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configuration.xml
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<?xml version="1.0" encoding="UTF-8"?>
<SPC5-Config version="1.0.0">
<application name="ChibiOS/RT Test Suite" version="1.0.0" standalone="true" locked="false">
<description>Test Specification for ChibiOS/RT.</description>
<component id="org.chibios.spc5.components.portable.generic_startup">
<component id="org.chibios.spc5.components.portable.chibios_unitary_tests_engine" />
</component>
<instances>
<instance locked="false" id="org.chibios.spc5.components.portable.generic_startup" />
<instance locked="false" id="org.chibios.spc5.components.portable.chibios_unitary_tests_engine">
<description>
<brief>
<value>ChibiOS/RT Test Suite.</value>
</brief>
<copyright>
<value><![CDATA[/*
ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
*/]]></value>
</copyright>
<introduction>
<value>Test suite for ChibiOS/RT. The purpose of this suite is to perform unit tests on the RT modules and to converge to 100% code coverage through successive improvements.</value>
</introduction>
</description>
<global_data_and_code>
<code_prefix>
<value>rt_</value>
</code_prefix>
<global_definitions>
<value><![CDATA[/*
* Allowed delay in timeout checks.
*/
#define ALLOWED_DELAY TIME_MS2I(2)
/*
* Maximum number of test threads.
*/
#define MAX_THREADS 5
/*
* Stack size of test threads.
*/
#if defined(PORT_ARCHITECTURE_AVR) || defined(PORT__ARCHITECTURE_MSP430)
#define THREADS_STACK_SIZE 48
#elif defined(PORT__ARCHITECTURE_STM8)
#define THREADS_STACK_SIZE 64
#elif defined(PORT__ARCHITECTURE_SIMIA32)
#define THREADS_STACK_SIZE 512
#else
#define THREADS_STACK_SIZE 128
#endif
/*
* Working Area size of test threads.
*/
#define WA_SIZE MEM_ALIGN_NEXT(THD_WORKING_AREA_SIZE(THREADS_STACK_SIZE), \
PORT_WORKING_AREA_ALIGN)
extern uint8_t test_buffer[WA_SIZE * 5];
extern thread_t *threads[MAX_THREADS];
extern void * ROMCONST wa[5];
void test_print_port_info(void);
void test_terminate_threads(void);
void test_wait_threads(void);
systime_t test_wait_tick(void);]]></value>
</global_definitions>
<global_code>
<value><![CDATA[/*
* Global test buffer holding 5 working areas.
*/
ALIGNED_VAR(PORT_WORKING_AREA_ALIGN) uint8_t test_buffer[WA_SIZE * 5];
/*
* Pointers to the spawned threads.
*/
thread_t *threads[MAX_THREADS];
/*
* Pointers to the working areas.
*/
void * ROMCONST wa[5] = {test_buffer + (WA_SIZE * 0),
test_buffer + (WA_SIZE * 1),
test_buffer + (WA_SIZE * 2),
test_buffer + (WA_SIZE * 3),
test_buffer + (WA_SIZE * 4)};
/*
* Sets a termination request in all the test-spawned threads.
*/
void test_terminate_threads(void) {
unsigned i;
for (i = 0; i < MAX_THREADS; i++)
if (threads[i])
chThdTerminate(threads[i]);
}
/*
* Waits for the completion of all the test-spawned threads.
*/
void test_wait_threads(void) {
unsigned i;
for (i = 0; i < MAX_THREADS; i++)
if (threads[i] != NULL) {
chThdWait(threads[i]);
threads[i] = NULL;
}
}
/*
* Delays execution until next system time tick.
