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Merge pull request #9590 from mikeller/clean_up_scheduler

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Cleaned up the scheduler.
This commit is contained in:
Michael Keller 2020-03-16 18:02:36 +13:00 • committed by GitHub
commit 01f0095296
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GPG key ID: 4AEE18F83AFDEB23
20 changed files with 326 additions and 392 deletions
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5
src/test/unit/arming_prevention_unittest.cc
View file

@ -1051,7 +1051,7 @@ extern "C" {
bool calculateRxChannelsAndUpdateFailsafe(timeUs_t) { return true; }
bool isMixerUsingServos(void) { return false; }
void gyroUpdate(void) {}
timeDelta_t getTaskDeltaTime(cfTaskId_e) { return 0; }
timeDelta_t getTaskDeltaTimeUs(taskId_e) { return 0; }
void updateRSSI(timeUs_t) {}
bool failsafeIsMonitoring(void) { return false; }
void failsafeStartMonitoring(void) {}
@ -1082,7 +1082,7 @@ extern "C" {
void dashboardEnablePageCycling(void) {}
void dashboardDisablePageCycling(void) {}
bool imuQuaternionHeadfreeOffsetSet(void) { return true; }
void rescheduleTask(cfTaskId_e, uint32_t) {}
void rescheduleTask(taskId_e, timeDelta_t) {}
bool usbCableIsInserted(void) { return false; }
bool usbVcpIsConnected(void) { return false; }
void pidSetAntiGravityState(bool) {}
@ -1103,4 +1103,5 @@ extern "C" {
void gyroFiltering(timeUs_t) {};
timeDelta_t rxGetFrameDelta(timeDelta_t *) { return 0; }
void updateRcRefreshRate(timeUs_t) {};
uint16_t getAverageSystemLoadPercent(void) { return 0; }
}

7
src/test/unit/cli_unittest.cc
View file

@ -299,7 +299,7 @@ uint8_t __config_start = 0x00;
uint8_t __config_end = 0x10;
uint16_t averageSystemLoadPercent = 0;
timeDelta_t getTaskDeltaTime(cfTaskId_e){ return 0; }
timeDelta_t getTaskDeltaTimeUs(taskId_e){ return 0; }
uint16_t currentRxRefreshRate = 9000;
armingDisableFlags_e getArmingDisableFlags(void) { return ARMING_DISABLED_NO_GYRO; }
@ -307,9 +307,9 @@ const char *armingDisableFlagNames[]= {
"DUMMYDISABLEFLAGNAME"
};
void getTaskInfo(cfTaskId_e, cfTaskInfo_t *) {}
void getTaskInfo(taskId_e, taskInfo_t *) {}
void getCheckFuncInfo(cfCheckFuncInfo_t *) {}
void schedulerResetTaskMaxExecutionTime(cfTaskId_e) {}
void schedulerResetTaskMaxExecutionTime(taskId_e) {}
void schedulerResetCheckFunctionMaxExecutionTime(void) {}
const char * const targetName = "UNITTEST";
@ -360,4 +360,5 @@ void delay(uint32_t) {}
displayPort_t *osdGetDisplayPort(osdDisplayPortDevice_e *) { return NULL; }
mcuTypeId_e getMcuTypeId(void) { return MCU_TYPE_UNKNOWN; }
uint16_t getCurrentRxRefreshRate(void) { return 0; }
uint16_t getAverageSystemLoadPercent(void) { return 0; }
}

2
src/test/unit/rc_controls_unittest.cc
View file

@ -646,7 +646,7 @@ rxRuntimeState_t rxRuntimeState;
PG_REGISTER(blackboxConfig_t, blackboxConfig, PG_BLACKBOX_CONFIG, 0);
PG_REGISTER(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 2);
void resetArmingDisabled(void) {}
timeDelta_t getTaskDeltaTime(cfTaskId_e) { return 20000; }
timeDelta_t getTaskDeltaTimeUs(taskId_e) { return 20000; }
armingDisableFlags_e getArmingDisableFlags(void) {
return (armingDisableFlags_e) 0;
}

203
src/test/unit/scheduler_unittest.cc
View file

@ -42,7 +42,7 @@ const int TEST_DISPATCH_TIME = 1;
#define TASK_PERIOD_HZ(hz) (1000000 / (hz))
