear();
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taskQueueArray[TASK_COUNT + 1] = deadBeefPtr;
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queueAdd(&cfTasks[TASK_SYSTEM]); // TASK_PRIORITY_HIGH
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EXPECT_EQ(1, queueSize());
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EXPECT_EQ(&cfTasks[TASK_SYSTEM], queueFirst());
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EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
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queueAdd(&cfTasks[TASK_GYROPID]); // TASK_PRIORITY_REALTIME
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EXPECT_EQ(2, queueSize());
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EXPECT_EQ(&cfTasks[TASK_GYROPID], queueFirst());
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EXPECT_EQ(&cfTasks[TASK_SYSTEM], queueNext());
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EXPECT_EQ(NULL, queueNext());
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EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
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queueAdd(&cfTasks[TASK_SERIAL]); // TASK_PRIORITY_LOW
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EXPECT_EQ(3, queueSize());
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EXPECT_EQ(&cfTasks[TASK_GYROPID], queueFirst());
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EXPECT_EQ(&cfTasks[TASK_SYSTEM], queueNext());
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EXPECT_EQ(&cfTasks[TASK_SERIAL], queueNext());
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EXPECT_EQ(NULL, queueNext());
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EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
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queueAdd(&cfTasks[TASK_BATTERY]); // TASK_PRIORITY_MEDIUM
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EXPECT_EQ(4, queueSize());
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EXPECT_EQ(&cfTasks[TASK_GYROPID], queueFirst());
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EXPECT_EQ(&cfTasks[TASK_SYSTEM], queueNext());
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EXPECT_EQ(&cfTasks[TASK_BATTERY], queueNext());
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EXPECT_EQ(&cfTasks[TASK_SERIAL], queueNext());
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EXPECT_EQ(NULL, queueNext());
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EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
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queueAdd(&cfTasks[TASK_RX]); // TASK_PRIORITY_HIGH
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EXPECT_EQ(5, queueSize());
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EXPECT_EQ(&cfTasks[TASK_GYROPID], queueFirst());
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EXPECT_EQ(&cfTasks[TASK_SYSTEM], queueNext());
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EXPECT_EQ(&cfTasks[TASK_RX], queueNext());
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EXPECT_EQ(&cfTasks[TASK_BATTERY], queueNext());
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EXPECT_EQ(&cfTasks[TASK_SERIAL], queueNext());
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EXPECT_EQ(NULL, queueNext());
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EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
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queueRemove(&cfTasks[TASK_SYSTEM]); // TASK_PRIORITY_HIGH
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EXPECT_EQ(4, queueSize());
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EXPECT_EQ(&cfTasks[TASK_GYROPID], queueFirst());
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EXPECT_EQ(&cfTasks[TASK_RX], queueNext());
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EXPECT_EQ(&cfTasks[TASK_BATTERY], queueNext());
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EXPECT_EQ(&cfTasks[TASK_SERIAL], queueNext());
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EXPECT_EQ(NULL, queueNext());
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EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
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}
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TEST(SchedulerUnittest, TestQueueAddAndRemove)
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{
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queueClear();
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taskQueueArray[TASK_COUNT + 1] = deadBeefPtr;
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// fill up the queue
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for (int taskId = 0; taskId < TASK_COUNT; ++taskId) {
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const bool added = queueAdd(&cfTasks[taskId]);
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EXPECT_EQ(true, added);
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EXPECT_EQ(taskId + 1, queueSize());
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EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
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}
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// double check end of queue
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EXPECT_EQ(TASK_COUNT, queueSize());
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EXPECT_NE(static_cast<cfTask_t*>(0), taskQueueArray[TASK_COUNT - 1]); // last item was indeed added to queue
