Sleep rework, RTOS API for bare metal, wait deprecations

TESTS/mbed_drivers/timeout/timeout_tests.h

@@ -313,9 +313,9 @@ void test_deepsleep(void)
 
      * This should be replaced with a better function that checks if the
      * hardware buffers are empty. However, such an API does not exist now,
-     * so we'll use the wait_ms() function for now.
+     * so we'll use the ThisThread::sleep_for() function for now.
      */
-    wait_ms(20);
+    ThisThread::sleep_for(20);
 
     timer.start();
     timeout.attach_callback(mbed::callback(sem_callback, &sem), delay_us);

TESTS/mbed_hal/rtc/main.cpp

@@ -125,7 +125,7 @@ void rtc_persist_test()
     rtc_write(start);
     rtc_free();
 
-    wait(WAIT_TIME);
+    ThisThread::sleep_for(WAIT_TIME * 1000);
 
     rtc_init();
     const uint32_t stop = rtc_read();
@@ -167,7 +167,7 @@ void rtc_range_test()
     for (uint32_t i = 0; i < sizeof(starts) / sizeof(starts[0]); i++) {
         const uint32_t start = starts[i];
         rtc_write(start);
-        wait(WAIT_TIME);
+        ThisThread::sleep_for(WAIT_TIME * 1000);
         const uint32_t stop = rtc_read();
         TEST_ASSERT_UINT32_WITHIN(WAIT_TOLERANCE, WAIT_TIME, stop - start);
     }

TESTS/mbed_platform/error_handling/main.cpp

@@ -228,7 +228,7 @@ void test_error_logging_multithread()
         errThread[i] = new Thread(osPriorityNormal1, THREAD_STACK_SIZE, NULL, NULL);
         errThread[i]->start(callback(err_thread_func, &error_status[i]));
     }
-    wait(2.0);
+    ThisThread::sleep_for(2000);
     for (i = 0; i < NUM_TEST_THREADS; i++) {
         errThread[i]->join();
     }

TESTS/mbedmicro-rtos-mbed/systimer/main.cpp

@@ -13,9 +13,6 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
-#ifndef MBED_TICKLESS
-#error [NOT_SUPPORTED] Tickless mode not supported for this target.
-#endif
 
 #include "mbed.h"
 #include "greentea-client/test_env.h"
@@ -26,9 +23,10 @@
 extern "C" {
 #include "rtx_lib.h"
 }
-#include "rtos/TARGET_CORTEX/SysTimer.h"
+#include "platform/SysTimer.h"
 
-#define TEST_TICKS 42UL
+#define TEST_TICKS 42
+#define TEST_TICK_US (TEST_TICKS * 1000)
 #define DELAY_DELTA_US 2500ULL
 
 /*  Use a specific delta value for deep sleep, as entry/exit adds up extra latency.
@@ -40,29 +38,29 @@ extern "C" {
 #endif
 
 using namespace utest::v1;
+using mbed::internal::SysTimer;
 
-const us_timestamp_t DELAY_US = 1000000ULL * TEST_TICKS / OS_TICK_FREQ;
+const us_timestamp_t DELAY_US = TEST_TICK_US;
 
-// Override the handler() -- the SysTick interrupt must not be set as pending by the test code.
-class SysTimerTest: public rtos::internal::SysTimer {
+// The SysTick interrupt must not be set as pending by the test code.
+template <uint32_t US_IN_TICK>
+class SysTimerTest: public SysTimer<US_IN_TICK, false> {
 private:
     Semaphore _sem;
     virtual void handler()
     {
-        core_util_critical_section_enter();
-        _increment_tick();
-        core_util_critical_section_exit();
         _sem.release();
+        SysTimer<US_IN_TICK, false>::handler();
     }
 
 public:
     SysTimerTest() :
-        SysTimer(), _sem(0, 1)
+        SysTimer<US_IN_TICK, false>(), _sem(0, 1)
     {
     }
 
     SysTimerTest(const ticker_data_t *data) :
-        SysTimer(data), _sem(0, 1)
+        SysTimer<US_IN_TICK, false>(data), _sem(0, 1)
     {
     }
 
@@ -153,7 +151,7 @@ void mock_ticker_reset()
  */
 void test_created_with_zero_tick_count(void)
 {
-    SysTimerTest st;
+    SysTimerTest<1000> st;
     TEST_ASSERT_EQUAL_UINT32(0, st.get_tick());
 }
 