extern "C" {
cfTask_t * unittest_scheduler_selectedTask;
task_t * unittest_scheduler_selectedTask;
uint8_t unittest_scheduler_selectedTaskDynPrio;
uint16_t unittest_scheduler_waitingTasks;
timeDelta_t unittest_scheduler_taskRequiredTimeUs;
@ -79,87 +79,92 @@ extern "C" {
}
extern int taskQueueSize;
extern cfTask_t* taskQueueArray[];
extern task_t* taskQueueArray[];
extern void queueClear(void);
extern bool queueContains(cfTask_t *task);
extern bool queueAdd(cfTask_t *task);
extern bool queueRemove(cfTask_t *task);
extern cfTask_t *queueFirst(void);
extern cfTask_t *queueNext(void);
extern bool queueContains(task_t *task);
extern bool queueAdd(task_t *task);
extern bool queueRemove(task_t *task);
extern task_t *queueFirst(void);
extern task_t *queueNext(void);
cfTask_t cfTasks[TASK_COUNT] = {
task_t tasks[TASK_COUNT] = {
[TASK_SYSTEM] = {
.taskName = "SYSTEM",
.taskFunc = taskSystemLoad,
.desiredPeriod = TASK_PERIOD_HZ(10),
.desiredPeriodUs = TASK_PERIOD_HZ(10),
.staticPriority = TASK_PRIORITY_MEDIUM_HIGH,
},
[TASK_GYRO] = {
.taskName = "GYRO",
.taskFunc = taskGyroSample,
.desiredPeriod = TASK_PERIOD_HZ(TEST_GYRO_SAMPLE_HZ),
.desiredPeriodUs = TASK_PERIOD_HZ(TEST_GYRO_SAMPLE_HZ),
.staticPriority = TASK_PRIORITY_REALTIME,
},
[TASK_FILTER] = {
.taskName = "FILTER",
.taskFunc = taskFiltering,
.desiredPeriod = TASK_PERIOD_HZ(4000),
.desiredPeriodUs = TASK_PERIOD_HZ(4000),
.staticPriority = TASK_PRIORITY_REALTIME,
},
[TASK_PID] = {
.taskName = "PID",
.taskFunc = taskMainPidLoop,
.desiredPeriod = TASK_PERIOD_HZ(4000),
.desiredPeriodUs = TASK_PERIOD_HZ(4000),
.staticPriority = TASK_PRIORITY_REALTIME,
},
[TASK_ACCEL] = {
.taskName = "ACCEL",
.taskFunc = taskUpdateAccelerometer,
.desiredPeriod = TASK_PERIOD_HZ(1000),
.desiredPeriodUs = TASK_PERIOD_HZ(1000),
.staticPriority = TASK_PRIORITY_MEDIUM,
},
[TASK_ATTITUDE] = {
.taskName = "ATTITUDE",
.taskFunc = imuUpdateAttitude,
.desiredPeriod = TASK_PERIOD_HZ(100),
.desiredPeriodUs = TASK_PERIOD_HZ(100),
.staticPriority = TASK_PRIORITY_MEDIUM,
},
[TASK_RX] = {
.taskName = "RX",
.checkFunc = rxUpdateCheck,
.taskFunc = taskUpdateRxMain,
.desiredPeriod = TASK_PERIOD_HZ(50),
.desiredPeriodUs = TASK_PERIOD_HZ(50),
.staticPriority = TASK_PRIORITY_HIGH,
},
[TASK_SERIAL] = {
.taskName = "SERIAL",
.taskFunc = taskHandleSerial,
.desiredPeriod = TASK_PERIOD_HZ(100),
.desiredPeriodUs = TASK_PERIOD_HZ(100),
.staticPriority = TASK_PRIORITY_LOW,
},
[TASK_DISPATCH] = {
.taskName = "DISPATCH",
.taskFunc = dispatchProcess,
.desiredPeriod = TASK_PERIOD_HZ(1000),
.desiredPeriodUs = TASK_PERIOD_HZ(1000),
.staticPriority = TASK_PRIORITY_HIGH,
},
[TASK_BATTERY_VOLTAGE] = {
.taskName = "BATTERY_VOLTAGE",
.taskFunc = taskUpdateBatteryVoltage,
.desiredPeriod = TASK_PERIOD_HZ(50),
.desiredPeriodUs = TASK_PERIOD_HZ(50),
.staticPriority = TASK_PRIORITY_MEDIUM,
}
};
task_t *getTask(unsigned taskId)
{
return &tasks[taskId];
}
}
TEST(SchedulerUnittest, TestPriorites)
{
EXPECT_EQ(TASK_PRIORITY_MEDIUM_HIGH, cfTasks[TASK_SYSTEM].staticPriority);
EXPECT_EQ(TASK_PRIORITY_REALTIME, cfTasks[TASK_GYRO].staticPriority);
EXPECT_EQ(TASK_PRIORITY_MEDIUM, cfTasks[TASK_ACCEL].staticPriority);
EXPECT_EQ(TASK_PRIORITY_LOW, cfTasks[TASK_SERIAL].staticPriority);
EXPECT_EQ(TASK_PRIORITY_MEDIUM, cfTasks[TASK_BATTERY_VOLTAGE].staticPriority);
