unit test: move unit-test_app test_utils_task_delete API to be a utils API (unity_utils_task_delete) in unity component

components/unity/CMakeLists.txt

@@ -15,6 +15,7 @@ endif()
 
 if(CONFIG_UNITY_ENABLE_IDF_TEST_RUNNER)
     list(APPEND srcs "unity_runner.c")
+    list(APPEND srcs "unity_utils_freertos.c")
 endif()
 
 if(CONFIG_UNITY_ENABLE_FIXTURE)

components/unity/include/unity_test_utils.h

@@ -0,0 +1,26 @@
+/*
+ * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief Delete task ensuring dynamic memory (for stack, tcb etc.) gets freed up immediately
+ *
+ * @param[in] thandle    Handle of task to be deleted (should not be NULL or self handle)
+ */
+void unity_utils_task_delete(TaskHandle_t thandle);
+
+#ifdef __cplusplus
+}
+#endif

components/unity/unity_utils_freertos.c

@@ -0,0 +1,69 @@
+/*
+ * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <string.h>
+#include "unity.h"
+#include "unity_test_utils.h"
+#include "freertos/semphr.h"
+#include "sdkconfig.h"
+#if !CONFIG_FREERTOS_UNICORE
+#include "esp_ipc.h"
+#include "esp_freertos_hooks.h"
+#endif
+
+#if !CONFIG_FREERTOS_UNICORE
+static SemaphoreHandle_t test_sem;
+
+static bool idle_hook_func(void)
+{
+    if (test_sem) {
+        xSemaphoreGive(test_sem);
+    }
+    return true;
+}
+
+static void task_delete_func(void *arg)
+{
+    vTaskDelete(arg);
+}
+#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 = xTaskGetAffinity(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) {
+        /* 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);
+        test_sem = xSemaphoreCreateBinary();
+        TEST_ASSERT_NOT_NULL_MESSAGE(test_sem, "unity_utils_task_delete: failed to create semaphore");
+        xSemaphoreTake(test_sem, portMAX_DELAY);
+        esp_deregister_freertos_idle_hook_for_cpu(idle_hook_func, !core_id);
+        vSemaphoreDelete(test_sem);
+        test_sem = NULL;
+    } 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
+}