adding freeRtos API from different project

2024-11-16 15:50:59 +01:00
parent 49b3b46ffe
commit deccb3186c
14 changed files with 1061 additions and 0 deletions
@@ -0,0 +1,85 @@
+#include "test.hpp"
+
+#include <Mutex.hpp>
+#include <Semaphore.hpp>
+#include <Task.hpp>
+
+using namespace fos;
+
+constexpr int SHORT_DELAY = 10;
+
+TEST_CASE("Test mutexes", "[freeRtos][mutex]") {
+    Mutex eut;
+    // first take fails
+    TEST_ASSERT_TRUE(eut.claim(0));
+    eut.release();
+
+    TEST_ASSERT_TRUE(eut.claim(0));
+    TEST_ASSERT_FALSE(eut.claim(0));
+
+    eut.release();
+    // eut.release(); // not a good idea
+    TEST_ASSERT_TRUE(eut.claim(0));
+    // second take after give fails
+    TEST_ASSERT_FALSE(eut.claim(0));
+}
+
+static Semaphore starter1;
+static void testClaimer(Mutex &m) {
+    m.claim();
+    starter1.give();
+    vTaskDelay(SHORT_DELAY);
+    m.release();
+    vTaskDelay(SHORT_DELAY);
+    m.claim();
+    starter1.give();
+    while (true) {
+        vTaskDelay(SHORT_DELAY);
+    };
+}
+
+TEST_CASE("Test mutex timing", "[freeRtos][mutex]") {
+    static Mutex eut;
+
+    TaskT<Mutex &> claimer(testClaimer, eut, "signal1");
+    starter1.take(100);
+    { // All ok
+        TimeTest timer;
+        TEST_ASSERT_TRUE(eut.claim(100));
+        TEST_ASSERT_INT_WITHIN(1, SHORT_DELAY, timer.getRunTime());
+        eut.release();
+    }
+    starter1.take(100);
+    { // Timeout
+        TimeTest timer;
+        TEST_ASSERT_FALSE(eut.claim(20));
+        TEST_ASSERT_INT_WITHIN(1, 20, timer.getRunTime());
+    }
+
+    { // NoWeit timeout
+        Mutex passiveSem;
+        passiveSem.claim(0);
+        TimeTest timer;
+        TEST_ASSERT_FALSE(passiveSem.claim(0));
+        TEST_ASSERT_INT_WITHIN(1, 0, timer.getRunTime());
+    }
+}
+
+TEST_CASE("Test mutex guard", "[freeRtos][mutex]") {
+    Mutex mtx;
+    {
+        MutexGuard eut(mtx, 100);
+        TEST_ASSERT_TRUE(eut.isActive());
+        // already taken
+        TEST_ASSERT_FALSE(mtx.claim(0));
+    }
+    // now free to go
+    TEST_ASSERT_TRUE(mtx.claim(0));
+    { // Timeout
+        TimeTest timer;
+        MutexGuard eut(mtx, SHORT_DELAY);
+        TEST_ASSERT_FALSE(eut.isActive());
+        TEST_ASSERT_INT_WITHIN(1, SHORT_DELAY, timer.getRunTime());
+    }
+}
+