EXPECT_EQ(TASK_PRIORITY_MEDIUM_HIGH, tasks[TASK_SYSTEM].staticPriority);
EXPECT_EQ(TASK_PRIORITY_REALTIME, tasks[TASK_GYRO].staticPriority);
EXPECT_EQ(TASK_PRIORITY_MEDIUM, tasks[TASK_ACCEL].staticPriority);
EXPECT_EQ(TASK_PRIORITY_LOW, tasks[TASK_SERIAL].staticPriority);
EXPECT_EQ(TASK_PRIORITY_MEDIUM, tasks[TASK_BATTERY_VOLTAGE].staticPriority);
}
TEST(SchedulerUnittest, TestQueueInit)
@ -173,47 +178,47 @@ TEST(SchedulerUnittest, TestQueueInit)
}
}
cfTask_t *deadBeefPtr = reinterpret_cast<cfTask_t*>(0xDEADBEEF);
task_t *deadBeefPtr = reinterpret_cast<task_t*>(0xDEADBEEF);
TEST(SchedulerUnittest, TestQueue)
{
queueClear();
taskQueueArray[TASK_COUNT + 1] = deadBeefPtr;
queueAdd(&cfTasks[TASK_SYSTEM]); // TASK_PRIORITY_MEDIUM_HIGH
queueAdd(&tasks[TASK_SYSTEM]); // TASK_PRIORITY_MEDIUM_HIGH
EXPECT_EQ(1, taskQueueSize);
EXPECT_EQ(&cfTasks[TASK_SYSTEM], queueFirst());
EXPECT_EQ(&tasks[TASK_SYSTEM], queueFirst());
EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
queueAdd(&cfTasks[TASK_SERIAL]); // TASK_PRIORITY_LOW
queueAdd(&tasks[TASK_SERIAL]); // TASK_PRIORITY_LOW
EXPECT_EQ(2, taskQueueSize);
EXPECT_EQ(&cfTasks[TASK_SYSTEM], queueFirst());
EXPECT_EQ(&cfTasks[TASK_SERIAL], queueNext());
EXPECT_EQ(&tasks[TASK_SYSTEM], queueFirst());
EXPECT_EQ(&tasks[TASK_SERIAL], queueNext());
EXPECT_EQ(NULL, queueNext());
EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
queueAdd(&cfTasks[TASK_BATTERY_VOLTAGE]); // TASK_PRIORITY_MEDIUM
queueAdd(&tasks[TASK_BATTERY_VOLTAGE]); // TASK_PRIORITY_MEDIUM
EXPECT_EQ(3, taskQueueSize);
EXPECT_EQ(&cfTasks[TASK_SYSTEM], queueFirst());
EXPECT_EQ(&cfTasks[TASK_BATTERY_VOLTAGE], queueNext());
EXPECT_EQ(&cfTasks[TASK_SERIAL], queueNext());
EXPECT_EQ(&tasks[TASK_SYSTEM], queueFirst());
EXPECT_EQ(&tasks[TASK_BATTERY_VOLTAGE], queueNext());
EXPECT_EQ(&tasks[TASK_SERIAL], queueNext());
EXPECT_EQ(NULL, queueNext());
EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
queueAdd(&cfTasks[TASK_RX]); // TASK_PRIORITY_HIGH
queueAdd(&tasks[TASK_RX]); // TASK_PRIORITY_HIGH
EXPECT_EQ(4, taskQueueSize);
EXPECT_EQ(&cfTasks[TASK_RX], queueFirst());
EXPECT_EQ(&cfTasks[TASK_SYSTEM], queueNext());
EXPECT_EQ(&cfTasks[TASK_BATTERY_VOLTAGE], queueNext());
EXPECT_EQ(&cfTasks[TASK_SERIAL], queueNext());
EXPECT_EQ(&tasks[TASK_RX], queueFirst());
EXPECT_EQ(&tasks[TASK_SYSTEM], queueNext());
EXPECT_EQ(&tasks[TASK_BATTERY_VOLTAGE], queueNext());
EXPECT_EQ(&tasks[TASK_SERIAL], queueNext());
EXPECT_EQ(NULL, queueNext());
EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
queueRemove(&cfTasks[TASK_SYSTEM]); // TASK_PRIORITY_HIGH
queueRemove(&tasks[TASK_SYSTEM]); // TASK_PRIORITY_HIGH
EXPECT_EQ(3, taskQueueSize);
EXPECT_EQ(&cfTasks[TASK_RX], queueFirst());
EXPECT_EQ(&cfTasks[TASK_BATTERY_VOLTAGE], queueNext());
EXPECT_EQ(&cfTasks[TASK_SERIAL], queueNext());
EXPECT_EQ(&tasks[TASK_RX], queueFirst());
EXPECT_EQ(&tasks[TASK_BATTERY_VOLTAGE], queueNext());
EXPECT_EQ(&tasks[TASK_SERIAL], queueNext());
EXPECT_EQ(NULL, queueNext());
EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
}
@ -225,7 +230,7 @@ TEST(SchedulerUnittest, TestQueueAddAndRemove)
// fill up the queue
for (int taskId = 0; taskId < TASK_COUNT; ++taskId) {
const bool added = queueAdd(&cfTasks[taskId]);
const bool added = queueAdd(&tasks[taskId]);
EXPECT_TRUE(added);
