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tests: rtio: workq: Add testsuite to exercise RTIO work-queues
Basic tests demonstrating ability to decouple, batch-submit, preempt and keep track of used items. Signed-off-by: Luis Ubieda <[email protected]>
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‎tests/subsys/rtio/workq/CMakeLists.txt

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# Copyright (c) 2024 Croxel Inc.
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# SPDX-License-Identifier: Apache-2.0
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cmake_minimum_required(VERSION 3.20.0)
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find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
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project(rtio_workq_test)
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target_sources(app PRIVATE
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src/main.c
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)

‎tests/subsys/rtio/workq/prj.conf

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CONFIG_RTIO=y
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CONFIG_RTIO_WORKQ=y
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CONFIG_RTIO_WORKQ_THREADS_POOL=3
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CONFIG_RTIO_WORKQ_PRIO_MED=3
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CONFIG_ZTEST=y
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CONFIG_ZTEST_THREAD_PRIORITY=8
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CONFIG_MP_MAX_NUM_CPUS=1

‎tests/subsys/rtio/workq/src/main.c

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/*
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* Copyright (c) 2024 Croxel Inc.
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <zephyr/ztest.h>
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#include <zephyr/kernel.h>
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#include <zephyr/rtio/rtio.h>
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#include <zephyr/rtio/work.h>
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/** Used to validate/control test execution flow */
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K_SEM_DEFINE(work_handler_sem_1, 0, 1);
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K_SEM_DEFINE(work_handler_sem_2, 0, 1);
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K_SEM_DEFINE(work_handler_sem_3, 0, 1);
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static int work_handler_called;
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static void work_handler(struct rtio_iodev_sqe *iodev_sqe)
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{
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struct rtio_sqe *sqe = &iodev_sqe->sqe;
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struct k_sem *sem = (struct k_sem *)sqe->userdata;
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work_handler_called++;
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printk("\t- %s() called!: %d\n", __func__, work_handler_called);
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k_sem_take(sem, K_FOREVER);
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rtio_executor_ok(iodev_sqe, 0);
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}
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static void dummy_submit(struct rtio_iodev_sqe *iodev_sqe)
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{
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struct rtio_work_req *req = rtio_work_req_alloc();
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rtio_work_req_submit(req, iodev_sqe, work_handler);
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}
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struct rtio_iodev_api r_iodev_test_api = {
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.submit = dummy_submit,
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};
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RTIO_IODEV_DEFINE(dummy_iodev, &r_iodev_test_api, NULL);
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RTIO_IODEV_DEFINE(dummy_iodev_2, &r_iodev_test_api, NULL);
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RTIO_IODEV_DEFINE(dummy_iodev_3, &r_iodev_test_api, NULL);
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RTIO_DEFINE(r_test, 3, 3);
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RTIO_DEFINE(r_test_2, 3, 3);
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RTIO_DEFINE(r_test_3, 3, 3);
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static void before(void *unused)
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{
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rtio_sqe_drop_all(&r_test);
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rtio_sqe_drop_all(&r_test_2);
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rtio_sqe_drop_all(&r_test_3);
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k_sem_init(&work_handler_sem_1, 0, 1);
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k_sem_init(&work_handler_sem_2, 0, 1);
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k_sem_init(&work_handler_sem_3, 0, 1);
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work_handler_called = 0;
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}
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static void after(void *unused)
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{
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}
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ZTEST_SUITE(rtio_work, NULL, NULL, before, after, NULL);
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ZTEST(rtio_work, test_work_decouples_submission)
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{
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struct rtio_sqe *sqe;
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struct rtio_cqe *cqe;
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sqe = rtio_sqe_acquire(&r_test);
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rtio_sqe_prep_nop(sqe, &dummy_iodev, &work_handler_sem_1);
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sqe->prio = RTIO_PRIO_NORM;
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zassert_equal(0, work_handler_called);
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zassert_equal(0, rtio_work_req_used_count_get());
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zassert_ok(rtio_submit(&r_test, 0));
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zassert_equal(1, work_handler_called);
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zassert_equal(1, rtio_work_req_used_count_get());
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k_sem_give(&work_handler_sem_1);
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zassert_equal(0, rtio_work_req_used_count_get());
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/** Clean-up */
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cqe = rtio_cqe_consume_block(&r_test);
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rtio_cqe_release(&r_test, cqe);
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}
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ZTEST(rtio_work, test_work_supports_batching_submissions)
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{
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struct rtio_sqe *sqe_a;
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struct rtio_sqe *sqe_b;
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struct rtio_sqe *sqe_c;
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struct rtio_cqe *cqe;
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sqe_a = rtio_sqe_acquire(&r_test);
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rtio_sqe_prep_nop(sqe_a, &dummy_iodev, &work_handler_sem_1);
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sqe_a->prio = RTIO_PRIO_NORM;
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sqe_b = rtio_sqe_acquire(&r_test);
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rtio_sqe_prep_nop(sqe_b, &dummy_iodev, &work_handler_sem_2);
