-
Notifications
You must be signed in to change notification settings - Fork 126
/
Copy pathconfiguration.xml
4429 lines (4334 loc) · 169 KB
/
configuration.xml
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
<?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>ChibiOS/RT Library Test Suite.</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>
<copyright>
<value><![CDATA[/*
ChibiOS - Copyright (C) 2006..2017 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(CH_ARCHITECTURE_AVR) || defined(CH_ARCHITECTURE_MSP430)
#define THREADS_STACK_SIZE 48
#elif defined(CH_ARCHITECTURE_STM8)
#define THREADS_STACK_SIZE 64
#elif defined(CH_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)
#define TEST_REPORT_HOOK_HEADER test_print_port_info();
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[void test_print_port_info(void) {
#ifdef PORT_COMPILER_NAME
test_print("*** Compiler: ");
test_println(PORT_COMPILER_NAME);
#endif
test_print("*** Architecture: ");
test_println(PORT_ARCHITECTURE_NAME);
#ifdef PORT_CORE_VARIANT_NAME
test_print("*** Core Variant: ");
test_println(PORT_CORE_VARIANT_NAME);
#endif
#ifdef PORT_INFO
test_print("*** Port Info: ");
test_println(PORT_INFO);
#endif
}
/*
* 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>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_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_PRI: ");
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_RECURS: ");
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_TIMEO: ");
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_PRI: ");
test_printn(CH_CFG_USE_MESSAGES_PRIORITY);
test_println("");
test_print("--- CH_CFG_USE_MAILBOXES: ");
test_printn(CH_CFG_USE_MAILBOXES);
test_println("");
test_print("--- CH_CFG_USE_MEMCORE: ");
test_printn(CH_CFG_USE_MEMCORE);
test_println("");
test_print("--- CH_CFG_USE_HEAP: ");
test_printn(CH_CFG_USE_HEAP);
test_println("");
test_print("--- CH_CFG_USE_MEMPOOLS: ");
test_printn(CH_CFG_USE_MEMPOOLS);
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>
<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()) {
#if defined(SIMULATOR)
_sim_check_for_interrupts();
#endif
}]]></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(time + 100,
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(time + TIME_US2I(100000),
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(time + TIME_MS2I(100),
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(time + TIME_S2I(1),
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(time + 100);
test_assert_time_window(time + 100,
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>
</local_variables>
</various_code>
<steps>
<step>
<description>
<value>Thread priority is increased by one then a check is performed.</value>
</description>
<tags>
<value />
</tags>
<code>
<value><![CDATA[prio = chThdGetPriorityX();
p1 = chThdSetPriority(prio + 1);
test_assert(p1 == prio, "unexpected returned priority level");
test_assert(chThdGetPriorityX() == prio + 1, "unexpected priority level");]]></value>
</code>
</step>
<step>
<description>
<value>Thread priority is returned to the previous value then a check is performed.</value>
</description>
<tags>
<value />
</tags>
<code>
<value><![CDATA[p1 = chThdSetPriority(p1);
test_assert(p1 == prio + 1, "unexpected returned priority level");
test_assert(chThdGetPriorityX() == prio, "unexpected priority level");]]></value>
</code>
</step>
</steps>
</case>
<case>
<brief>
<value>Priority change test with Priority Inheritance.</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>CH_CFG_USE_MUTEXES</value>
</condition>
<various_code>
<setup_code>
<value />
</setup_code>
<teardown_code>
<value />
</teardown_code>
<local_variables>
<value><![CDATA[tprio_t prio, p1;]]></value>
</local_variables>
</various_code>
<steps>
<step>
<description>
<value>Simulating a priority boost situation (prio > realprio).</value>
</description>
<tags>
<value />
</tags>
<code>
<value><![CDATA[prio = chThdGetPriorityX();
chThdGetSelfX()->prio += 2;
test_assert(chThdGetPriorityX() == prio + 2, "unexpected priority level");]]></value>
</code>
</step>
<step>
<description>
<value>Raising thread priority above original priority but below the boosted level.</value>
</description>
<tags>
<value />
</tags>
<code>
<value><![CDATA[p1 = chThdSetPriority(prio + 1);
test_assert(p1 == prio, "unexpected returned priority level");
test_assert(chThdGetSelfX()->prio == prio + 2, "unexpected priority level");
test_assert(chThdGetSelfX()->realprio == prio + 1, "unexpected returned real priority level");]]></value>
</code>
</step>
<step>
<description>
<value>Raising thread priority above the boosted level.</value>
</description>
<tags>
<value />
</tags>
<code>
<value><![CDATA[p1 = chThdSetPriority(prio + 3);
test_assert(p1 == prio + 1, "unexpected returned priority level");
test_assert(chThdGetSelfX()->prio == prio + 3, "unexpected priority level");
test_assert(chThdGetSelfX()->realprio == prio + 3, "unexpected real priority level");]]></value>
</code>
</step>
<step>
<description>
<value>Restoring original conditions.</value>
</description>
<tags>
<value />
</tags>
<code>
<value><![CDATA[chSysLock();
chThdGetSelfX()->prio = prio;
chThdGetSelfX()->realprio = prio;
chSysUnlock();]]></value>
</code>
</step>
</steps>
</case>
</cases>
</sequence>
<sequence>
<type index="0">
<value>Internal Tests</value>
</type>
<brief>
<value>Suspend/Resume.</value>
</brief>
<description>
<value>This sequence tests the ChibiOS/RT functionalities related to threads suspend/resume.</value>
</description>
<condition>
<value />
</condition>
<shared_code>
<value><![CDATA[static thread_reference_t tr1;
static THD_FUNCTION(thread1, p) {
chSysLock();
chThdResumeI(&tr1, MSG_OK);
chSchRescheduleS();
chSysUnlock();
test_emit_token(*(char *)p);
}]]></value>
</shared_code>
<cases>
<case>
<brief>
<value>Suspend and Resume functionality.</value>
</brief>
<description>
<value>The functionality of chThdSuspendTimeoutS() and chThdResumeI() is tested.</value>
</description>
<condition>
<value />
</condition>