ESP-IDF
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Outline
#include <string.h>
#include <stdbool.h>
#include "unity.h"
#include "unity_test_utils.h"
#include "freertos/FreeRTOS.h"
#include "freertos/semphr.h"
#include "freertos/task.h"
#include "sdkconfig.h"
#include "esp_ipc.h"
#include "esp_freertos_hooks.h"
s_test_sem_buffer
s_test_sem
idle_hook_func()
task_delete_func(void *)
#define SEMAPHORE_COUNT_MAX
#define SEMAPHORE_COUNT_INITIAL
unity_utils_task_delete(TaskHandle_t)
Files
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SourceVuESP-IDF Framework and ExamplesESP-IDFcomponents/unity/unity_utils_freertos.c
 
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/* * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD * * SPDX-License-Identifier: Apache-2.0 *//* ... */ #include <string.h> #include <stdbool.h> #include "unity.h" #include "unity_test_utils.h" #include "freertos/FreeRTOS.h" #include "freertos/semphr.h" #include "freertos/task.h" #include "sdkconfig.h"8 includes #if !CONFIG_FREERTOS_UNICORE #include "esp_ipc.h" #include "esp_freertos_hooks.h"/* ... */ #endif #if !CONFIG_FREERTOS_UNICORE static StaticSemaphore_t s_test_sem_buffer; static SemaphoreHandle_t s_test_sem = NULL; static bool idle_hook_func(void) { if (s_test_sem) { xSemaphoreGive(s_test_sem); }{...} return true; }{ ... } static void task_delete_func(void *arg) { vTaskDelete(arg); }{ ... } #define SEMAPHORE_COUNT_MAX 2 #define SEMAPHORE_COUNT_INITIAL 0 /* ... */ #endif // !CONFIG_FREERTOS_UNICORE void unity_utils_task_delete(TaskHandle_t thandle) { /* Self deletion can not free up associated task dynamic memory immediately, * hence not recommended for test scenarios *//* ... */ TEST_ASSERT_NOT_NULL_MESSAGE(thandle, "unity_utils_task_delete: handle is NULL"); TEST_ASSERT_NOT_EQUAL_MESSAGE(thandle, xTaskGetCurrentTaskHandle(), "unity_utils_task_delete: handle is of currently executing task"); #if CONFIG_FREERTOS_UNICORE vTaskDelete(thandle); #else // CONFIG_FREERTOS_UNICORE const BaseType_t tsk_affinity = xTaskGetCoreID(thandle); const BaseType_t core_id = xPortGetCoreID(); printf("Task_affinity: 0x%x, current_core: %d\n", tsk_affinity, core_id); if (tsk_affinity == tskNO_AFFINITY) { // create the semaphore if not done yet, or else, make sure its count is 0 if (s_test_sem == NULL) { s_test_sem = xSemaphoreCreateCountingStatic(SEMAPHORE_COUNT_MAX, SEMAPHORE_COUNT_INITIAL, &s_test_sem_buffer); }{...} else { while (xSemaphoreTake(s_test_sem, 0) == pdTRUE) { } }{...} /* For no affinity case, we wait for idle hook to trigger on different core */ esp_err_t ret = esp_register_freertos_idle_hook_for_cpu(idle_hook_func, !core_id); TEST_ASSERT_EQUAL_MESSAGE(ret, ESP_OK, "unity_utils_task_delete: failed to register idle hook"); vTaskDelete(thandle); // We want to make sure that the entire idle task has run (including the part that removes remaining // memory of deleted tasks). Since we don't know where the idle task has been stopped, we need to // wait until the idle hook has run twice. This makes sure that the entire idle task has run at least once. xSemaphoreTake(s_test_sem, portMAX_DELAY); xSemaphoreTake(s_test_sem, portMAX_DELAY); esp_deregister_freertos_idle_hook_for_cpu(idle_hook_func, !core_id); }{...} else if (tsk_affinity != core_id) { /* Task affinity and current core are differnt, schedule IPC call (to delete task) * on core where task is pinned to *//* ... */ esp_ipc_call_blocking(tsk_affinity, task_delete_func, thandle); }{...} else { /* Task affinity and current core are same, so we can safely proceed for deletion */ vTaskDelete(thandle); }{...} /* ... */#endif // !CONFIG_FREERTOS_UNICORE }{ ... }
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