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sqe_b->prio = RTIO_PRIO_NORM;
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sqe_c = rtio_sqe_acquire(&r_test);
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rtio_sqe_prep_nop(sqe_c, &dummy_iodev, &work_handler_sem_3);
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sqe_c->prio = RTIO_PRIO_NORM;
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zassert_ok(rtio_submit(&r_test, 0));
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k_sem_give(&work_handler_sem_1);
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k_sem_give(&work_handler_sem_2);
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k_sem_give(&work_handler_sem_3);
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zassert_equal(3, work_handler_called);
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zassert_equal(0, rtio_work_req_used_count_get());
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/** Clean-up */
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cqe = rtio_cqe_consume_block(&r_test);
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rtio_cqe_release(&r_test, cqe);
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cqe = rtio_cqe_consume_block(&r_test);
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rtio_cqe_release(&r_test, cqe);
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cqe = rtio_cqe_consume_block(&r_test);
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rtio_cqe_release(&r_test, cqe);
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}
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ZTEST(rtio_work, test_work_supports_preempting_on_higher_prio_submissions)
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{
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struct rtio_sqe *sqe_a;
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struct rtio_sqe *sqe_b;
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struct rtio_sqe *sqe_c;
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struct rtio_cqe *cqe;
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sqe_a = rtio_sqe_acquire(&r_test);
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rtio_sqe_prep_nop(sqe_a, &dummy_iodev, &work_handler_sem_1);
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sqe_a->prio = RTIO_PRIO_LOW;
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sqe_b = rtio_sqe_acquire(&r_test_2);
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rtio_sqe_prep_nop(sqe_b, &dummy_iodev_2, &work_handler_sem_2);
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sqe_b->prio = RTIO_PRIO_NORM;
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sqe_c = rtio_sqe_acquire(&r_test_3);
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rtio_sqe_prep_nop(sqe_c, &dummy_iodev_3, &work_handler_sem_3);
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sqe_c->prio = RTIO_PRIO_HIGH;
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zassert_ok(rtio_submit(&r_test, 0));
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zassert_ok(rtio_submit(&r_test_2, 0));
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zassert_ok(rtio_submit(&r_test_3, 0));
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zassert_equal(3, work_handler_called);
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zassert_equal(3, rtio_work_req_used_count_get());
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k_sem_give(&work_handler_sem_1);
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k_sem_give(&work_handler_sem_2);
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k_sem_give(&work_handler_sem_3);
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zassert_equal(3, work_handler_called);
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zassert_equal(0, rtio_work_req_used_count_get());
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/** Clean-up */
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cqe = rtio_cqe_consume_block(&r_test);
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rtio_cqe_release(&r_test, cqe);
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cqe = rtio_cqe_consume_block(&r_test_2);
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rtio_cqe_release(&r_test_2, cqe);
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cqe = rtio_cqe_consume_block(&r_test_3);
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rtio_cqe_release(&r_test_3, cqe);
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}
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ZTEST(rtio_work, test_used_count_keeps_track_of_alloc_items)
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{
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struct rtio_work_req *req_a = NULL;
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struct rtio_work_req *req_b = NULL;
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struct rtio_work_req *req_c = NULL;
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struct rtio_work_req *req_d = NULL;
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struct rtio_work_req *req_e = NULL;
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zassert_equal(0, rtio_work_req_used_count_get());
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/** We expect valid items and the count kept track */
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req_a = rtio_work_req_alloc();
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zassert_not_null(req_a);
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zassert_equal(1, rtio_work_req_used_count_get());
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req_b = rtio_work_req_alloc();
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zassert_not_null(req_b);
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zassert_equal(2, rtio_work_req_used_count_get());
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req_c = rtio_work_req_alloc();
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zassert_not_null(req_c);
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zassert_equal(3, rtio_work_req_used_count_get());
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req_d = rtio_work_req_alloc();
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zassert_not_null(req_d);
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zassert_equal(4, rtio_work_req_used_count_get());
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/** This time should not have been able to allocate. */
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req_e = rtio_work_req_alloc();
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zassert_is_null(req_e);
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zassert_equal(4, rtio_work_req_used_count_get());
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/** Flush requests */
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rtio_work_req_submit(req_a, NULL, NULL);
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zassert_equal(3, rtio_work_req_used_count_get());
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rtio_work_req_submit(req_b, NULL, NULL);
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zassert_equal(2, rtio_work_req_used_count_get());
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rtio_work_req_submit(req_c, NULL, NULL);
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zassert_equal(1, rtio_work_req_used_count_get());
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rtio_work_req_submit(req_d, NULL, NULL);
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zassert_equal(0, rtio_work_req_used_count_get());
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}

‎tests/subsys/rtio/workq/testcase.yaml

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tests:
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rtio.workq:
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tags: rtio
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integration_platforms:
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- native_sim

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