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EXPECT_EQ(NULL, taskQueueArray[TASK_COUNT]); // null pointer at end of queue is preserved
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EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]); // there hasn't been an out by one error
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// and empty it again
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for (int taskId = 0; taskId < TASK_COUNT; ++taskId) {
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const bool removed = queueRemove(&cfTasks[taskId]);
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EXPECT_EQ(true, removed);
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EXPECT_EQ(TASK_COUNT - taskId - 1, queueSize());
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EXPECT_EQ(NULL, taskQueueArray[TASK_COUNT - taskId]);
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EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
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}
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// double check size and end of queue
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EXPECT_EQ(0, queueSize()); // queue is indeed empty
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EXPECT_EQ(NULL, taskQueueArray[0]); // there is a null pointer at the end of the queueu
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EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]); // no accidental overwrites past end of queue
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}
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TEST(SchedulerUnittest, TestQueueArray)
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{
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// test there are no "out by one" errors or buffer overruns when items are added and removed
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queueClear();
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taskQueueArray[TASK_COUNT + 1] = deadBeefPtr; // note, must set deadBeefPtr after queueClear
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for (int taskId = 0; taskId < TASK_COUNT - 1; ++taskId) {
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setTaskEnabled(static_cast<cfTaskId_e>(taskId), true);
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EXPECT_EQ(taskId + 1, queueSize());
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EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
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}
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EXPECT_EQ(TASK_COUNT - 1, queueSize());
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EXPECT_NE(static_cast<cfTask_t*>(0), taskQueueArray[TASK_COUNT - 2]);
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const cfTask_t *lastTaskPrev = taskQueueArray[TASK_COUNT - 2];
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EXPECT_EQ(NULL, taskQueueArray[TASK_COUNT - 1]);
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EXPECT_EQ(NULL, taskQueueArray[TASK_COUNT]);
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EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
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setTaskEnabled(TASK_SYSTEM, false);
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EXPECT_EQ(TASK_COUNT - 2, queueSize());
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EXPECT_EQ(lastTaskPrev, taskQueueArray[TASK_COUNT - 3]);
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EXPECT_EQ(NULL, taskQueueArray[TASK_COUNT - 2]); // NULL at end of queue
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EXPECT_EQ(NULL, taskQueueArray[TASK_COUNT - 1]);
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EXPECT_EQ(NULL, taskQueueArray[TASK_COUNT]);
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EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
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taskQueueArray[TASK_COUNT - 2] = 0;
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setTaskEnabled(TASK_SYSTEM, true);
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EXPECT_EQ(TASK_COUNT - 1, queueSize());
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EXPECT_EQ(lastTaskPrev, taskQueueArray[TASK_COUNT - 2]);
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EXPECT_EQ(NULL, taskQueueArray[TASK_COUNT - 1]);
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EXPECT_EQ(NULL, taskQueueArray[TASK_COUNT]);
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EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
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cfTaskInfo_t taskInfo;
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getTaskInfo(static_cast<cfTaskId_e>(TASK_COUNT - 1), &taskInfo);
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EXPECT_EQ(false, taskInfo.isEnabled);
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setTaskEnabled(static_cast<cfTaskId_e>(TASK_COUNT - 1), true);
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EXPECT_EQ(TASK_COUNT, queueSize());
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EXPECT_EQ(lastTaskPrev, taskQueueArray[TASK_COUNT - 1]);
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EXPECT_EQ(NULL, taskQueueArray[TASK_COUNT]); // check no buffer overrun
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EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
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setTaskEnabled(TASK_SYSTEM, false);