*/
systime_t test_wait_tick(void) {
chThdSleep(1);
return chVTGetSystemTime();
}]]></value>
</global_code>
</global_data_and_code>
<sequences>
<sequence>
<type index="0">
<value>Internal Tests</value>
</type>
<brief>
<value>Information.</value>
</brief>
<description>
<value>This sequence reports configuration and version information about the RT kernel.</value>
</description>
<condition>
<value />
</condition>
<shared_code>
<value><![CDATA[#include "ch.h"]]></value>
</shared_code>
<cases>
<case>
<brief>
<value>Port Info.</value>
</brief>
<description>
<value>Port-related info are reported.</value>
</description>
<condition>
<value />
</condition>
<various_code>
<setup_code>
<value />
</setup_code>
<teardown_code>
<value />
</teardown_code>
<local_variables>
<value />
</local_variables>
</various_code>
<steps>
<step>
<description>
<value>Prints the version string.</value>
</description>
<tags>
<value />
</tags>
<code>
<value><![CDATA[#if defined(PORT_ARCHITECTURE_NAME)
test_print("--- Architecture: ");
test_println(PORT_ARCHITECTURE_NAME);
#endif
#if defined(PORT_CORE_VARIANT_NAME)
test_print("--- Core Variant: ");
test_println(PORT_CORE_VARIANT_NAME);
#endif
#if defined(PORT_COMPILER_NAME)
test_print("--- Compiler: ");
test_println(PORT_COMPILER_NAME);
#endif
#if defined(PORT_INFO)
test_print("--- Port Info: ");
test_println(PORT_INFO);
#endif
#if defined(PORT_NATURAL_ALIGN)
test_print("--- Natural alignment: ");
test_printn(PORT_NATURAL_ALIGN);
test_println("");
#endif
#if defined(PORT_STACK_ALIGN)
test_print("--- Stack alignment: ");
test_printn(PORT_STACK_ALIGN);
test_println("");
#endif
#if defined(PORT_WORKING_AREA_ALIGN)
test_print("--- Working area alignment: ");
test_printn(PORT_WORKING_AREA_ALIGN);
test_println("");
#endif]]></value>
</code>
</step>
</steps>
</case>
<case>
<brief>
<value>Kernel Info.</value>
</brief>
<description>
<value>The version numbers are reported.</value>
</description>
<condition>
<value />
</condition>
<various_code>
<setup_code>
<value />
</setup_code>
<teardown_code>
<value />
</teardown_code>
<local_variables>
<value />
</local_variables>
</various_code>
<steps>
<step>
<description>
<value>Prints the version string.</value>
</description>
<tags>
<value />
</tags>
<code>
<value><![CDATA[
test_println("--- Product: ChibiOS/RT");
test_print("--- Stable Flag: ");
test_printn(CH_KERNEL_STABLE);
test_println("");
test_print("--- Version String: ");
test_println(CH_KERNEL_VERSION);
test_print("--- Major Number: ");
test_printn(CH_KERNEL_MAJOR);
test_println("");
test_print("--- Minor Number: ");
test_printn(CH_KERNEL_MINOR);
test_println("");
test_print("--- Patch Number: ");
test_printn(CH_KERNEL_PATCH);
test_println("");]]></value>
</code>
</step>
</steps>
</case>
<case>
<brief>
<value>Kernel Settings.</value>
</brief>
<description>
<value>The static kernel settings are reported.</value>
</description>
<condition>
<value />
</condition>
<various_code>
<setup_code>
<value />
</setup_code>
<teardown_code>
<value />
</teardown_code>
<local_variables>
<value />
</local_variables>
</various_code>
<steps>
<step>
<description>
<value>Prints the configuration options settings.</value>
</description>
<tags>
<value />
</tags>
<code>
<value><![CDATA[test_print("--- CH_CFG_ST_RESOLUTION: ");
test_printn(CH_CFG_ST_RESOLUTION);
test_println("");
test_print("--- CH_CFG_ST_FREQUENCY: ");
test_printn(CH_CFG_ST_FREQUENCY);
test_println("");
test_print("--- CH_CFG_INTERVALS_SIZE: ");
