Merge pull request nasa#1512 from nasa/integration-candidate

osal Integration candidate: Equuleus-rc1+dev31

Author: dzbaker

CHANGELOG.md

@@ -1,5 +1,10 @@
 # Changelog
 
+## Development Build: equuleus-rc1+dev123
+- 'Fix #1445, add conditional around priority sem test'
+- See: <https://github.com/nasa/osal/pull/1509>
+
+
 ## Development Build: equuleus-rc1+dev117
 - 'Fix nasa/cFS#839, Update Workflows to Ubuntu 22.04'
 - See: <https://github.com/nasa/osal/pull/1506>

src/os/inc/osapi-version.h

@@ -34,7 +34,7 @@
 /*
  * Development Build Macro Definitions
  */
-#define OS_BUILD_NUMBER     117
+#define OS_BUILD_NUMBER     123
 #define OS_BUILD_BASELINE   "equuleus-rc1"
 #define OS_BUILD_DEV_CYCLE  "equuleus-rc2" /**< @brief Development: Release name for current development cycle */
 #define OS_BUILD_CODENAME   "Equuleus" /**< @brief: Development: Code name for the current build */

src/os/posix/src/os-impl-tasks.c

@@ -412,7 +412,8 @@ int32 OS_Posix_TaskAPI_Impl_Init(void)
              */
             POSIX_GlobalVars.SelectedRtScheduler  = sched_policy;
             POSIX_GlobalVars.EnableTaskPriorities = true;
-        } while (0);
+        }
+        while (0);
     }
     else
     {
@@ -549,7 +550,6 @@ int32 OS_Posix_InternalTaskCreate_Impl(pthread_t *pthr, osal_priority_t priority
             OS_DEBUG("pthread_attr_setschedparam error in OS_TaskCreate: %s\n", strerror(return_code));
             return OS_ERROR;
         }
-
     } /* End if user is root */
 
     /*
@@ -598,6 +598,12 @@ int32 OS_TaskCreate_Impl(const OS_object_token_t *token, uint32 flags)
     task = OS_OBJECT_TABLE_GET(OS_task_table, *token);
     impl = OS_OBJECT_TABLE_GET(OS_impl_task_table, *token);
 
+    /* If task priorities are not enabled then override the user-supplied priority value */
+    if (!POSIX_GlobalVars.EnableTaskPriorities)
+    {
+        task->priority = OS_MAX_TASK_PRIORITY;
+    }
+
     return_code = OS_Posix_InternalTaskCreate_Impl(&impl->id, task->priority, task->stack_pointer, task->stack_size,
                                                    OS_PthreadTaskEntry, arg.opaque_arg);
 
@@ -736,7 +742,8 @@ int32 OS_TaskDelay_Impl(uint32 millisecond)
     do
     {
         status = clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &sleep_end, NULL);
-    } while (status == EINTR);
+    }
+    while (status == EINTR);
 
     if (status != 0)
     {

src/tests/bin-sem-test/bin-sem-test.c

@@ -76,6 +76,7 @@ void Test_BinSem(void)
     osal_id_t         task_id[3];
     char              long_name[OS_MAX_API_NAME + 1];
     OS_bin_sem_prop_t sem_prop;
+    OS_task_prop_t    task_prop;
     uint32            test_val;
     bool              get_info_implemented;
 
@@ -174,28 +175,44 @@ void Test_BinSem(void)
 
     /* Start 3 child tasks, give and confirm highest priority task increments, flush and confirm all three */
     UtAssert_INT32_EQ(
-        OS_TaskCreate(&task_id[0], "Task_0", Test_BinSem_Task0, NULL, TASK_STACK_SIZE, OSAL_PRIORITY_C(100), 0),
+        OS_TaskCreate(&task_id[0], "Task_0", Test_BinSem_Task0, NULL, TASK_STACK_SIZE, OSAL_PRIORITY_C(200), 0),
         OS_SUCCESS);
+    OS_TaskDelay(50);
     UtAssert_INT32_EQ(
-        OS_TaskCreate(&task_id[1], "Task_1", Test_BinSem_Task1, NULL, TASK_STACK_SIZE, OSAL_PRIORITY_C(200), 0),
+        OS_TaskCreate(&task_id[1], "Task_1", Test_BinSem_Task1, NULL, TASK_STACK_SIZE, OSAL_PRIORITY_C(100), 0),
         OS_SUCCESS);
     UtAssert_INT32_EQ(
         OS_TaskCreate(&task_id[2], "Task_2", Test_BinSem_Task2, NULL, TASK_STACK_SIZE, OSAL_PRIORITY_C(250), 0),
         OS_SUCCESS);
-    OS_TaskDelay(100);
+    OS_TaskDelay(50);
     UtAssert_UINT32_EQ(task_counter[0] + task_counter[1] + task_counter[2], 0);
-    UtAssert_INT32_EQ(OS_BinSemGive(sem_id[0]), OS_SUCCESS);
-    OS_TaskDelay(100);
-    UtAssert_UINT32_EQ(task_counter[0], 1);
-    UtAssert_UINT32_EQ(task_counter[1] + task_counter[2], 0);
     UtAssert_INT32_EQ(OS_BinSemFlush(sem_id[0]), OS_SUCCESS);
     OS_TaskDelay(100);
-    UtAssert_UINT32_EQ(task_counter[0], 2);
+    UtAssert_UINT32_EQ(task_counter[0], 1);
     UtAssert_UINT32_EQ(task_counter[1], 1);
     UtAssert_UINT32_EQ(task_counter[2], 1);
 