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EXPECT_EQ(TASK_COUNT - 1, queueSize());
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//EXPECT_EQ(lastTaskPrev, taskQueueArray[TASK_COUNT - 3]);
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EXPECT_EQ(NULL, taskQueueArray[TASK_COUNT - 1]);
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EXPECT_EQ(NULL, taskQueueArray[TASK_COUNT]);
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EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
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setTaskEnabled(TASK_ACCEL, false);
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EXPECT_EQ(TASK_COUNT - 2, queueSize());
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EXPECT_EQ(NULL, taskQueueArray[TASK_COUNT - 2]);
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EXPECT_EQ(NULL, taskQueueArray[TASK_COUNT - 1]);
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EXPECT_EQ(NULL, taskQueueArray[TASK_COUNT]);
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EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
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setTaskEnabled(TASK_BATTERY, false);
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EXPECT_EQ(TASK_COUNT - 3, queueSize());
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EXPECT_EQ(NULL, taskQueueArray[TASK_COUNT - 3]);
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EXPECT_EQ(NULL, taskQueueArray[TASK_COUNT - 2]);
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EXPECT_EQ(NULL, taskQueueArray[TASK_COUNT - 1]);
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EXPECT_EQ(NULL, taskQueueArray[TASK_COUNT]);
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EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
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}
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TEST(SchedulerUnittest, TestSchedulerInit)
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{
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schedulerInit();
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EXPECT_EQ(1, queueSize());
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EXPECT_EQ(&cfTasks[TASK_SYSTEM], queueFirst());
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}
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TEST(SchedulerUnittest, TestScheduleEmptyQueue)
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{
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queueClear();
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simulatedTime = 4000;
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// run the with an empty queue
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scheduler();
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EXPECT_EQ(NULL, unittest_scheduler_selectedTask);
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}
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TEST(SchedulerUnittest, TestSingleTask)
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{
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schedulerInit();
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// disable all tasks except TASK_GYROPID
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for (int taskId=0; taskId < TASK_COUNT; ++taskId) {
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setTaskEnabled(static_cast<cfTaskId_e>(taskId), false);
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}
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setTaskEnabled(TASK_GYROPID, true);
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cfTasks[TASK_GYROPID].lastExecutedAt = 1000;
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simulatedTime = 4000;
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// run the scheduler and check the task has executed
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scheduler();
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EXPECT_NE(static_cast<cfTask_t*>(0), unittest_scheduler_selectedTask);
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EXPECT_EQ(&cfTasks[TASK_GYROPID], unittest_scheduler_selectedTask);
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EXPECT_EQ(3000, cfTasks[TASK_GYROPID].taskLatestDeltaTime);
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EXPECT_EQ(4000, cfTasks[TASK_GYROPID].lastExecutedAt);
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EXPECT_EQ(pidLoopCheckerTime, cfTasks[TASK_GYROPID].totalExecutionTime);
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// task has run, so its dynamic priority should have been set to zero
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EXPECT_EQ(0, cfTasks[TASK_GYROPID].dynamicPriority);
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}
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TEST(SchedulerUnittest, TestTwoTasks)
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{
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// disable all tasks except TASK_GYROPID and TASK_ACCEL
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for (int taskId=0; taskId < TASK_COUNT; ++taskId) {
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setTaskEnabled(static_cast<cfTaskId_e>(taskId), false);
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}
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setTaskEnabled(TASK_ACCEL, true);
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setTaskEnabled(TASK_GYROPID, true);
