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Merge branch 'test/idf-additions-pinned-create' into 'master'

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test(freertos): cover xTaskCreatePinnedToCore pinning semantics

Closes IDF-8553

See merge request espressif/esp-idf!52013
This commit is contained in:
Marius Vikhammer
2026-09-01 14:59:49 +08:00
parent 08a66ea273 81155fe014
commit dce5812654
1 changed files with 160 additions and 0 deletions
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160
components/freertos/test_apps/freertos/misc/test_idf_additions.c
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@@ -25,6 +25,7 @@
/*
Test ESP-IDF FreeRTOS API additions from idf_additions.h:
- ...Create...WithCaps() / ...DeleteWithCaps() memory capability helpers
- xTaskCreatePinnedToCore() / xTaskCreateStaticPinnedToCore() pinning semantics
- Task utility helpers (xTaskGetCoreID, xTaskGetStackStart, per-core handle queries, etc.)
Run only these cases from the Unity menu with the [idf_additions] tag filter.
@@ -633,3 +634,162 @@ TEST_CASE("IDF additions: ulTaskGetIdleRunTimeCounterForCore", "[freertos][idf_a
}
#endif /* CONFIG_FREERTOS_GENERATE_RUN_TIME_STATS && !CONFIG_FREERTOS_SMP */
/* ---------------------------------------------------------------------------------------------------------------------
* xTaskCreatePinnedToCore / xTaskCreateStaticPinnedToCore pinning semantics
* --------------------------------------------------------------------------------------------------------------------- */
#define PIN_SEMANTICS_SAMPLES 5
#define PIN_SEMANTICS_STACK_BYTES 4096
typedef struct {
TaskHandle_t parent;
BaseType_t requested_core;
BaseType_t samples[PIN_SEMANTICS_SAMPLES];
TaskHandle_t self_handle;
} pin_semantics_ctx_t;
static void drain_task_notifications(void)
{
while (ulTaskNotifyTake(pdFALSE, 0) != 0) {
;
}
}
static void pin_semantics_task(void *arg)
{
pin_semantics_ctx_t *ctx = (pin_semantics_ctx_t *)arg;
ctx->self_handle = xTaskGetCurrentTaskHandle();
for (int i = 0; i < PIN_SEMANTICS_SAMPLES; i++) {
ctx->samples[i] = xPortGetCoreID();
if (ctx->requested_core != tskNO_AFFINITY) {
TEST_ASSERT_EQUAL(ctx->requested_core, ctx->samples[i]);
} else {
TEST_ASSERT_GREATER_OR_EQUAL(0, ctx->samples[i]);
TEST_ASSERT_LESS_THAN(CONFIG_FREERTOS_NUMBER_OF_CORES, ctx->samples[i]);
}
/* Yield and sleep so a wrongly pinned task would have a chance to migrate. */
taskYIELD();
vTaskDelay(1);
}
xTaskNotifyGive(ctx->parent);
vTaskSuspend(NULL);
}
static void verify_pin_samples(const pin_semantics_ctx_t *ctx)
{
for (int i = 0; i < PIN_SEMANTICS_SAMPLES; i++) {
if (ctx->requested_core == tskNO_AFFINITY) {
TEST_ASSERT_GREATER_OR_EQUAL(0, ctx->samples[i]);
TEST_ASSERT_LESS_THAN(CONFIG_FREERTOS_NUMBER_OF_CORES, ctx->samples[i]);
} else {
TEST_ASSERT_EQUAL(ctx->requested_core, ctx->samples[i]);
}
}
}