test_printn(CH_CFG_INTERVALS_SIZE);
test_println("");
test_print("--- CH_CFG_TIME_TYPES_SIZE: ");
test_printn(CH_CFG_TIME_TYPES_SIZE);
test_println("");
test_print("--- CH_CFG_ST_TIMEDELTA: ");
test_printn(CH_CFG_ST_TIMEDELTA);
test_println("");
test_print("--- CH_CFG_TIME_QUANTUM: ");
test_printn(CH_CFG_TIME_QUANTUM);
test_println("");
test_print("--- CH_CFG_MEMCORE_SIZE: ");
test_printn(CH_CFG_MEMCORE_SIZE);
test_println("");
test_print("--- CH_CFG_NO_IDLE_THREAD: ");
test_printn(CH_CFG_NO_IDLE_THREAD);
test_println("");
test_print("--- CH_CFG_OPTIMIZE_SPEED: ");
test_printn(CH_CFG_OPTIMIZE_SPEED);
test_println("");
test_print("--- CH_CFG_USE_TM: ");
test_printn(CH_CFG_USE_TM);
test_println("");
test_print("--- CH_CFG_USE_REGISTRY: ");
test_printn(CH_CFG_USE_REGISTRY);
test_println("");
test_print("--- CH_CFG_USE_WAITEXIT: ");
test_printn(CH_CFG_USE_WAITEXIT);
test_println("");
test_print("--- CH_CFG_USE_SEMAPHORES: ");
test_printn(CH_CFG_USE_SEMAPHORES);
test_println("");
test_print("--- CH_CFG_USE_SEMAPHORES_PRIORITY: ");
test_printn(CH_CFG_USE_SEMAPHORES_PRIORITY);
test_println("");
test_print("--- CH_CFG_USE_MUTEXES: ");
test_printn(CH_CFG_USE_MUTEXES);
test_println("");
test_print("--- CH_CFG_USE_MUTEXES_RECURSIVE: ");
test_printn(CH_CFG_USE_MUTEXES_RECURSIVE);
test_println("");
test_print("--- CH_CFG_USE_CONDVARS: ");
test_printn(CH_CFG_USE_CONDVARS);
test_println("");
test_print("--- CH_CFG_USE_CONDVARS_TIMEOUT: ");
test_printn(CH_CFG_USE_CONDVARS_TIMEOUT);
test_println("");
test_print("--- CH_CFG_USE_EVENTS: ");
test_printn(CH_CFG_USE_EVENTS);
test_println("");
test_print("--- CH_CFG_USE_EVENTS_TIMEOUT: ");
test_printn(CH_CFG_USE_EVENTS_TIMEOUT);
test_println("");
test_print("--- CH_CFG_USE_MESSAGES: ");
test_printn(CH_CFG_USE_MESSAGES);
test_println("");
test_print("--- CH_CFG_USE_MESSAGES_PRIORITY: ");
test_printn(CH_CFG_USE_MESSAGES_PRIORITY);
test_println("");
test_print("--- CH_CFG_USE_DYNAMIC: ");
test_printn(CH_CFG_USE_DYNAMIC);
test_println("");
test_print("--- CH_DBG_STATISTICS: ");
test_printn(CH_DBG_STATISTICS);
test_println("");
test_print("--- CH_DBG_SYSTEM_STATE_CHECK: ");
test_printn(CH_DBG_SYSTEM_STATE_CHECK);
test_println("");
test_print("--- CH_DBG_ENABLE_CHECKS: ");
test_printn(CH_DBG_ENABLE_CHECKS);
test_println("");
test_print("--- CH_DBG_ENABLE_ASSERTS: ");
test_printn(CH_DBG_ENABLE_ASSERTS);
test_println("");
test_print("--- CH_DBG_TRACE_MASK: ");
test_printn(CH_DBG_TRACE_MASK);
test_println("");
test_print("--- CH_DBG_TRACE_BUFFER_SIZE: ");
test_printn(CH_DBG_TRACE_BUFFER_SIZE);
test_println("");
test_print("--- CH_DBG_ENABLE_STACK_CHECK: ");
test_printn(CH_DBG_ENABLE_STACK_CHECK);
test_println("");
test_print("--- CH_DBG_FILL_THREADS: ");
test_printn(CH_DBG_FILL_THREADS);
test_println("");
test_print("--- CH_DBG_THREADS_PROFILING: ");
test_printn(CH_DBG_THREADS_PROFILING);
test_println("");]]></value>
</code>
</step>
</steps>
</case>
</cases>
</sequence>
<sequence>
<type index="0">
<value>Internal Tests</value>
</type>
<brief>
<value>System layer and port interface.</value>
</brief>
<description>
<value>The functionality of the system layer and port interface is tested. Basic RT functionality is taken for granted or this test suite could not even be executed. Errors in implementation are detected by executing this sequence with the state checker enabled (CH_DBG_STATE_CHECKER=TRUE).</value>
</description>
<condition>
<value />