EXPECT_EQ(taskId + 1, taskQueueSize);
EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
@ -233,13 +238,13 @@ TEST(SchedulerUnittest, TestQueueAddAndRemove)
// double check end of queue
EXPECT_EQ(TASK_COUNT, taskQueueSize);
EXPECT_NE(static_cast<cfTask_t*>(0), taskQueueArray[TASK_COUNT - 1]); // last item was indeed added to queue
EXPECT_NE(static_cast<task_t*>(0), taskQueueArray[TASK_COUNT - 1]); // last item was indeed added to queue
EXPECT_EQ(NULL, taskQueueArray[TASK_COUNT]); // null pointer at end of queue is preserved
EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]); // there hasn't been an out by one error
// and empty it again
for (int taskId = 0; taskId < TASK_COUNT; ++taskId) {
const bool removed = queueRemove(&cfTasks[taskId]);
const bool removed = queueRemove(&tasks[taskId]);
EXPECT_TRUE(removed);
EXPECT_EQ(TASK_COUNT - taskId - 1, taskQueueSize);
EXPECT_EQ(NULL, taskQueueArray[TASK_COUNT - taskId]);
@ -262,16 +267,16 @@ TEST(SchedulerUnittest, TestQueueArray)
EXPECT_EQ(enqueuedTasks, taskQueueSize);
for (int taskId = 0; taskId < TASK_COUNT_UNITTEST - 1; ++taskId) {
if (cfTasks[taskId].taskFunc) {
setTaskEnabled(static_cast<cfTaskId_e>(taskId), true);
if (tasks[taskId].taskFunc) {
setTaskEnabled(static_cast<taskId_e>(taskId), true);
enqueuedTasks++;
EXPECT_EQ(enqueuedTasks, taskQueueSize);
EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT_UNITTEST + 1]);
}
}
EXPECT_NE(static_cast<cfTask_t*>(0), taskQueueArray[enqueuedTasks - 1]);
const cfTask_t *lastTaskPrev = taskQueueArray[enqueuedTasks - 1];
EXPECT_NE(static_cast<task_t*>(0), taskQueueArray[enqueuedTasks - 1]);
const task_t *lastTaskPrev = taskQueueArray[enqueuedTasks - 1];
EXPECT_EQ(NULL, taskQueueArray[enqueuedTasks]);
EXPECT_EQ(NULL, taskQueueArray[enqueuedTasks + 1]);
EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT_UNITTEST + 1]);
@ -292,10 +297,10 @@ TEST(SchedulerUnittest, TestQueueArray)
EXPECT_EQ(NULL, taskQueueArray[enqueuedTasks + 1]);
EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT_UNITTEST + 1]);
cfTaskInfo_t taskInfo;
getTaskInfo(static_cast<cfTaskId_e>(enqueuedTasks + 1), &taskInfo);
taskInfo_t taskInfo;
getTaskInfo(static_cast<taskId_e>(enqueuedTasks + 1), &taskInfo);
EXPECT_FALSE(taskInfo.isEnabled);
setTaskEnabled(static_cast<cfTaskId_e>(enqueuedTasks), true);
setTaskEnabled(static_cast<taskId_e>(enqueuedTasks), true);
EXPECT_EQ(enqueuedTasks, taskQueueSize);
EXPECT_EQ(lastTaskPrev, taskQueueArray[enqueuedTasks - 1]);
EXPECT_EQ(NULL, taskQueueArray[enqueuedTasks + 1]); // check no buffer overrun
@ -327,7 +332,7 @@ TEST(SchedulerUnittest, TestSchedulerInit)
{
schedulerInit();
EXPECT_EQ(1, taskQueueSize);
EXPECT_EQ(&cfTasks[TASK_SYSTEM], queueFirst());
EXPECT_EQ(&tasks[TASK_SYSTEM], queueFirst());
}
TEST(SchedulerUnittest, TestScheduleEmptyQueue)
@ -344,27 +349,27 @@ TEST(SchedulerUnittest, TestSingleTask)
schedulerInit();
// disable all tasks except TASK_ACCEL
for (int taskId = 0; taskId < TASK_COUNT; ++taskId) {
setTaskEnabled(static_cast<cfTaskId_e>(taskId), false);
setTaskEnabled(static_cast<taskId_e>(taskId), false);
}
setTaskEnabled(TASK_ACCEL, true);
cfTasks[TASK_ACCEL].lastExecutedAt = 1000;
tasks[TASK_ACCEL].lastExecutedAtUs = 1000;
simulatedTime = 2050;
// run the scheduler and check the task has executed
