freertos: move test files to appropriate subfolders

components/freertos/test/integration/tasks/test_freertos_task_notify.c

@@ -0,0 +1,196 @@
+/*
+ * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/*
+ Test of FreeRTOS task notifications. This test creates a sender and receiver
+ task under different core permutations. For each permutation, the sender task
+ will test the xTaskNotify(), xTaskNotifyGive(), xTaskNotifyFromISR(), and
+ vTaskNotifyGiveFromISR(), whereas the receiver task will test
+ xTaskNotifyWait() and ulTaskNotifyTake().
+*/
+#include <stdio.h>
+#include <stdlib.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/semphr.h"
+#include "driver/gptimer.h"
+#include "unity.h"
+#include "test_utils.h"
+
+#define NO_OF_NOTIFS    4
+#define NO_OF_TASKS     2       //Sender and receiver
+#define MESSAGE         0xFF
+
+static uint32_t send_core_message = 0;
+static TaskHandle_t recv_task_handle;
+static bool isr_give = false;
+static bool test_start = false;
+static gptimer_handle_t gptimers[portNUM_PROCESSORS];
+static SemaphoreHandle_t trigger_send_semphr;
+static SemaphoreHandle_t task_delete_semphr;
+
+//Test tracking vars
+static volatile uint32_t notifs_sent = 0;
+static volatile uint32_t notifs_rec = 0;
+static bool wrong_core = false;
+
+static bool on_alarm_sender_cb(gptimer_handle_t timer, const gptimer_alarm_event_data_t *edata, void *user_ctx)
+{
+    gptimer_stop(timer);
+    if (!test_start) {
+        return false;
+    }
+    int curcore = xPortGetCoreID();
+    if (isr_give) { //Test vTaskNotifyGiveFromISR() on same core
+        notifs_sent++;
+        vTaskNotifyGiveFromISR(recv_task_handle, NULL);
+    } else { //Test xTaskNotifyFromISR()
+        notifs_sent++;
+        xTaskNotifyFromISR(recv_task_handle, (MESSAGE << curcore), eSetValueWithOverwrite, NULL);
+    }
+    // always trigger a task switch when exit ISR context
+    return true;
+}
+
+static void test_gptimer_start(void *arg)
+{
+    gptimer_handle_t gptimer = (gptimer_handle_t)arg;
+    gptimer_alarm_config_t alarm_config = {
+        .reload_count = 0,
+        .alarm_count = 1000,
+    };
+    TEST_ESP_OK(gptimer_set_raw_count(gptimer, 0));
+    gptimer_event_callbacks_t cbs = {
+        .on_alarm = on_alarm_sender_cb,
+    };
+    TEST_ESP_OK(gptimer_register_event_callbacks(gptimer, &cbs, NULL));
+    TEST_ESP_OK(gptimer_set_alarm_action(gptimer, &alarm_config));
+    TEST_ESP_OK(gptimer_start(gptimer));
+}
+
+static void sender_task(void *arg)
+{
+    gptimer_handle_t gptimer = (gptimer_handle_t)arg;
+    int curcore = xPortGetCoreID();
+
+    //Test xTaskNotify
+    xSemaphoreTake(trigger_send_semphr, portMAX_DELAY);
+    notifs_sent++;
+    xTaskNotify(recv_task_handle, (MESSAGE << curcore), eSetValueWithOverwrite);
+
+    //Test xTaskNotifyGive
+    xSemaphoreTake(trigger_send_semphr, portMAX_DELAY);
+    notifs_sent++;
+    xTaskNotifyGive(recv_task_handle);
+
+    //Test xTaskNotifyFromISR
+    xSemaphoreTake(trigger_send_semphr, portMAX_DELAY);
+    isr_give = false;
+    test_gptimer_start(gptimer);
+
+    //Test vTaskNotifyGiveFromISR
+    xSemaphoreTake(trigger_send_semphr, portMAX_DELAY);
+    isr_give = true;
+    test_gptimer_start(gptimer);
+
+    //Delete Task and Semaphores
+    xSemaphoreGive(task_delete_semphr);
+    vTaskDelete(NULL);
+}
+
+static void receiver_task(void *arg)
+{
+    uint32_t notify_value;
+
+    //Test xTaskNotifyWait from task