</condition>
<shared_code>
<value><![CDATA[/* Timer callback for testing system functions in ISR context.*/
static void vtcb(void *p) {
syssts_t sts;
(void)p;
/* Testing normal case.*/
chSysLockFromISR();
chSysUnlockFromISR();
/* Reentrant case.*/
chSysLockFromISR();
sts = chSysGetStatusAndLockX();
chSysRestoreStatusX(sts);
chSysUnlockFromISR();
}]]></value>
</shared_code>
<cases>
<case>
<brief>
<value>System integrity functionality.</value>
</brief>
<description>
<value>The system self-test functionality is invoked in order to make an initial system state assessment and for coverage.</value>
</description>
<condition>
<value />
</condition>
<various_code>
<setup_code>
<value />
</setup_code>
<teardown_code>
<value />
</teardown_code>
<local_variables>
<value><![CDATA[bool result;]]></value>
</local_variables>
</various_code>
<steps>
<step>
<description>
<value>Testing Ready List integrity.</value>
</description>
<tags>
<value />
</tags>
<code>
<value><![CDATA[chSysLock();
result = chSysIntegrityCheckI(CH_INTEGRITY_RLIST);
chSysUnlock();
test_assert(result == false, "ready list check failed");]]></value>
</code>
</step>
<step>
<description>
<value>Testing Virtual Timers List integrity.</value>
</description>
<tags>
<value />
</tags>
<code>
<value><![CDATA[chSysLock();
result = chSysIntegrityCheckI(CH_INTEGRITY_VTLIST);
chSysUnlock();
test_assert(result == false, "virtual timers list check failed");]]></value>
</code>
</step>
<step>
<description>
<value>Testing Registry List integrity.</value>
</description>
<tags>
<value />
</tags>
<code>
<value><![CDATA[chSysLock();
result = chSysIntegrityCheckI(CH_INTEGRITY_REGISTRY);
chSysUnlock();
test_assert(result == false, "registry list check failed");]]></value>
</code>
</step>
<step>
<description>
<value>Testing Port-defined integrity.</value>
</description>
<tags>
<value />
</tags>
<code>
<value><![CDATA[chSysLock();
result = chSysIntegrityCheckI(CH_INTEGRITY_PORT);
chSysUnlock();
test_assert(result == false, "port layer check failed");]]></value>
</code>
</step>
</steps>
</case>
<case>
<brief>
<value>Critical zones functionality.</value>
</brief>
<description>
<value>The critical zones API is invoked for coverage.</value>
</description>
<condition>
<value />
</condition>
<various_code>
<setup_code>
<value />
</setup_code>
<teardown_code>
<value />
</teardown_code>
<local_variables>
<value><![CDATA[syssts_t sts;
virtual_timer_t vt;]]></value>
</local_variables>
</various_code>
<steps>
<step>
<description>
<value>Testing chSysGetStatusAndLockX() and chSysRestoreStatusX(), non reentrant case.</value>
</description>
<tags>
<value />
</tags>
<code>
<value><![CDATA[sts = chSysGetStatusAndLockX();
chSysRestoreStatusX(sts);]]></value>
</code>
</step>
<step>
<description>
<value>Testing chSysGetStatusAndLockX() and chSysRestoreStatusX(), reentrant case.</value>
</description>
<tags>
<value />
</tags>
<code>
<value><![CDATA[chSysLock();
sts = chSysGetStatusAndLockX();
chSysRestoreStatusX(sts);
chSysUnlock();]]></value>
</code>
</step>
<step>
<description>
<value>Testing chSysUnconditionalLock().</value>
</description>
<tags>
<value />
</tags>
<code>
<value><![CDATA[chSysUnconditionalLock();
chSysUnconditionalLock();
chSysUnlock();]]></value>
</code>
</step>
<step>
<description>
<value>Testing chSysUnconditionalUnlock().</value>
</description>
<tags>
<value />
</tags>
<code>
<value><![CDATA[chSysLock();
chSysUnconditionalUnlock();
chSysUnconditionalUnlock();]]></value>