+    test_val = 3;
+
+    /* In permissive mode, priorities are not enforced, and thus there is no
+     * guarantee of which task will run first.  If priorities are enabled then
+     * it should be guaranteed that Task_1 will get the sem first.  By getting the
+     * task properties we can check if the priority is in effect */
+    UtAssert_INT32_EQ(OS_TaskGetInfo(task_id[1], &task_prop), OS_SUCCESS);
+    if (task_prop.priority == OSAL_PRIORITY_C(100))
+    {
+        UtAssert_INT32_EQ(OS_BinSemGive(sem_id[0]), OS_SUCCESS);
+        OS_TaskDelay(100);
+        UtAssert_UINT32_EQ(task_counter[1], 2);
+        UtAssert_UINT32_EQ(task_counter[2] + task_counter[2], 2);
+        ++test_val;
+    }
+    else
+    {
+        UtPrintf("Task Priorities not in effect, skipping sem priority test");
+    }
+
     /* Give loop for tasks to complete */
-    test_val = 4;
     while (test_val < 9)
     {
         test_val++;

src/tests/count-sem-test/count-sem-test.c

@@ -76,6 +76,7 @@ void Test_CountSem(void)
     osal_id_t           task_id[3];
     char                long_name[OS_MAX_API_NAME + 1];
     OS_count_sem_prop_t sem_prop;
+    OS_task_prop_t      task_prop;
     uint32              test_val;
     bool                get_info_implemented;
 
@@ -176,23 +177,38 @@ void Test_CountSem(void)
 
     /* Start 3 child tasks, give and confirm highest priority task increments, flush and confirm all three */
     UtAssert_INT32_EQ(
-        OS_TaskCreate(&task_id[0], "Task_0", Test_CountSem_Task0, NULL, TASK_STACK_SIZE, OSAL_PRIORITY_C(100), 0),
+        OS_TaskCreate(&task_id[0], "Task_0", Test_CountSem_Task0, NULL, TASK_STACK_SIZE, OSAL_PRIORITY_C(200), 0),
         OS_SUCCESS);
+    OS_TaskDelay(50);
     UtAssert_INT32_EQ(
-        OS_TaskCreate(&task_id[1], "Task_1", Test_CountSem_Task1, NULL, TASK_STACK_SIZE, OSAL_PRIORITY_C(200), 0),
+        OS_TaskCreate(&task_id[1], "Task_1", Test_CountSem_Task1, NULL, TASK_STACK_SIZE, OSAL_PRIORITY_C(100), 0),
         OS_SUCCESS);
     UtAssert_INT32_EQ(
         OS_TaskCreate(&task_id[2], "Task_2", Test_CountSem_Task2, NULL, TASK_STACK_SIZE, OSAL_PRIORITY_C(250), 0),
         OS_SUCCESS);
-    OS_TaskDelay(100);
+    OS_TaskDelay(50);
     UtAssert_UINT32_EQ(task_counter[0] + task_counter[1] + task_counter[2], 0);
-    UtAssert_INT32_EQ(OS_CountSemGive(sem_id[0]), OS_SUCCESS);
-    OS_TaskDelay(100);
-    UtAssert_UINT32_EQ(task_counter[0], 1);
-    UtAssert_UINT32_EQ(task_counter[1] + task_counter[2], 0);
+    test_val = 0;
+
+    /* In permissive mode, priorities are not enforced, and thus there is no
+     * guarantee of which task will run first.  If priorities are enabled then
+     * it should be guaranteed that Task_1 will get the sem first.  By getting the
+     * task properties we can check if the priority is in effect */
+    UtAssert_INT32_EQ(OS_TaskGetInfo(task_id[1], &task_prop), OS_SUCCESS);
+    if (task_prop.priority == OSAL_PRIORITY_C(100))
+    {
+        UtAssert_INT32_EQ(OS_CountSemGive(sem_id[0]), OS_SUCCESS);
+        OS_TaskDelay(100);
+        UtAssert_UINT32_EQ(task_counter[1], 1);
+        UtAssert_UINT32_EQ(task_counter[0] + task_counter[2], 0);
+        ++test_val;
+    }
+    else
+    {
+        UtPrintf("Task Priorities not in effect, skipping sem priority test");
+    }
 
     /* Give loop for tasks to complete */
-    test_val = 1;
     while (test_val < 9)
     {
         test_val++;

ut_assert/inc/utstubs.h

@@ -317,12 +317,14 @@ void UT_SetHookFunction(UT_EntryKey_t FuncKey, UT_HookFunc_t HookFunc, void *Use
  *
  * This allows the user to completely replace the handler for a given function.
  *
+ * If both a handler and a hook function are set, the hook is called first, then the handler.
+ *
  * The handler assumes all responsibility for the final behavior of the stub,
  * including translating return values, and any outputs/side effects the stub
  * function should have.  The default handler for the stub is NOT used.
  *
  * \param FuncKey  The stub function to add the hook to.
- * \param HandlerFunc User defined hook function.  Set NULL to delete/clear an entry.
+ * \param HandlerFunc User defined handler function.  Set NULL to delete/clear an entry.
  * \param UserObj  Arbitrary user data object to pass to the hook function
  */
 void UT_SetHandlerFunction(UT_EntryKey_t FuncKey, UT_HandlerFunc_t HandlerFunc, void *UserObj);