+    xTaskNotifyWait(0, 0xFFFFFFFF, &notify_value, portMAX_DELAY);
+    if (notify_value != send_core_message) {
+        wrong_core = true;
+    }
+    notifs_rec++;
+
+    //Test ulTaskNotifyTake from task
+    xSemaphoreGive(trigger_send_semphr);
+    ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
+    notifs_rec++;
+
+    //Test xTaskNotifyWait from ISR
+    xSemaphoreGive(trigger_send_semphr);
+    xTaskNotifyWait(0, 0xFFFFFFFF, &notify_value, portMAX_DELAY);
+    if (notify_value != send_core_message) {
+        wrong_core = true;
+    }
+    notifs_rec++;
+
+    //Test ulTaskNotifyTake from ISR
+    xSemaphoreGive(trigger_send_semphr);
+    ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
+    notifs_rec++;
+
+    //Test complete, stop timer and delete task
+    xSemaphoreGive(task_delete_semphr);
+    vTaskDelete(NULL);
+}
+
+static void install_gptimer_on_core(void *arg)
+{
+    int core_id = (int)arg;
+    gptimer_config_t timer_config = {
+        .clk_src = GPTIMER_CLK_SRC_DEFAULT,
+        .direction = GPTIMER_COUNT_UP,
+        .resolution_hz = 1000000, // 1MHz, 1 tick = 1us
+    };
+    TEST_ESP_OK(gptimer_new_timer(&timer_config, &gptimers[core_id]));
+    test_gptimer_start(gptimers[core_id]);
+    xSemaphoreGive(task_delete_semphr);
+    vTaskDelete(NULL);
+}
+
+TEST_CASE("Test Task_Notify", "[freertos]")
+{
+    test_start = false;
+    trigger_send_semphr = xSemaphoreCreateBinary();
+    task_delete_semphr = xQueueCreateCountingSemaphore(10, 0);
+    for (int i = 0; i < portNUM_PROCESSORS; i++) {
+        xTaskCreatePinnedToCore(install_gptimer_on_core, "install_gptimer", 4096, (void *const)i, UNITY_FREERTOS_PRIORITY + 1, NULL, i);
+        TEST_ASSERT(xSemaphoreTake(task_delete_semphr, pdMS_TO_TICKS(1000)));
+    }
+    // wait the gptimer installation done on specific core
+    vTaskDelay(10);
+    // test start
+    test_start = true;
+    for (int i = 0; i < portNUM_PROCESSORS; i++) { //Sending Core
+        for (int j = 0; j < portNUM_PROCESSORS; j++) { //Receiving Core
+            //Reset Values
+            notifs_sent = 0;
+            notifs_rec = 0;
+            wrong_core = false;
+            send_core_message = (0xFF << i); //0xFF if core 0, 0xFF0 if core 1
+            // receiver task has higher priority than sender task
+            xTaskCreatePinnedToCore(receiver_task, "recv task", 1000, NULL, UNITY_FREERTOS_PRIORITY + 2, &recv_task_handle, j);
+            xTaskCreatePinnedToCore(sender_task, "send task", 1000, gptimers[i], UNITY_FREERTOS_PRIORITY + 1, NULL, i);
+            vTaskDelay(5);      //Wait for task creation to complete
+
+            xSemaphoreGive(trigger_send_semphr);    //Trigger sender task
+            for (int k = 0; k < NO_OF_TASKS; k++) { //Wait for sender and receiver task deletion
+                TEST_ASSERT(xSemaphoreTake(task_delete_semphr, pdMS_TO_TICKS(2000)));
+            }
+            vTaskDelay(5);      //Give time tasks to delete
+
+            TEST_ASSERT_EQUAL(NO_OF_NOTIFS, notifs_sent);
+            TEST_ASSERT_EQUAL(NO_OF_NOTIFS, notifs_rec);
+            TEST_ASSERT_EQUAL(false, wrong_core);
+        }
+    }
+
+    //Delete Semaphroes and timer ISRs
+    vSemaphoreDelete(trigger_send_semphr);
+    vSemaphoreDelete(task_delete_semphr);
+    for (int i = 0; i < portNUM_PROCESSORS; i++) {
+        TEST_ESP_OK(gptimer_stop(gptimers[i]));
+        TEST_ESP_OK(gptimer_del_timer(gptimers[i]));
+    }
+}