</code>
</step>
<step>
<description>
<value>Testing from ISR context using a virtual timer.</value>
</description>
<tags>
<value />
</tags>
<code>
<value><![CDATA[chVTObjectInit(&vt);
chVTSet(&vt, 1, vtcb, NULL);
chThdSleep(10);
test_assert(chVTIsArmed(&vt) == false, "timer still armed");]]></value>
</code>
</step>
</steps>
</case>
<case>
<brief>
<value>Interrupts handling functionality.</value>
</brief>
<description>
<value>The interrupts handling API is invoked for coverage.</value>
</description>
<condition>
<value />
</condition>
<various_code>
<setup_code>
<value />
</setup_code>
<teardown_code>
<value />
</teardown_code>
<local_variables>
<value />
</local_variables>
</various_code>
<steps>
<step>
<description>
<value>Testing chSysSuspend(), chSysDisable() and chSysEnable().</value>
</description>
<tags>
<value />
</tags>
<code>
<value><![CDATA[chSysSuspend();
chSysDisable();
chSysSuspend();
chSysEnable();]]></value>
</code>
</step>
</steps>
</case>
</cases>
</sequence>
<sequence>
<type index="0">
<value>Internal Tests</value>
</type>
<brief>
<value>Time and Intervals Functionality.</value>
</brief>
<description>
<value>This sequence tests the ChibiOS/NIL functionalities related to time and intervals management.</value>
</description>
<condition>
<value />
</condition>
<shared_code>
<value><![CDATA[#include "ch.h"]]></value>
</shared_code>
<cases>
<case>
<brief>
<value>System Tick Counter functionality.</value>
</brief>
<description>
<value>The functionality of the API @p chVTGetSystemTimeX() is tested.</value>
</description>
<condition>
<value />
</condition>
<various_code>
<setup_code>
<value />
</setup_code>
<teardown_code>
<value />
</teardown_code>
<local_variables>
<value />
</local_variables>
</various_code>
<steps>
<step>
<description>
<value>A System Tick Counter increment is expected, the test simply hangs if it does not happen.</value>
</description>
<tags>
<value />
</tags>
<code>
<value><![CDATA[systime_t time = chVTGetSystemTimeX();
while (time == chVTGetSystemTimeX()) {
}]]></value>
</code>
</step>
</steps>
</case>
<case>
<brief>
<value>Time ranges functionality.</value>
</brief>
<description>
<value>The functionality of the API @p chTimeIsInRangeX() is tested.</value>
</description>
<condition>
<value />
</condition>
<various_code>
<setup_code>
<value />
</setup_code>
<teardown_code>
<value />
</teardown_code>
<local_variables>
<value />
</local_variables>
</various_code>
<steps>
<step>
<description>
<value>Checking case where start == end, it must always evaluate as in range.</value>
</description>
<tags>
<value />
</tags>
<code>
<value><![CDATA[
bool b;
b = chTimeIsInRangeX((systime_t)0, (systime_t)0, (systime_t)0);
test_assert(b == true, "not in range");
b = chTimeIsInRangeX((systime_t)-1, (systime_t)0, (systime_t)0);
test_assert(b == true, "not in range");
b = chTimeIsInRangeX((systime_t)0, (systime_t)-1, (systime_t)-1);
test_assert(b == true, "not in range");
b = chTimeIsInRangeX((systime_t)-1, (systime_t)-1, (systime_t)-1);
test_assert(b == true, "not in range");
]]></value>
</code>
</step>
<step>
<description>
<value>Checking boundaries for start < end.</value>
</description>
<tags>
<value />
</tags>
<code>
<value><![CDATA[
bool b;
b = chTimeIsInRangeX((systime_t)10, (systime_t)10, (systime_t)100);
test_assert(b == true, "not in range");
b = chTimeIsInRangeX((systime_t)9, (systime_t)10, (systime_t)100);
test_assert(b == false, "in range");