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// set it up so that TASK_ACCEL ran just before TASK_GYROPID
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static const uint32_t startTime = 4000;
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simulatedTime = startTime;
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cfTasks[TASK_GYROPID].lastExecutedAt = simulatedTime;
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cfTasks[TASK_ACCEL].lastExecutedAt = cfTasks[TASK_GYROPID].lastExecutedAt - updateAccelerometerTime;
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EXPECT_EQ(0, cfTasks[TASK_ACCEL].taskAgeCycles);
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// run the scheduler
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scheduler();
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// no tasks should have run, since neither task's desired time has elapsed
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EXPECT_EQ(static_cast<cfTask_t*>(0), unittest_scheduler_selectedTask);
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// NOTE:
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// TASK_GYROPID desiredPeriod is 1000 microseconds
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// TASK_ACCEL desiredPeriod is 10000 microseconds
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// 500 microseconds later
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simulatedTime += 500;
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// no tasks should run, since neither task's desired time has elapsed
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scheduler();
|
|
||||||
EXPECT_EQ(static_cast<cfTask_t*>(0), unittest_scheduler_selectedTask);
|
|
||||||
EXPECT_EQ(0, unittest_scheduler_waitingTasks);
|
|
||||||
|
|
||||||
// 500 microseconds later, TASK_GYROPID desiredPeriod has elapsed
|
|
||||||
simulatedTime += 500;
|
|
||||||
// TASK_GYROPID should now run
|
|
||||||
scheduler();
|
|
||||||
EXPECT_EQ(&cfTasks[TASK_GYROPID], unittest_scheduler_selectedTask);
|
|
||||||
EXPECT_EQ(1, unittest_scheduler_waitingTasks);
|
|
||||||
EXPECT_EQ(5000 + pidLoopCheckerTime, simulatedTime);
|
|
||||||
|
|
||||||
simulatedTime += 1000 - pidLoopCheckerTime;
|
|
||||||
scheduler();
|
|
||||||
// TASK_GYROPID should run again
|
|
||||||
EXPECT_EQ(&cfTasks[TASK_GYROPID], unittest_scheduler_selectedTask);
|
|
||||||
|
|
||||||
scheduler();
|
|
||||||
EXPECT_EQ(static_cast<cfTask_t*>(0), unittest_scheduler_selectedTask);
|
|
||||||
EXPECT_EQ(0, unittest_scheduler_waitingTasks);
|
|
||||||
|
|
||||||
simulatedTime = startTime + 10500; // TASK_GYROPID and TASK_ACCEL desiredPeriods have elapsed
|
|
||||||
// of the two TASK_GYROPID should run first
|
|
||||||
scheduler();
|
|
||||||
EXPECT_EQ(&cfTasks[TASK_GYROPID], unittest_scheduler_selectedTask);
|
|
||||||
// and finally TASK_ACCEL should now run
|
|
||||||
scheduler();
|
|
||||||
EXPECT_EQ(&cfTasks[TASK_ACCEL], unittest_scheduler_selectedTask);
|
|
||||||
}
|
|
||||||
|
|
||||||
TEST(SchedulerUnittest, TestRealTimeGuardInNoTaskRun)
|
|
||||||
{
|
|
||||||
// disable all tasks except TASK_GYROPID and TASK_SYSTEM
|
|
||||||
for (int taskId=0; taskId < TASK_COUNT; ++taskId) {
|
|
||||||
setTaskEnabled(static_cast<cfTaskId_e>(taskId), false);
|
|
||||||
}
|
|
||||||
setTaskEnabled(TASK_GYROPID, true);
|
|
||||||
cfTasks[TASK_GYROPID].lastExecutedAt = 200000;
|
|
||||||
simulatedTime = 200700;
|
|
||||||
|
|
||||||
setTaskEnabled(TASK_SYSTEM, true);
|
|
||||||
cfTasks[TASK_SYSTEM].lastExecutedAt = 100000;
|
|
||||||
|
|
||||||
scheduler();
|
|
||||||
|
|
||||||
EXPECT_EQ(false, unittest_outsideRealtimeGuardInterval);
|
|
||||||
EXPECT_EQ(300, unittest_scheduler_timeToNextRealtimeTask);
|
|
||||||
|
|
||||||
// Nothing should be scheduled in guard period
|
|
||||||
EXPECT_EQ(NULL, unittest_scheduler_selectedTask);
|
|
||||||
EXPECT_EQ(100000, cfTasks[TASK_SYSTEM].lastExecutedAt);
|
|
||||||
|
|
||||||
EXPECT_EQ(200000, cfTasks[TASK_GYROPID].lastExecutedAt);
|
|
||||||
}
|
|
||||||
|
|
||||||
TEST(SchedulerUnittest, TestRealTimeGuardOutTaskRun)
|
|
||||||
{
|
|
||||||
// disable all tasks except TASK_GYROPID and TASK_SYSTEM
|
|
||||||
for (int taskId=0; taskId < TASK_COUNT; ++taskId) {
|
|
||||||
setTaskEnabled(static_cast<cfTaskId_e>(taskId), false);
|
|
||||||
}
|
|
||||||
setTaskEnabled(TASK_GYROPID, true);
|
|
||||||
cfTasks[TASK_GYROPID].lastExecutedAt = 200000;
|
|
||||||
simulatedTime = 200699;
|
|
||||||
|
|
||||||
setTaskEnabled(TASK_SYSTEM, true);
|
|
||||||
cfTasks[TASK_SYSTEM].lastExecutedAt = 100000;
|
|
||||||
|
|
||||||
scheduler();
|
|
||||||
|
|
||||||
EXPECT_EQ(true, unittest_outsideRealtimeGuardInterval);
|
|
||||||
EXPECT_EQ(301, unittest_scheduler_timeToNextRealtimeTask);
|
|
||||||
|
|
||||||
// System should be scheduled as not in guard period
|
|
||||||
EXPECT_EQ(&cfTasks[TASK_SYSTEM], unittest_scheduler_selectedTask);
|
|
||||||
EXPECT_EQ(200699, cfTasks[TASK_SYSTEM].lastExecutedAt);
|
|
||||||
|
|
||||||
EXPECT_EQ(200000, cfTasks[TASK_GYROPID].lastExecutedAt);
|
|
||||||
}
|
|
||||||
|
|
||||||
// STUBS
|
|
||||||
extern "C" {
|
|
||||||
}
|
|
||||||
|
|
@ -1,10 +0,0 @@
|
||||||
# This is an STM32F3 discovery board with a single STM32F303VCT6 chip.
|
|
||||||
# http://www.st.com/internet/evalboard/product/254044.jsp
|
|
||||||
|
|
||||||
source [find interface/stlink-v2.cfg]
|
|
||||||
|
|
||||||
transport select hla_swd
|
|
||||||
|
|
||||||
source [find target/stm32f3x.cfg]
|
|
||||||
|
|
||||||
reset_config none separate
|
|
||||||
Loading…
Reference in New Issue