@@ -164,26 +162,27 @@ void test_created_with_zero_tick_count(void)
  * Then the tick count is not updated
  * When @a suspend and @a resume methods are called again after a delay
  * Then the tick count is updated
- *     and the number of ticks incremented is equal TEST_TICKS - 1
+ *     and the number of ticks incremented is equal TEST_TICKS
  * When @a suspend and @a resume methods are called again without a delay
  * Then the tick count is not updated
  */
 void test_update_tick(void)
 {
     mock_ticker_reset();
-    SysTimerTest st(&mock_ticker_data);
-    st.suspend(TEST_TICKS * 2);
-    TEST_ASSERT_EQUAL_UINT32(0, st.resume());
+    SysTimerTest<1000> st(&mock_ticker_data);
+    st.set_wake_time(st.get_tick() + TEST_TICKS * 2);
+    st.cancel_wake();
     TEST_ASSERT_EQUAL_UINT32(0, st.get_tick());
 
-    st.suspend(TEST_TICKS * 2);
+    st.set_wake_time(st.get_tick() + TEST_TICKS * 2);
     mock_ticker_timestamp = DELAY_US;
-    TEST_ASSERT_EQUAL_UINT32(TEST_TICKS - 1, st.resume());
-    TEST_ASSERT_EQUAL_UINT32(TEST_TICKS - 1, st.get_tick());
+    st.cancel_wake();
+    TEST_ASSERT_EQUAL_UINT32(TEST_TICKS, st.update_and_get_tick());
+    TEST_ASSERT_EQUAL_UINT32(TEST_TICKS, st.get_tick());
 
-    st.suspend(TEST_TICKS * 2);
-    TEST_ASSERT_EQUAL_UINT32(0, st.resume());
-    TEST_ASSERT_EQUAL_UINT32(TEST_TICKS - 1, st.get_tick());
+    st.set_wake_time(st.get_tick() + TEST_TICKS * 2);
+    st.cancel_wake();
+    TEST_ASSERT_EQUAL_UINT32(TEST_TICKS, st.get_tick());
 }
 
 /** Test get_time returns correct time
@@ -195,7 +194,7 @@ void test_update_tick(void)
 void test_get_time(void)
 {
     mock_ticker_reset();
-    SysTimerTest st(&mock_ticker_data);
+    SysTimerTest<1000> st(&mock_ticker_data);
     us_timestamp_t t1 = st.get_time();
 
     mock_ticker_timestamp = DELAY_US;
@@ -212,60 +211,51 @@ void test_get_time(void)
  */
 void test_cancel_tick(void)
 {
-    SysTimerTest st;
+    SysTimerTest<TEST_TICK_US> st;
     st.cancel_tick();
-    st.schedule_tick(TEST_TICKS);
+    st.start_tick();
 
     st.cancel_tick();
     bool acquired = st.sem_try_acquire((DELAY_US + DELAY_DELTA_US) / 1000ULL);
     TEST_ASSERT_FALSE(acquired);
     TEST_ASSERT_EQUAL_UINT32(0, st.get_tick());
 }
 
-/** Test schedule zero
- *
- * Given a SysTimer
- * When a tick is scheduled with delta = 0 ticks
- * Then the handler is called instantly
- */
-void test_schedule_zero(void)
-{
-    SysTimerTest st;
-
-    st.schedule_tick(0UL);
-    bool acquired = st.sem_try_acquire(0);
-    TEST_ASSERT_TRUE(acquired);
-}
-
-/** Test handler called once
+/** Test handler called twice
  *
  * Given a SysTimer with a tick scheduled with delta = TEST_TICKS
  * When the handler is called
  * Then the tick count is incremented by 1
  *     and elapsed time is equal 1000000ULL * TEST_TICKS / OS_TICK_FREQ;
  * When more time elapses
- * Then the handler is not called again
+ * Repeat a second time.
  */
-void test_handler_called_once(void)
+void test_handler_called_twice(void)
 {
-    SysTimerTest st;
-    st.schedule_tick(TEST_TICKS);
+    SysTimerTest<TEST_TICK_US> st;
     us_timestamp_t t1 = st.get_time();
     bool acquired = st.sem_try_acquire(0);
     TEST_ASSERT_FALSE(acquired);
 
