Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-23 16:25:31 +03:00
Code Issues Wiki Activity

Added test to check filling up and emptying queue.

Browse source
This commit is contained in:
Martin Budden 2016-02-06 08:07:21 +00:00 • committed by borisbstyle
parent 3fa0163713
commit cd3b584879
2 changed files with 45 additions and 11 deletions
Download patch file Download diff file Expand all files Collapse all files

20
src/main/scheduler.c
View file

@ -82,30 +82,32 @@ STATIC_UNIT_TESTED bool queueContains(cfTask_t *task)
return false;
}
STATIC_UNIT_TESTED void queueAdd(cfTask_t *task)
STATIC_UNIT_TESTED bool queueAdd(cfTask_t *task)
{
if ((taskQueueSize >= TASK_COUNT) || queueContains(task)) {
return;
return false;
}
for (int ii = 0; ii <= taskQueueSize; ++ii) {
if (taskQueueArray[ii] == NULL || taskQueueArray[ii]->staticPriority < task->staticPriority) {
memmove(&taskQueueArray[ii+1], &taskQueueArray[ii], sizeof(task) * (taskQueueSize - ii));
taskQueueArray[ii] = task;
++taskQueueSize;
return;
return true;
}
}
return false;
}
STATIC_UNIT_TESTED void queueRemove(cfTask_t *task)
STATIC_UNIT_TESTED bool queueRemove(cfTask_t *task)
{
for (int ii = 0; ii < taskQueueSize; ++ii) {
if (taskQueueArray[ii] == task) {
memmove(&taskQueueArray[ii], &taskQueueArray[ii+1], sizeof(task) * (taskQueueSize - ii));
--taskQueueSize;
return;
return true;
}
}
return false;
}
/*
@ -216,8 +218,8 @@ void scheduler(void)
const bool outsideRealtimeGuardInterval = (timeToNextRealtimeTask > realtimeGuardInterval);
// The task to be invoked
uint32_t selectedTaskDynPrio = 0;
cfTask_t *selectedTask = NULL;
uint16_t selectedTaskDynamicPriority = 0;
// Update task dynamic priorities
uint16_t waitingTasks = 0;
@ -247,13 +249,13 @@ void scheduler(void)
}
}
if (task->dynamicPriority > selectedTaskDynPrio) {
if (task->dynamicPriority > selectedTaskDynamicPriority) {
const bool taskCanBeChosenForScheduling =
(outsideRealtimeGuardInterval) ||
(task->taskAgeCycles > 1) ||
(task->staticPriority == TASK_PRIORITY_REALTIME);
if (taskCanBeChosenForScheduling) {
selectedTaskDynPrio = task->dynamicPriority;
selectedTaskDynamicPriority = task->dynamicPriority;
selectedTask = task;
}
}
@ -264,8 +266,8 @@ void scheduler(void)
currentTask = selectedTask;
// Found a task that should be run
if (selectedTask != NULL) {
// Found a task that should be run
selectedTask->taskLatestDeltaTime = currentTime - selectedTask->lastExecutedAt;
selectedTask->lastExecutedAt = currentTime;
selectedTask->dynamicPriority = 0;

36
src/test/unit/scheduler_unittest.cc
View file

@ -77,8 +77,8 @@ extern "C" {
extern void queueClear(void);
extern int queueSize();
extern bool queueContains(cfTask_t *task);
extern void queueAdd(cfTask_t *task);
extern void queueRemove(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);
}
@ -171,6 +171,38 @@ TEST(SchedulerUnittest, TestQueue)
EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
}
TEST(SchedulerUnittest, TestQueueAddAndRemove)
{
queueClear();
taskQueueArray[TASK_COUNT + 1] = deadBeefPtr;
// fill up the queue
for (int taskId = 0; taskId < TASK_COUNT; ++taskId) {
const bool added = queueAdd(&cfTasks[taskId]);
EXPECT_EQ(true, added);
EXPECT_EQ(taskId + 1, queueSize());
EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
}
// double check end of queue
EXPECT_EQ(TASK_COUNT, queueSize());
EXPECT_NE(static_cast<cfTask_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]);
EXPECT_EQ(true, removed);
EXPECT_EQ(TASK_COUNT - taskId - 1, queueSize());
EXPECT_EQ(NULL, taskQueueArray[TASK_COUNT - taskId]);
EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
}
// double check size and end of queue
EXPECT_EQ(0, queueSize()); // queue is indeed empty
EXPECT_EQ(NULL, taskQueueArray[0]); // there is a null pointer at the end of the queueu
EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]); // no accidental overwrites past end of queue
}
TEST(SchedulerUnittest, TestQueueArray)
{
// test there are no "out by one" errors or buffer overruns when items are added and removed