scheduler();
EXPECT_NE(static_cast<cfTask_t*>(0), unittest_scheduler_selectedTask);
EXPECT_EQ(&cfTasks[TASK_ACCEL], unittest_scheduler_selectedTask);
EXPECT_EQ(1050, cfTasks[TASK_ACCEL].taskLatestDeltaTime);
EXPECT_EQ(2050, cfTasks[TASK_ACCEL].lastExecutedAt);
EXPECT_EQ(TEST_UPDATE_ACCEL_TIME, cfTasks[TASK_ACCEL].totalExecutionTime);
EXPECT_NE(unittest_scheduler_selectedTask, static_cast<task_t*>(0));
EXPECT_EQ(unittest_scheduler_selectedTask, &tasks[TASK_ACCEL]);
EXPECT_EQ(1050, tasks[TASK_ACCEL].taskLatestDeltaTimeUs);
EXPECT_EQ(2050, tasks[TASK_ACCEL].lastExecutedAtUs);
EXPECT_EQ(TEST_UPDATE_ACCEL_TIME, tasks[TASK_ACCEL].totalExecutionTimeUs);
// task has run, so its dynamic priority should have been set to zero
EXPECT_EQ(0, cfTasks[TASK_GYRO].dynamicPriority);
EXPECT_EQ(0, tasks[TASK_GYRO].dynamicPriority);
}
TEST(SchedulerUnittest, TestTwoTasks)
{
// disable all tasks except TASK_ACCEL and TASK_ATTITUDE
for (int taskId = 0; taskId < TASK_COUNT; ++taskId) {
setTaskEnabled(static_cast<cfTaskId_e>(taskId), false);
setTaskEnabled(static_cast<taskId_e>(taskId), false);
}
setTaskEnabled(TASK_ACCEL, true);
setTaskEnabled(TASK_ATTITUDE, true);
@ -372,49 +377,49 @@ TEST(SchedulerUnittest, TestTwoTasks)
// set it up so that TASK_ACCEL ran just before TASK_ATTITUDE
static const uint32_t startTime = 4000;
simulatedTime = startTime;
cfTasks[TASK_ACCEL].lastExecutedAt = simulatedTime;
cfTasks[TASK_ATTITUDE].lastExecutedAt = cfTasks[TASK_ACCEL].lastExecutedAt - TEST_UPDATE_ATTITUDE_TIME;
EXPECT_EQ(0, cfTasks[TASK_ATTITUDE].taskAgeCycles);
tasks[TASK_ACCEL].lastExecutedAtUs = simulatedTime;
tasks[TASK_ATTITUDE].lastExecutedAtUs = tasks[TASK_ACCEL].lastExecutedAtUs - TEST_UPDATE_ATTITUDE_TIME;
EXPECT_EQ(0, tasks[TASK_ATTITUDE].taskAgeCycles);
// run the scheduler
scheduler();
// no tasks should have run, since neither task's desired time has elapsed
EXPECT_EQ(static_cast<cfTask_t*>(0), unittest_scheduler_selectedTask);
EXPECT_EQ(static_cast<task_t*>(0), unittest_scheduler_selectedTask);
// NOTE:
// TASK_ACCEL desiredPeriod is 1000 microseconds
// TASK_ATTITUDE desiredPeriod is 10000 microseconds
// TASK_ACCEL desiredPeriodUs is 1000 microseconds
// TASK_ATTITUDE desiredPeriodUs is 10000 microseconds
// 500 microseconds later
simulatedTime += 500;
// no tasks should run, since neither task's desired time has elapsed
scheduler();
EXPECT_EQ(static_cast<cfTask_t*>(0), unittest_scheduler_selectedTask);
EXPECT_EQ(static_cast<task_t*>(0), unittest_scheduler_selectedTask);
EXPECT_EQ(0, unittest_scheduler_waitingTasks);
// 500 microseconds later, TASK_ACCEL desiredPeriod has elapsed
// 500 microseconds later, TASK_ACCEL desiredPeriodUs has elapsed
simulatedTime += 500;
// TASK_ACCEL should now run
scheduler();
EXPECT_EQ(&cfTasks[TASK_ACCEL], unittest_scheduler_selectedTask);
EXPECT_EQ(&tasks[TASK_ACCEL], unittest_scheduler_selectedTask);
EXPECT_EQ(1, unittest_scheduler_waitingTasks);
EXPECT_EQ(5000 + TEST_UPDATE_ACCEL_TIME, simulatedTime);
simulatedTime += 1000 - TEST_UPDATE_ACCEL_TIME;
scheduler();
// TASK_ACCEL should run again
EXPECT_EQ(&cfTasks[TASK_ACCEL], unittest_scheduler_selectedTask);
EXPECT_EQ(&tasks[TASK_ACCEL], unittest_scheduler_selectedTask);
scheduler();
// No task should have run
EXPECT_EQ(static_cast<cfTask_t*>(0), unittest_scheduler_selectedTask);