b = chTimeIsInRangeX((systime_t)99, (systime_t)10, (systime_t)100);
test_assert(b == true, "not in range");
b = chTimeIsInRangeX((systime_t)100, (systime_t)10, (systime_t)100);
test_assert(b == false, "in range");
]]></value>
</code>
</step>
<step>
<description>
<value>Checking boundaries for start > end.</value>
</description>
<tags>
<value />
</tags>
<code>
<value><![CDATA[
bool b;
b = chTimeIsInRangeX((systime_t)100, (systime_t)100, (systime_t)10);
test_assert(b == true, "not in range");
b = chTimeIsInRangeX((systime_t)99, (systime_t)100, (systime_t)10);
test_assert(b == false, "in range");
b = chTimeIsInRangeX((systime_t)9, (systime_t)100, (systime_t)10);
test_assert(b == true, "not in range");
b = chTimeIsInRangeX((systime_t)10, (systime_t)100, (systime_t)10);
test_assert(b == false, "in range");
]]></value>
</code>
</step>
</steps>
</case>
</cases>
</sequence>
<sequence>
<type index="0">
<value>Internal Tests</value>
</type>
<brief>
<value>Threads Functionality.</value>
</brief>
<description>
<value>This sequence tests the ChibiOS/RT functionalities related to threading.</value>
</description>
<condition>
<value />
</condition>
<shared_code>
<value><![CDATA[static THD_FUNCTION(thread, p) {
test_emit_token(*(char *)p);
}]]></value>
</shared_code>
<cases>
<case>
<brief>
<value>Thread Sleep functionality.</value>
</brief>
<description>
<value>The functionality of @p chThdSleep() and derivatives is tested.</value>
</description>
<condition>
<value />
</condition>
<various_code>
<setup_code>
<value />
</setup_code>
<teardown_code>
<value />
</teardown_code>
<local_variables>
<value><![CDATA[systime_t time;]]></value>
</local_variables>
</various_code>
<steps>
<step>
<description>
<value>The current system time is read then a sleep is performed for 100 system ticks and on exit the system time is verified again.</value>
</description>
<tags>
<value />
</tags>
<code>
<value><![CDATA[time = chVTGetSystemTimeX();
chThdSleep(100);
test_assert_time_window(chTimeAddX(time, 100),
chTimeAddX(time, 100 + CH_CFG_ST_TIMEDELTA + 1),
"out of time window");]]></value>
</code>
</step>
<step>
<description>
<value>The current system time is read then a sleep is performed for 100000 microseconds and on exit the system time is verified again.</value>
</description>
<tags>
<value />
</tags>
<code>
<value><![CDATA[time = chVTGetSystemTimeX();
chThdSleepMicroseconds(100000);
test_assert_time_window(chTimeAddX(time, TIME_US2I(100000)),
chTimeAddX(time, TIME_US2I(100000) + CH_CFG_ST_TIMEDELTA + 1),
"out of time window");]]></value>
</code>
</step>
<step>
<description>
<value>The current system time is read then a sleep is performed for 100 milliseconds and on exit the system time is verified again.</value>
</description>
<tags>
<value />
</tags>
<code>
<value><![CDATA[time = chVTGetSystemTimeX();
chThdSleepMilliseconds(100);
test_assert_time_window(chTimeAddX(time, TIME_MS2I(100)),
chTimeAddX(time, TIME_MS2I(100) + CH_CFG_ST_TIMEDELTA + 1),
"out of time window");]]></value>
</code>
</step>
<step>
<description>
<value>The current system time is read then a sleep is performed for 1 second and on exit the system time is verified again.</value>
</description>
<tags>
<value />
</tags>
<code>
<value><![CDATA[time = chVTGetSystemTimeX();
chThdSleepSeconds(1);
test_assert_time_window(chTimeAddX(time, TIME_S2I(1)),
chTimeAddX(time, TIME_S2I(1) + CH_CFG_ST_TIMEDELTA + 1),
"out of time window");]]></value>
</code>
