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tests: test for prio inversion using msg_send_recv
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include ../Makefile.tests_common | ||
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BOARD_INSUFFICIENT_MEMORY := nucleo-f031k6 nucleo-f042k6 | ||
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USEMODULE += xtimer | ||
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test: | ||
tests/01-run.py | ||
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include $(RIOTBASE)/Makefile.include |
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NOTE | ||
==== | ||
THIS TEST WILL FAIL WHEN RUNNING RIOT USING THE DEFAULT CORE/KERNEL CONFIGURATION! | ||
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TODO: merge the `core_priority_inheritance` module to enable priority | ||
inheritance and with this successfully pass this test. | ||
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Expected result | ||
=============== | ||
When successful, you will see the 3 configured threads printing 6 different | ||
events in a defined order. If the test passes, the output should look like this: | ||
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``` | ||
main(): This is RIOT! (Version: xxx) | ||
Test for showing priority inversion when using msg_send_receive | ||
If this tests succeeds, you should see 6 events appearing in order. | ||
The expected output should look like this: | ||
Event 1: t_low - waiting for incoming message | ||
Event 2: t_high - sending msg to t_low (msg_send_receive) | ||
Event 3: t_low - received message and do some quick work | ||
Event 4: t_mid - starting infinite loop, potentially starving others | ||
Event 5: t_low - sending reply | ||
Event 6: t_high - received reply | ||
TEST OUTPUT: | ||
Event 1: t_low - waiting for incoming message | ||
Event 2: t_high - sending msg to t_low (msg_send_receive) | ||
Event 3: t_low - received message and do some quick work | ||
Event 4: t_mid - starting infinite loop, potentially starving others | ||
Event 5: t_low - sending reply | ||
Event 6: t_high - received reply | ||
[SUCCESS] | ||
``` | ||
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Background | ||
========== | ||
Priority inversion is a known problem in real-time systems, leading in certain | ||
constellations to lower priority threads indirectly blocking higher priority | ||
threads. This test constructs a simple scenario, where a high priority thread | ||
(`t_high`) is trying to `send_receive` a message to a low priority thread | ||
(`t_low`), but never gets a reply as a medium priority thread (`t_mid`) is never | ||
letting `t_mid` to be scheduled. |
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/* | ||
* Copyright (C) 2017 Technische Universität Berlin | ||
* 2017,2018 Freie Universität Berlin | ||
* | ||
* This file is subject to the terms and conditions of the GNU Lesser | ||
* General Public License v2.1. See the file LICENSE in the top level | ||
* directory for more details. | ||
*/ | ||
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/** | ||
* @ingroup tests | ||
* @{ | ||
* | ||
* @file | ||
* @brief Test application for testing priority inheritance when using | ||
* nested msg_send_receive calls | ||
* | ||
* @author Thomas Geithner <thomas.geithner@dai-labor.de> | ||
* @author Hauke Petersen <hauke.petersen@fu-berlin.de> | ||
* @} | ||
*/ | ||
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#include <stdio.h> | ||
#include <string.h> | ||
#include <stdint.h> | ||
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#include "thread.h" | ||
#include "msg.h" | ||
#include "xtimer.h" | ||
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#define TICK_LEN (50UL * US_PER_MS) | ||
#define EXPECTED_RESULT (-3) | ||
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#define T_NUMOF (3U) | ||
#define MSG_TYPE (0xabcd) | ||
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enum { | ||
HIGH = 0, | ||
MID = 1, | ||
LOW = 2, | ||
}; | ||
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static char _stacks[T_NUMOF][THREAD_STACKSIZE_MAIN]; | ||
static kernel_pid_t _pids[T_NUMOF]; | ||
static const char *_names[] = { "t_high", " t_mid", " t_low" }; | ||
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static int _result = 0; | ||
static int _res_addsub = 1; | ||
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static inline void _delay(unsigned ticks) | ||
{ | ||
xtimer_usleep(ticks * TICK_LEN); | ||