EXPECT_EQ(static_cast<task_t*>(0), unittest_scheduler_selectedTask);
EXPECT_EQ(0, unittest_scheduler_waitingTasks);
simulatedTime = startTime + 10500; // TASK_ACCEL and TASK_ATTITUDE desiredPeriods have elapsed
simulatedTime = startTime + 10500; // TASK_ACCEL and TASK_ATTITUDE desiredPeriodUss have elapsed
// of the two TASK_ACCEL should run first
scheduler();
EXPECT_EQ(&cfTasks[TASK_ACCEL], unittest_scheduler_selectedTask);
EXPECT_EQ(&tasks[TASK_ACCEL], unittest_scheduler_selectedTask);
// and finally TASK_ATTITUDE should now run
scheduler();
EXPECT_EQ(&cfTasks[TASK_ATTITUDE], unittest_scheduler_selectedTask);
EXPECT_EQ(&tasks[TASK_ATTITUDE], unittest_scheduler_selectedTask);
}
TEST(SchedulerUnittest, TestGyroTask)
@ -426,7 +431,7 @@ TEST(SchedulerUnittest, TestGyroTask)
// disable all tasks except TASK_GYRO, TASK_FILTER and TASK_PID
for (int taskId = 0; taskId < TASK_COUNT; ++taskId) {
setTaskEnabled(static_cast<cfTaskId_e>(taskId), false);
setTaskEnabled(static_cast<taskId_e>(taskId), false);
}
setTaskEnabled(TASK_GYRO, true);
setTaskEnabled(TASK_FILTER, true);
@ -434,14 +439,14 @@ TEST(SchedulerUnittest, TestGyroTask)
// First set it up so TASK_GYRO just ran
simulatedTime = startTime;
cfTasks[TASK_GYRO].lastExecutedAt = simulatedTime;
tasks[TASK_GYRO].lastExecutedAtUs = simulatedTime;
// reset the flags
resetGyroTaskTestFlags();
// run the scheduler
scheduler();
// no tasks should have run
EXPECT_EQ(static_cast<cfTask_t*>(0), unittest_scheduler_selectedTask);
EXPECT_EQ(static_cast<task_t*>(0), unittest_scheduler_selectedTask);
// also the gyro, filter and PID task indicators should be false
EXPECT_FALSE(taskGyroRan);
EXPECT_FALSE(taskFilterRan);
@ -450,7 +455,7 @@ TEST(SchedulerUnittest, TestGyroTask)
/* Test the gyro task running but not triggering the filtering or PID */
// set the TASK_GYRO last executed time to be one period earlier
simulatedTime = startTime;
cfTasks[TASK_GYRO].lastExecutedAt = simulatedTime - TASK_PERIOD_HZ(TEST_GYRO_SAMPLE_HZ);
tasks[TASK_GYRO].lastExecutedAtUs = simulatedTime - TASK_PERIOD_HZ(TEST_GYRO_SAMPLE_HZ);
// reset the flags
resetGyroTaskTestFlags();
@ -462,12 +467,12 @@ TEST(SchedulerUnittest, TestGyroTask)
EXPECT_FALSE(taskFilterRan);
EXPECT_FALSE(taskPidRan);
// expect that no other tasks other than TASK_GYRO should have run
EXPECT_EQ(static_cast<cfTask_t*>(0), unittest_scheduler_selectedTask);
EXPECT_EQ(static_cast<task_t*>(0), unittest_scheduler_selectedTask);
/* Test the gyro task running and triggering the filtering task */
// set the TASK_GYRO last executed time to be one period earlier
simulatedTime = startTime;
cfTasks[TASK_GYRO].lastExecutedAt = simulatedTime - TASK_PERIOD_HZ(TEST_GYRO_SAMPLE_HZ);
tasks[TASK_GYRO].lastExecutedAtUs = simulatedTime - TASK_PERIOD_HZ(TEST_GYRO_SAMPLE_HZ);
// reset the flags
resetGyroTaskTestFlags();
@ -480,12 +485,12 @@ TEST(SchedulerUnittest, TestGyroTask)
EXPECT_TRUE(taskFilterRan);
EXPECT_FALSE(taskPidRan);
// expect that no other tasks other tasks should have run
EXPECT_EQ(static_cast<cfTask_t*>(0), unittest_scheduler_selectedTask);
EXPECT_EQ(static_cast<task_t*>(0), unittest_scheduler_selectedTask);
/* Test the gyro task running and triggering the PID task */
// set the TASK_GYRO last executed time to be one period earlier
simulatedTime = startTime;
