freertos: Mark uxTaskPriorityGet() as tested

Also adds some SMP-aware dynamic task priority unit tests

components/freertos/test/test_task_priorities.c

@@ -0,0 +1,81 @@
+/*
+  Unit tests for FreeRTOS task priority get/set
+*/
+
+#include <esp_types.h>
+#include <stdio.h>
+#include <strings.h>
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "unity.h"
+
+
+static void counter_task(void *param)
+{
+    volatile uint32_t *counter = (volatile uint32_t *)param;
+    while (1) {
+        (*counter)++;
+    }
+}
+
+
+TEST_CASE("Get/Set Priorities", "[freertos]")
+{
+    /* Two tasks per processor */
+    TaskHandle_t tasks[portNUM_PROCESSORS][2] = { 0 };
+    unsigned volatile counters[portNUM_PROCESSORS][2] = { 0 };
+
+    TEST_ASSERT_EQUAL(UNITY_FREERTOS_PRIORITY, uxTaskPriorityGet(NULL));
+
+    /* create a matrix of counter tasks on each core */
+    for (int cpu = 0; cpu < portNUM_PROCESSORS; cpu++) {
+        for (int task = 0; task < 2; task++) {
+            xTaskCreatePinnedToCore(counter_task, "count", 2048, (void *)&(counters[cpu][task]), UNITY_FREERTOS_PRIORITY - task, &(tasks[cpu][task]), cpu);
+        }
+    }
+
+    /* check they were created with the expected priorities */
+    for (int cpu = 0; cpu < portNUM_PROCESSORS; cpu++) {
+        for (int task = 0; task < 2; task++) {
+            TEST_ASSERT_EQUAL(UNITY_FREERTOS_PRIORITY - task, uxTaskPriorityGet(tasks[cpu][task]));
+        }
+    }
+
+    vTaskDelay(10);
+
+    /* at this point, only the higher priority tasks (first index) should be counting */
+    for (int cpu = 0; cpu < portNUM_PROCESSORS; cpu++) {
+        TEST_ASSERT_NOT_EQUAL(0, counters[cpu][0]);
+        TEST_ASSERT_EQUAL(0, counters[cpu][1]);
+    }
+
+    /* swap priorities! */
+    for (int cpu = 0; cpu < portNUM_PROCESSORS; cpu++) {
+        vTaskPrioritySet(tasks[cpu][0], UNITY_FREERTOS_PRIORITY - 1);
+        vTaskPrioritySet(tasks[cpu][1], UNITY_FREERTOS_PRIORITY);
+    }
+
+    /* check priorities have swapped... */
+    for (int cpu = 0; cpu < portNUM_PROCESSORS; cpu++) {
+        TEST_ASSERT_EQUAL(UNITY_FREERTOS_PRIORITY -1, uxTaskPriorityGet(tasks[cpu][0]));
+        TEST_ASSERT_EQUAL(UNITY_FREERTOS_PRIORITY, uxTaskPriorityGet(tasks[cpu][1]));
+    }
+
+    /* check the tasks which are counting have also swapped now... */
+    for (int cpu = 0; cpu < portNUM_PROCESSORS; cpu++) {
+        unsigned old_counters[2];
+        old_counters[0] = counters[cpu][0];
+        old_counters[1] = counters[cpu][1];
+        vTaskDelay(10);
+        TEST_ASSERT_EQUAL(old_counters[0], counters[cpu][0]);
+        TEST_ASSERT_NOT_EQUAL(old_counters[1], counters[cpu][1]);
+    }
+
+    /* clean up */
+    for (int cpu = 0; cpu < portNUM_PROCESSORS; cpu++) {
+        for (int task = 0; task < 2; task++) {
+            vTaskDelete(tasks[cpu][task]);
+        }
+    }
+}