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Stoppd using TASK_BEEPER in tests, since this is undefined.

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Martin Budden 2016-02-05 15:11:43 +00:00 • committed by borisbstyle
parent d8776c8e47
commit 63db2d00f3
3 changed files with 21 additions and 37 deletions
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31
src/main/config/config_unittest.h
View file

@ -20,35 +20,6 @@
#ifdef SRC_MAIN_SCHEDULER_C_
#ifdef UNIT_TEST
uint8_t unittest_scheduler_taskId;
uint8_t unittest_scheduler_selectedTaskId;
uint8_t unittest_scheduler_selectedTaskDynPrio;
uint16_t unittest_scheduler_waitingTasks;
uint32_t unittest_scheduler_timeToNextRealtimeTask;
bool unittest_outsideRealtimeGuardInterval;
#define SET_SCHEDULER_LOCALS() \
{ \
}
#define GET_SCHEDULER_LOCALS() \
{ \
unittest_scheduler_taskId = taskId; \
unittest_scheduler_selectedTaskId = selectedTaskId; \
unittest_scheduler_selectedTaskDynPrio = selectedTaskDynPrio; \
unittest_scheduler_waitingTasks = waitingTasks; \
unittest_scheduler_timeToNextRealtimeTask = timeToNextRealtimeTask; \
unittest_outsideRealtimeGuardInterval = outsideRealtimeGuardInterval; \
}
#else
#define GET_SCHEDULER_LOCALS() {}
#endif
#endif
#ifdef SRC_MAIN_SCHEDULER_C_
#ifdef UNIT_TEST
@ -63,11 +34,11 @@ uint32_t unittest_scheduler_timeToNextRealtimeTask;
unittest_scheduler_selectedTaskDynPrio = selectedTaskDynPrio; \
unittest_scheduler_waitingTasks = waitingTasks; \
unittest_scheduler_timeToNextRealtimeTask = timeToNextRealtimeTask; \
unittest_outsideRealtimeGuardInterval = outsideRealtimeGuardInterval; \
}
#else
#define SET_SCHEDULER_LOCALS() {}
#define GET_SCHEDULER_LOCALS() {}
#endif

2
src/main/scheduler.h
View file

@ -91,7 +91,7 @@ typedef struct {
bool (*checkFunc)(uint32_t currentDeltaTime);
void (*taskFunc)(void);
uint32_t desiredPeriod; // target period of execution
uint8_t staticPriority; // dynamicPriority grows in steps of this size, shouldn't be zero
const uint8_t staticPriority;// dynamicPriority grows in steps of this size, shouldn't be zero
/* Scheduling */
uint8_t dynamicPriority; // measurement of how old task was last executed, used to avoid task starvation

25
src/test/unit/scheduler_unittest.cc
View file

@ -94,6 +94,16 @@ TEST(SchedulerUnittest, TestPriorites)
EXPECT_EQ(TASK_PRIORITY_MEDIUM, cfTasks[TASK_BATTERY].staticPriority);
}
TEST(SchedulerUnittest, TestPriorites)
{
// if any of these fail then task priorities have changed and ordering in TestQueue needs to be re-checked
EXPECT_EQ(TASK_PRIORITY_HIGH, cfTasks[TASK_SYSTEM].staticPriority);
EXPECT_EQ(TASK_PRIORITY_REALTIME, cfTasks[TASK_GYROPID].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].staticPriority);
}
TEST(SchedulerUnittest, TestQueueInit)
{
queueClear();
@ -132,11 +142,11 @@ TEST(SchedulerUnittest, TestQueue)
EXPECT_EQ(NULL, queueNext());
EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
queueAdd(&cfTasks[TASK_BEEPER]); // TASK_PRIORITY_MEDIUM
queueAdd(&cfTasks[TASK_BATTERY]); // TASK_PRIORITY_MEDIUM
EXPECT_EQ(4, queueSize());
EXPECT_EQ(&cfTasks[TASK_GYROPID], queueFirst());
EXPECT_EQ(&cfTasks[TASK_SYSTEM], queueNext());
EXPECT_EQ(&cfTasks[TASK_BEEPER], queueNext());
EXPECT_EQ(&cfTasks[TASK_BATTERY], queueNext());
EXPECT_EQ(&cfTasks[TASK_SERIAL], queueNext());
EXPECT_EQ(NULL, queueNext());
EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
@ -146,7 +156,7 @@ TEST(SchedulerUnittest, TestQueue)
EXPECT_EQ(&cfTasks[TASK_GYROPID], queueFirst());
EXPECT_EQ(&cfTasks[TASK_SYSTEM], queueNext());
EXPECT_EQ(&cfTasks[TASK_RX], queueNext());
EXPECT_EQ(&cfTasks[TASK_BEEPER], queueNext());
EXPECT_EQ(&cfTasks[TASK_BATTERY], queueNext());
EXPECT_EQ(&cfTasks[TASK_SERIAL], queueNext());
EXPECT_EQ(NULL, queueNext());
EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
@ -155,19 +165,22 @@ TEST(SchedulerUnittest, TestQueue)
EXPECT_EQ(4, queueSize());
EXPECT_EQ(&cfTasks[TASK_GYROPID], queueFirst());
EXPECT_EQ(&cfTasks[TASK_RX], queueNext());
EXPECT_EQ(&cfTasks[TASK_BEEPER], queueNext());
EXPECT_EQ(&cfTasks[TASK_BATTERY], queueNext());
EXPECT_EQ(&cfTasks[TASK_SERIAL], queueNext());
EXPECT_EQ(NULL, queueNext());
EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
}
TEST(SchedulerUnittest, TestQueueArray)
{
// test there are no "out by one" errors or buffer overruns when items are added and removed
queueClear();
taskQueueArray[TASK_COUNT + 1] = deadBeefPtr;
taskQueueArray[TASK_COUNT + 1] = deadBeefPtr; // note, must set deadBeefPtr after queueClear
for (int taskId=0; taskId < TASK_COUNT - 1; ++taskId) {
for (int taskId = 0; taskId < TASK_COUNT - 1; ++taskId) {
setTaskEnabled(static_cast<cfTaskId_e>(taskId), true);
EXPECT_EQ(taskId + 1, queueSize());
EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
}
EXPECT_EQ(TASK_COUNT - 1, queueSize());
EXPECT_NE(static_cast<cfTask_t*>(0), taskQueueArray[TASK_COUNT - 2]);