</step>
<step>
<description>
<value>Function chThdSleepUntil() is tested with a timeline of "now" + 100 ticks.</value>
</description>
<tags>
<value />
</tags>
<code>
<value><![CDATA[time = chVTGetSystemTimeX();
chThdSleepUntil(chTimeAddX(time, 100));
test_assert_time_window(chTimeAddX(time, 100),
chTimeAddX(time, 100 + CH_CFG_ST_TIMEDELTA + 1),
"out of time window");]]></value>
</code>
</step>
</steps>
</case>
<case>
<brief>
<value>Ready List functionality, threads priority order.</value>
</brief>
<description>
<value>Five threads, are enqueued in the ready list and atomically executed. The test expects the threads to perform their operations in correct priority order regardless of the initial order.</value>
</description>
<condition>
<value />
</condition>
<various_code>
<setup_code>
<value />
</setup_code>
<teardown_code>
<value />
</teardown_code>
<local_variables>
<value />
</local_variables>
</various_code>
<steps>
<step>
<description>
<value>Creating 5 threads with increasing priority, execution sequence is tested.</value>
</description>
<tags>
<value />
</tags>
<code>
<value><![CDATA[threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX()-5, thread, "E");
threads[1] = chThdCreateStatic(wa[1], WA_SIZE, chThdGetPriorityX()-4, thread, "D");
threads[2] = chThdCreateStatic(wa[2], WA_SIZE, chThdGetPriorityX()-3, thread, "C");
threads[3] = chThdCreateStatic(wa[3], WA_SIZE, chThdGetPriorityX()-2, thread, "B");
threads[4] = chThdCreateStatic(wa[4], WA_SIZE, chThdGetPriorityX()-1, thread, "A");
test_wait_threads();
test_assert_sequence("ABCDE", "invalid sequence");]]></value>
</code>
</step>
<step>
<description>
<value>Creating 5 threads with decreasing priority, execution sequence is tested.</value>
</description>
<tags>
<value />
</tags>
<code>
<value><![CDATA[threads[4] = chThdCreateStatic(wa[4], WA_SIZE, chThdGetPriorityX()-1, thread, "A");
threads[3] = chThdCreateStatic(wa[3], WA_SIZE, chThdGetPriorityX()-2, thread, "B");
threads[2] = chThdCreateStatic(wa[2], WA_SIZE, chThdGetPriorityX()-3, thread, "C");
threads[1] = chThdCreateStatic(wa[1], WA_SIZE, chThdGetPriorityX()-4, thread, "D");
threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX()-5, thread, "E");
test_wait_threads();
test_assert_sequence("ABCDE", "invalid sequence");]]></value>
</code>
</step>
<step>
<description>
<value>Creating 5 threads with pseudo-random priority, execution sequence is tested.</value>
</description>
<tags>
<value />
</tags>
<code>
<value><![CDATA[threads[1] = chThdCreateStatic(wa[1], WA_SIZE, chThdGetPriorityX()-4, thread, "D");
threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX()-5, thread, "E");
threads[4] = chThdCreateStatic(wa[4], WA_SIZE, chThdGetPriorityX()-1, thread, "A");
threads[3] = chThdCreateStatic(wa[3], WA_SIZE, chThdGetPriorityX()-2, thread, "B");
threads[2] = chThdCreateStatic(wa[2], WA_SIZE, chThdGetPriorityX()-3, thread, "C");
test_wait_threads();
test_assert_sequence("ABCDE", "invalid sequence");]]></value>
</code>
</step>
</steps>
</case>
<case>
<brief>
<value>Priority change test.</value>
</brief>
<description>
<value>A series of priority changes are performed on the current thread in order to verify that the priority change happens as expected.</value>
</description>
<condition>
<value />
</condition>
<various_code>
<setup_code>
<value />
</setup_code>
<teardown_code>
<value />
</teardown_code>
<local_variables>
<value><![CDATA[tprio_t prio, p1;]]></value>