+    st.start_tick();
     // Wait in a busy loop to prevent entering sleep or deepsleep modes.
-    while (!acquired) {
+    do {
         acquired = st.sem_try_acquire(0);
-    }
+    } while (!acquired);
     us_timestamp_t t2 = st.get_time();
     TEST_ASSERT_TRUE(acquired);
     TEST_ASSERT_EQUAL_UINT32(1, st.get_tick());
     TEST_ASSERT_UINT64_WITHIN(DELAY_DELTA_US, DELAY_US, t2 - t1);
 
-    acquired = st.sem_try_acquire((DELAY_US + DELAY_DELTA_US) / 1000ULL);
-    TEST_ASSERT_FALSE(acquired);
-    TEST_ASSERT_EQUAL_UINT32(1, st.get_tick());
+    // Wait in a busy loop to prevent entering sleep or deepsleep modes.
+    do {
+        acquired = st.sem_try_acquire(0);
+    } while (!acquired);
+    t2 = st.get_time();
+    TEST_ASSERT_TRUE(acquired);
+    TEST_ASSERT_EQUAL_UINT32(2, st.get_tick());
+    TEST_ASSERT_UINT64_WITHIN(DELAY_DELTA_US, DELAY_US * 2, t2 - t1);
+    st.cancel_tick();
 }
 
 #if DEVICE_SLEEP
@@ -281,16 +271,17 @@ void test_handler_called_once(void)
 void test_sleep(void)
 {
     Timer timer;
-    SysTimerTest st;
+    SysTimerTest<TEST_TICK_US> st;
 
     sleep_manager_lock_deep_sleep();
     timer.start();
-    st.schedule_tick(TEST_TICKS);
+    st.start_tick();
 
     TEST_ASSERT_FALSE_MESSAGE(sleep_manager_can_deep_sleep(), "Deep sleep should be disallowed");
     st.sem_acquire();
 
     timer.stop();
+    st.cancel_tick();
     sleep_manager_unlock_deep_sleep();
 
     TEST_ASSERT_UINT64_WITHIN(DELAY_DELTA_US, DELAY_US, timer.read_high_resolution_us());
@@ -319,13 +310,14 @@ void test_deepsleep(void)
     wait_ms(10);
     // Regular Timer might be disabled during deepsleep.
     LowPowerTimer lptimer;
-    SysTimerTest st;
+    SysTimerTest<TEST_TICK_US> st;
 
     lptimer.start();
-    st.schedule_tick(TEST_TICKS);
+    st.start_tick();
     TEST_ASSERT_TRUE_MESSAGE(sleep_manager_can_deep_sleep_test_check(), "Deep sleep should be allowed");
     st.sem_acquire();
     lptimer.stop();
+    st.cancel_tick();
 
     TEST_ASSERT_UINT64_WITHIN(DEEP_SLEEP_DELAY_DELTA_US, DELAY_US, lptimer.read_high_resolution_us());
 }
@@ -334,7 +326,7 @@ void test_deepsleep(void)
 
 utest::v1::status_t test_setup(const size_t number_of_cases)
 {
-    GREENTEA_SETUP(5, "default_auto");
+    GREENTEA_SETUP(15, "default_auto");
     return verbose_test_setup_handler(number_of_cases);
 }
 
@@ -343,8 +335,7 @@ Case cases[] = {
     Case("Tick count is updated correctly", test_update_tick),
     Case("Time is updated correctly", test_get_time),
     Case("Tick can be cancelled", test_cancel_tick),
-    Case("Schedule zero ticks", test_schedule_zero),
-    Case("Handler called once", test_handler_called_once),
+    Case("Handler called twice", test_handler_called_twice),
 #if DEVICE_SLEEP
     Case("Wake up from sleep", test_sleep),
 #if DEVICE_LPTICKER && !MBED_CONF_TARGET_TICKLESS_FROM_US_TICKER

TESTS/netsocket/dns/asynchronous_dns_cancel.cpp

@@ -81,5 +81,5 @@ void ASYNCHRONOUS_DNS_CANCEL()
 
     delete[] data;
 
-    wait(5.0);
+    ThisThread::sleep_for(5000);
 }

TESTS/netsocket/dns/asynchronous_dns_external_event_queue.cpp

@@ -79,7 +79,7 @@ void ASYNCHRONOUS_DNS_EXTERNAL_EVENT_QUEUE()
     TEST_ASSERT_EQUAL(0, result_exp_timeout);
 