} | ||
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static inline void _event(int num, const char *t_name, const char *msg) | ||
{ | ||
/* record event */ | ||
_result += (_res_addsub * num); | ||
_res_addsub *= -1; | ||
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printf("Event %2i: %7s - %s\n", num, t_name, msg); | ||
} | ||
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static void *t_high(void *arg) | ||
{ | ||
(void)arg; | ||
msg_t m; | ||
msg_t rply; | ||
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m.type = MSG_TYPE; | ||
m.content.value = (uint32_t)'M'; | ||
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_delay(1); | ||
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_event(2, _names[HIGH], "sending msg to t_low (msg_send_receive)"); | ||
msg_send_receive(&m, &rply, _pids[2]); | ||
_event(6, _names[HIGH], "received reply"); | ||
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return NULL; | ||
} | ||
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static void *t_mid(void *arg) | ||
{ | ||
(void)arg; | ||
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_delay(2); | ||
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_event(4, _names[MID], "starting infinite loop, potentially starving others"); | ||
while (1) { | ||
thread_yield_higher(); | ||
} | ||
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return NULL; | ||
} | ||
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static void *t_low(void *arg) | ||
{ | ||
(void)arg; | ||
msg_t m; | ||
msg_t rply; | ||
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rply.type = MSG_TYPE; | ||
rply.content.value = (uint32_t)'m'; | ||
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_event(1, _names[LOW], "waiting for incoming message"); | ||
msg_receive(&m); | ||
_event(3, _names[LOW], "received message and do some quick work"); | ||
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_delay(2); | ||
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_event(5, _names[LOW], "sending reply"); | ||
msg_reply(&m, &rply); | ||
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return NULL; | ||
} | ||
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static thread_task_func_t _handlers[] = { t_high, t_mid, t_low }; | ||
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int main(void) | ||
{ | ||
puts("Test for showing priority inversion when using msg_send_receive\n"); | ||
puts("If this tests succeeds, you should see 6 events appearing in order.\n" | ||
"The expected output should look like this:\n" | ||
"Event 1: t_low - waiting for incoming message\n" | ||
"Event 2: t_high - sending msg to t_low (msg_send_receive)\n" | ||
"Event 3: t_low - received message and do some quick work\n" | ||
"Event 4: t_mid - starting infinite loop, potentially starving others\n" | ||
"Event 5: t_low - sending reply\n" | ||
"Event 6: t_high - received reply\n"); | ||
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puts("TEST OUTPUT:"); | ||
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/* create threads */ | ||
for (unsigned i = 0; i < T_NUMOF; i++) { | ||
_pids[i] = thread_create(_stacks[i], sizeof(_stacks[i]), | ||
(THREAD_PRIORITY_MAIN + 1 + i), | ||
THREAD_CREATE_WOUT_YIELD, | ||
_handlers[i], NULL, | ||
_names[i]); | ||
} | ||
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_delay(4); | ||
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if (_result == EXPECTED_RESULT) { | ||
puts("\n[SUCCESS]"); | ||
} | ||
else { | ||
puts("\n[FAILED]"); | ||
} | ||
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return 0; | ||
} |
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#!/usr/bin/env python3 | ||
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# Copyright (C) 2018 Hauke Petersen <hauke.petersen@fu-berlin.de> | ||
# | ||
# This file is subject to the terms and conditions of the GNU Lesser | ||
# General Public License v2.1. See the file LICENSE in the top level | ||
# directory for more details. | ||
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import os | ||
import sys | ||
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def testfunc(child): | ||
rt = child.expect([r"\[SUCCESS\]", r"\[FAILED\]"]) | ||
if rt == 1: | ||
sys.exit(1) | ||
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if __name__ == "__main__": | ||
sys.path.append(os.path.join(os.environ['RIOTTOOLS'], 'testrunner')) | ||
from testrunner import run | ||
sys.exit(run(testfunc)) |