cfTasks[TASK_GYRO].lastExecutedAt = simulatedTime - TASK_PERIOD_HZ(TEST_GYRO_SAMPLE_HZ);
tasks[TASK_GYRO].lastExecutedAtUs = simulatedTime - TASK_PERIOD_HZ(TEST_GYRO_SAMPLE_HZ);
// reset the flags
resetGyroTaskTestFlags();
@ -498,7 +503,7 @@ TEST(SchedulerUnittest, TestGyroTask)
EXPECT_FALSE(taskFilterRan);
EXPECT_TRUE(taskPidRan);
// expect that no other tasks other tasks should have run
EXPECT_EQ(static_cast<cfTask_t*>(0), unittest_scheduler_selectedTask);
EXPECT_EQ(static_cast<task_t*>(0), unittest_scheduler_selectedTask);
}
// Test the scheduling logic that prevents other tasks from running if they
@ -518,21 +523,21 @@ TEST(SchedulerUnittest, TestGyroLookahead)
// disable all tasks except TASK_GYRO, TASK_ACCEL
for (int taskId = 0; taskId < TASK_COUNT; ++taskId) {
setTaskEnabled(static_cast<cfTaskId_e>(taskId), false);
setTaskEnabled(static_cast<taskId_e>(taskId), false);
}
setTaskEnabled(TASK_GYRO, true);
setTaskEnabled(TASK_ACCEL, true);
#if defined(USE_TASK_STATISTICS)
// set the average run time for TASK_ACCEL
cfTasks[TASK_ACCEL].movingSumExecutionTime = TEST_UPDATE_ACCEL_TIME * TASK_STATS_MOVING_SUM_COUNT;
tasks[TASK_ACCEL].movingSumExecutionTimeUs = TEST_UPDATE_ACCEL_TIME * TASK_STATS_MOVING_SUM_COUNT;
#endif
/* Test that another task will run if there's plenty of time till the next gyro sample time */
// set it up so TASK_GYRO just ran and TASK_ACCEL is ready to run
simulatedTime = startTime;
cfTasks[TASK_GYRO].lastExecutedAt = simulatedTime;
cfTasks[TASK_ACCEL].lastExecutedAt = simulatedTime - TASK_PERIOD_HZ(1000);
tasks[TASK_GYRO].lastExecutedAtUs = simulatedTime;
tasks[TASK_ACCEL].lastExecutedAtUs = simulatedTime - TASK_PERIOD_HZ(1000);
// reset the flags
resetGyroTaskTestFlags();
@ -543,13 +548,13 @@ TEST(SchedulerUnittest, TestGyroLookahead)
EXPECT_FALSE(taskFilterRan);
EXPECT_FALSE(taskPidRan);
// TASK_ACCEL should have run
EXPECT_EQ(&cfTasks[TASK_ACCEL], unittest_scheduler_selectedTask);
EXPECT_EQ(&tasks[TASK_ACCEL], unittest_scheduler_selectedTask);
/* Test that another task won't run if the time till the gyro task is less than the guard interval */
// set it up so TASK_GYRO will run soon and TASK_ACCEL is ready to run
simulatedTime = startTime;
cfTasks[TASK_GYRO].lastExecutedAt = simulatedTime - TASK_PERIOD_HZ(TEST_GYRO_SAMPLE_HZ) + GYRO_TASK_GUARD_INTERVAL_US / 2;
cfTasks[TASK_ACCEL].lastExecutedAt = simulatedTime - TASK_PERIOD_HZ(1000);
tasks[TASK_GYRO].lastExecutedAtUs = simulatedTime - TASK_PERIOD_HZ(TEST_GYRO_SAMPLE_HZ) + GYRO_TASK_GUARD_INTERVAL_US / 2;
tasks[TASK_ACCEL].lastExecutedAtUs = simulatedTime - TASK_PERIOD_HZ(1000);
// reset the flags
resetGyroTaskTestFlags();
@ -560,13 +565,13 @@ TEST(SchedulerUnittest, TestGyroLookahead)
EXPECT_FALSE(taskFilterRan);
EXPECT_FALSE(taskPidRan);
// TASK_ACCEL should not have run
EXPECT_EQ(static_cast<cfTask_t*>(0), unittest_scheduler_selectedTask);
EXPECT_EQ(static_cast<task_t*>(0), unittest_scheduler_selectedTask);
/* Test that another task won't run if the time till the gyro task is less than the average task interval */
// set it up so TASK_GYRO will run soon and TASK_ACCEL is ready to run
simulatedTime = startTime;
cfTasks[TASK_GYRO].lastExecutedAt = simulatedTime - TASK_PERIOD_HZ(TEST_GYRO_SAMPLE_HZ) + TEST_UPDATE_ACCEL_TIME / 2;