     // Give event queue time to finalise before destructors
-    wait(2.0);
+    ThisThread::sleep_for(2000);
 
     nsapi_dns_call_in_set(0);
 }

TESTS/netsocket/dns/asynchronous_dns_timeouts.cpp

@@ -74,7 +74,7 @@ void ASYNCHRONOUS_DNS_TIMEOUTS()
     TEST_ASSERT(result_exp_timeout > 0);
 
     // Give event queue time to finalise before destructors
-    wait(2.0);
+    ThisThread::sleep_for(2000);
 
     nsapi_dns_call_in_set(0);
 }

TESTS/netsocket/udp/udpsocket_echotest_burst.cpp

@@ -110,7 +110,7 @@ void UDPSOCKET_ECHOTEST_BURST()
             } else if (recvd < 0) {
                 pkg_fail += BURST_PKTS - j; // Assume all the following packets of the burst to be lost
                 printf("[%02d] network error %d\n", i, recvd);
-                wait(recv_timeout);
+                ThisThread::sleep_for(recv_timeout * 1000);
                 recv_timeout *= 2; // Back off,
                 break;
             } else if (temp_addr != udp_addr) {

TESTS/netsocket/udp/udpsocket_sendto_repeat.cpp

@@ -45,7 +45,7 @@ void UDPSOCKET_SENDTO_REPEAT()
                 break;
             }
             oom_earlier = true;
-            wait(1);
+            ThisThread::sleep_for(1000);
             continue;
         }
         oom_earlier = false;

TESTS/network/interface/networkinterface_status.cpp

@@ -153,7 +153,7 @@ void NETWORKINTERFACE_STATUS_GET()
         TEST_ASSERT_EQUAL(NSAPI_ERROR_OK, err);
 
         while (net->get_connection_status() != NSAPI_STATUS_GLOBAL_UP) {
-            wait(0.5);
+            ThisThread::sleep_for(500);
         }
 
         err = net->disconnect();

TEST_APPS/device/socket_app/cmd_socket.cpp

@@ -944,7 +944,7 @@ static void bg_traffic_thread(SInfo *info)
             tr_err("Background sent: \"%s\"", sbuffer);
             tr_err("Background received: \"%s\"", rbuffer);
         }
-        wait_ms(10);
+        ThisThread::sleep_for(10);
     }
 }
 

UNITTESTS/CMakeLists.txt

@@ -86,6 +86,9 @@ endif(COVERAGE)
 # UNIT TESTS
 ####################
 
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -DUNITTEST")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DUNITTEST")
+
 # Set include dirs.
 set(unittest-includes-base
   "${PROJECT_SOURCE_DIR}/target_h"

UNITTESTS/features/cellular/framework/AT/at_cellularsms/unittest.cmake

@@ -26,5 +26,5 @@ set(unittest-test-sources
   stubs/CellularUtil_stub.cpp
   stubs/us_ticker_stub.cpp
   stubs/mbed_assert_stub.c
-  stubs/mbed_wait_api_stub.cpp
+  stubs/ThisThread_stub.cpp
 )

UNITTESTS/features/cellular/framework/AT/athandler/unittest.cmake

@@ -23,7 +23,6 @@ set(unittest-test-sources
   stubs/EventQueue_stub.cpp
   stubs/FileHandle_stub.cpp
   stubs/us_ticker_stub.cpp
-  stubs/mbed_wait_api_stub.cpp
   stubs/mbed_assert_stub.c
   stubs/mbed_poll_stub.cpp
   stubs/Timer_stub.cpp

UNITTESTS/stubs/UARTSerial_stub.cpp

@@ -130,11 +130,6 @@ int UARTSerial::enable_output(bool enabled)
     return 0;
 }
 
-void UARTSerial::wait_ms(uint32_t millisec)
-{
-
-}
-
 void UARTSerial::set_flow_control(mbed::SerialBase::Flow, PinName, PinName)
 {
 

UNITTESTS/target_h/rtos/Mutex.h

@@ -18,7 +18,8 @@
 #define __MUTEX_H__
 
 #include <inttypes.h>
-#include "cmsis_os2.h"
+#include "mbed_rtos_types.h"
+#include "mbed_rtos1_types.h"
 
 namespace rtos {