TEST_CASE("IDF additions: xTaskCreatePinnedToCore pinning semantics", "[freertos][idf_additions]")
{
const TaskHandle_t parent = xTaskGetCurrentTaskHandle();
for (int core = 0; core < CONFIG_FREERTOS_NUMBER_OF_CORES; core++) {
pin_semantics_ctx_t ctx = {
.parent = parent,
.requested_core = core,
.self_handle = NULL,
};
TaskHandle_t created = NULL;
drain_task_notifications();
TEST_ASSERT_EQUAL(pdPASS, xTaskCreatePinnedToCore(pin_semantics_task,
"pin_dyn",
PIN_SEMANTICS_STACK_BYTES,
&ctx,
UNITY_FREERTOS_PRIORITY + 1,
&created,
core));
TEST_ASSERT_NOT_NULL(created);
TEST_ASSERT_NOT_EQUAL(0, ulTaskNotifyTake(pdFALSE, pdMS_TO_TICKS(1000)));
TEST_ASSERT_EQUAL_PTR(created, ctx.self_handle);
TEST_ASSERT_EQUAL(core, xTaskGetCoreID(created));
verify_pin_samples(&ctx);
vTaskDelete(created);
vTaskDelay(1);
}
}
TEST_CASE("IDF additions: xTaskCreateStaticPinnedToCore pinning semantics", "[freertos][idf_additions]")
{
static StackType_t pin_static_stack[PIN_SEMANTICS_STACK_BYTES / sizeof(StackType_t)];
static StaticTask_t pin_static_tcb;
const TaskHandle_t parent = xTaskGetCurrentTaskHandle();
for (int core = 0; core < CONFIG_FREERTOS_NUMBER_OF_CORES; core++) {
pin_semantics_ctx_t ctx = {
.parent = parent,
.requested_core = core,
.self_handle = NULL,
};
memset(&pin_static_tcb, 0, sizeof(pin_static_tcb));
drain_task_notifications();
TaskHandle_t created = xTaskCreateStaticPinnedToCore(pin_semantics_task,
"pin_static",
PIN_SEMANTICS_STACK_BYTES,
&ctx,
UNITY_FREERTOS_PRIORITY + 1,
pin_static_stack,
&pin_static_tcb,
core);
TEST_ASSERT_NOT_NULL(created);
TEST_ASSERT_NOT_EQUAL(0, ulTaskNotifyTake(pdFALSE, pdMS_TO_TICKS(1000)));
TEST_ASSERT_EQUAL_PTR(created, ctx.self_handle);
TEST_ASSERT_EQUAL(core, xTaskGetCoreID(created));
verify_pin_samples(&ctx);
vTaskDelete(created);
vTaskDelay(1);
}
}
/* Create with tskNO_AFFINITY must succeed and run. Multicore stores no pin
* (xTaskGetCoreID == tskNO_AFFINITY); unicore treats it as core 0. */
TEST_CASE("IDF additions: xTaskCreatePinnedToCore tskNO_AFFINITY", "[freertos][idf_additions]")
{
pin_semantics_ctx_t ctx = {
.parent = xTaskGetCurrentTaskHandle(),
.requested_core = tskNO_AFFINITY,
.self_handle = NULL,
};
TaskHandle_t created = NULL;
drain_task_notifications();
TEST_ASSERT_EQUAL(pdPASS, xTaskCreatePinnedToCore(pin_semantics_task,
"pin_any",
PIN_SEMANTICS_STACK_BYTES,
&ctx,
UNITY_FREERTOS_PRIORITY + 1,
&created,
tskNO_AFFINITY));
TEST_ASSERT_NOT_NULL(created);
TEST_ASSERT_NOT_EQUAL(0, ulTaskNotifyTake(pdFALSE, pdMS_TO_TICKS(1000)));
TEST_ASSERT_EQUAL_PTR(created, ctx.self_handle);
verify_pin_samples(&ctx);
#if CONFIG_FREERTOS_NUMBER_OF_CORES > 1
TEST_ASSERT_EQUAL(tskNO_AFFINITY, xTaskGetCoreID(created));
#else
/* Unicore treats tskNO_AFFINITY as core 0. */
TEST_ASSERT_EQUAL(0, xTaskGetCoreID(created));
TEST_ASSERT_EQUAL(0, ctx.samples[0]);
#endif
vTaskDelete(created);
vTaskDelay(1);
}