cfTasks[TASK_ACCEL].lastExecutedAt = simulatedTime - TASK_PERIOD_HZ(1000);
tasks[TASK_GYRO].lastExecutedAtUs = simulatedTime - TASK_PERIOD_HZ(TEST_GYRO_SAMPLE_HZ) + TEST_UPDATE_ACCEL_TIME / 2;
tasks[TASK_ACCEL].lastExecutedAtUs = simulatedTime - TASK_PERIOD_HZ(1000);
// reset the flags
resetGyroTaskTestFlags();
@ -577,13 +582,13 @@ TEST(SchedulerUnittest, TestGyroLookahead)
EXPECT_FALSE(taskFilterRan);
EXPECT_FALSE(taskPidRan);
// TASK_ACCEL should not have run
EXPECT_EQ(static_cast<cfTask_t*>(0), unittest_scheduler_selectedTask);
EXPECT_EQ(static_cast<task_t*>(0), unittest_scheduler_selectedTask);
/* Test that another task will run if the gyro task gets executed */
// set it up so TASK_GYRO will run now and TASK_ACCEL is ready to run
simulatedTime = startTime;
cfTasks[TASK_GYRO].lastExecutedAt = simulatedTime - TASK_PERIOD_HZ(TEST_GYRO_SAMPLE_HZ);
cfTasks[TASK_ACCEL].lastExecutedAt = simulatedTime - TASK_PERIOD_HZ(1000);
tasks[TASK_GYRO].lastExecutedAtUs = simulatedTime - TASK_PERIOD_HZ(TEST_GYRO_SAMPLE_HZ);
tasks[TASK_ACCEL].lastExecutedAtUs = simulatedTime - TASK_PERIOD_HZ(1000);
// reset the flags
resetGyroTaskTestFlags();
@ -598,5 +603,5 @@ TEST(SchedulerUnittest, TestGyroLookahead)
EXPECT_TRUE(taskFilterRan);
EXPECT_TRUE(taskPidRan);
// TASK_ACCEL should have run
EXPECT_EQ(&cfTasks[TASK_ACCEL], unittest_scheduler_selectedTask);
EXPECT_EQ(&tasks[TASK_ACCEL], unittest_scheduler_selectedTask);
}

2
src/test/unit/sensor_gyro_unittest.cc
View file

@ -160,6 +160,6 @@ void beeper(beeperMode_e) {}
uint8_t detectedSensors[] = { GYRO_NONE, ACC_NONE };
timeDelta_t getGyroUpdateRate(void) {return gyro.targetLooptime;}
void sensorsSet(uint32_t) {}
void schedulerResetTaskStatistics(cfTaskId_e) {}
void schedulerResetTaskStatistics(taskId_e) {}
int getArmingDisableFlags(void) {return 0;}
}

4
src/test/unit/telemetry_ibus_unittest.cc
View file

@ -154,10 +154,10 @@ static bool portIsShared = false;
static bool openSerial_called = false;
static bool telemetryDetermineEnabledState_stub_retval;
void rescheduleTask(cfTaskId_e taskId, uint32_t newPeriodMicros)
void rescheduleTask(taskId_e taskId, timeDelta_t newPeriodUs)
{
EXPECT_EQ(TASK_TELEMETRY, taskId);
EXPECT_EQ(1000, newPeriodMicros);
EXPECT_EQ(1000, newPeriodUs);
}

5
src/test/unit/vtx_unittest.cc
View file

@ -143,7 +143,7 @@ extern "C" {
bool calculateRxChannelsAndUpdateFailsafe(timeUs_t) { return true; }
bool isMixerUsingServos(void) { return false; }
void gyroUpdate() {}
timeDelta_t getTaskDeltaTime(cfTaskId_e) { return 0; }
timeDelta_t getTaskDeltaTimeUs(taskId_e) { return 0; }
void updateRSSI(timeUs_t) {}
bool failsafeIsMonitoring(void) { return false; }
void failsafeStartMonitoring(void) {}
@ -173,7 +173,7 @@ extern "C" {
void dashboardEnablePageCycling(void) {}
void dashboardDisablePageCycling(void) {}
bool imuQuaternionHeadfreeOffsetSet(void) { return true; }
void rescheduleTask(cfTaskId_e, uint32_t) {}
void rescheduleTask(taskId_e, timeDelta_t) {}
bool usbCableIsInserted(void) { return false; }
bool usbVcpIsConnected(void) { return false; }
void pidSetAntiGravityState(bool newState) { UNUSED(newState); }
@ -188,4 +188,5 @@ extern "C" {
void gyroFiltering(timeUs_t) {};
timeDelta_t rxGetFrameDelta(timeDelta_t *) { return 0; }
void updateRcRefreshRate(timeUs_t) {};
uint16_t getAverageSystemLoadPercent(void) { return 0; }
}