diff --git a/os/rt/include/chschd.h b/os/rt/include/chschd.h
--- a/os/rt/include/chschd.h
+++ b/os/rt/include/chschd.h
@@ -176,6 +176,23 @@ struct ch_thread {
* @brief References to this thread.
*/
trefs_t refs;
+#endif
+#if (CH_CFG_USE_THREADHIERARCHY == TRUE) || defined(__DOXYGEN__)
+ /**
+ * @brief Pointer to the parent thread.
+ * @note NULL only for the main thread.
+ */
+ thread_t *parent;
+ /**
+ * @brief Pointer to the first child thread.
+ * @note NULL if there are no child threads.
+ */
+ thread_t *children;
+ /**
+ * @brief Pointer to the next sibling thread.
+ * @brief NULL if there are no more child threads.
+ */
+ thread_t *sibling;
#endif
/**
* @brief Number of ticks remaining to this thread.
diff --git a/os/rt/include/chthreads.h b/os/rt/include/chthreads.h
--- a/os/rt/include/chthreads.h
+++ b/os/rt/include/chthreads.h
@@ -79,6 +79,12 @@ typedef struct {
* @brief Thread argument.
*/
void *arg;
+#if (CH_CFG_USE_THREADHIERARCHY) == TRUE || defined(__DOXYGEN__)
+ /**
+ * @brief Pointer to the parent thread.
+ */
+ thread_t *parent;
+#endif
} thread_descriptor_t;
/*===========================================================================*/
@@ -220,7 +226,11 @@ typedef struct {
#ifdef __cplusplus
extern "C" {
#endif
+#if CH_CFG_USE_THREADHIERARCHY == TRUE
+ thread_t *_thread_init(thread_t *tp, thread_t* parent, const char *name, tprio_t prio);
+#else
thread_t *_thread_init(thread_t *tp, const char *name, tprio_t prio);
+#endif
#if CH_DBG_FILL_THREADS == TRUE
void _thread_memfill(uint8_t *startp, uint8_t *endp, uint8_t v);
#endif
@@ -228,8 +238,13 @@ extern "C" {
thread_t *chThdCreateSuspended(const thread_descriptor_t *tdp);
thread_t *chThdCreateI(const thread_descriptor_t *tdp);
thread_t *chThdCreate(const thread_descriptor_t *tdp);
+#if CH_CFG_USE_THREADHIERARCHY == TRUE
+ thread_t *chThdCreateStatic(void *wsp, size_t size,
+ tprio_t prio, tfunc_t pf, void *arg, thread_t *parent);
+#else
thread_t *chThdCreateStatic(void *wsp, size_t size,
tprio_t prio, tfunc_t pf, void *arg);
+#endif
thread_t *chThdStart(thread_t *tp);
#if CH_CFG_USE_REGISTRY == TRUE
thread_t *chThdAddRef(thread_t *tp);
diff --git a/os/rt/src/chsys.c b/os/rt/src/chsys.c
--- a/os/rt/src/chsys.c
+++ b/os/rt/src/chsys.c
@@ -126,14 +126,26 @@ void chSysInit(void) {
#if CH_CFG_NO_IDLE_THREAD == FALSE
/* Now this instructions flow becomes the main thread.*/
#if CH_CFG_USE_REGISTRY == TRUE
+#if CH_CFG_USE_THREADHIERARCHY == TRUE
+ currp = _thread_init(&ch.mainthread, NULL, (const char *)&ch_debug, NORMALPRIO);
+#else
currp = _thread_init(&ch.mainthread, (const char *)&ch_debug, NORMALPRIO);
+#endif
+#else
+#if CH_CFG_USE_THREADHIERARCHY == TRUE
+ currp = _thread_init(&ch.mainthread, NULL, "main", NORMALPRIO);
#else
currp = _thread_init(&ch.mainthread, "main", NORMALPRIO);
#endif
+#endif
#else
/* Now this instructions flow becomes the idle thread.*/
+#if CH_CFG_USE_THREADHIERARCHY == TRUE
+ currp = _thread_init(&ch.mainthread, NULL, "idle", IDLEPRIO);
+#else
currp = _thread_init(&ch.mainthread, "idle", IDLEPRIO);
#endif
+#endif
#if CH_DBG_ENABLE_STACK_CHECK == TRUE
{
@@ -172,6 +184,9 @@ void chSysInit(void) {
THD_WORKING_AREA_END(ch_idle_thread_wa),
IDLEPRIO,
_idle_thread,
+#if CH_CFG_USE_THREADHIERARCHY == TRUE
+ NULL,
+#endif
NULL
};
diff --git a/os/rt/src/chthreads.c b/os/rt/src/chthreads.c
--- a/os/rt/src/chthreads.c
+++ b/os/rt/src/chthreads.c
@@ -70,22 +70,67 @@
/* Module local functions. */
/*===========================================================================*/
+#if CH_CFG_USE_THREADHIERARCHY == TRUE || defined(__DOXYGEN__)
+/**
+ * @brief Insert a thread to the list of children of another thread.
+ * @details If @p CH_CFG_THREADHIERARCHY_ORDERED is @p TRUE, children are ordered by their priorities (high to low).
+ * Children with identical priority are ordered by 'age' (youngest first).
+ *
+ * @param[in] parent Pointer to the parent thread (must not be NULL).
+ * @param[in] child Pointer to the child thread (must not be NULL).
+ */
+inline void _thread_addChild(thread_t *parent, thread_t *child) {
+#if CH_CFG_THREADHIERARCHY_ORDERED == TRUE
+ thread_t *sibling = parent->children;
+ child->parent = parent;
+#if CH_CFG_USE_MUTEXES == TRUE
+ if (sibling == NULL || sibling->realprio <= child->realprio) {
+#else
+ if (sibling == NULL || sibling->prio <= child->prio) {
+#endif
+ child->sibling = sibling;
+ parent->children = child;
+ } else {
+#if CH_CFG_USE_MUTEXES == TRUE
+ while (sibling->sibling != NULL && sibling->sibling->realprio > child->realprio) {
+#else
+ while (sibling->sibling != NULL && sibling->sibling->prio > child->prio) {
+#endif
+ sibling = sibling->sibling;
+ }
+ child->sibling = sibling->sibling;
+ sibling->sibling = child;
+ }
+#else
+ child->parent = parent;
+ child->sibling = parent->children;
+ parent->children = child;
+#endif
+ return;
+}
+#endif
+
/*===========================================================================*/
/* Module exported functions. */
/*===========================================================================*/
+#if CH_CFG_USE_THREADHIERARCHY == TRUE || defined(__DOXYGEN__)
/**
* @brief Initializes a thread structure.
* @note This is an internal functions, do not use it in application code.
*
* @param[in] tp pointer to the thread
+ * @param[in] parent pointer to the parent thread
* @param[in] name thread name
* @param[in] prio the priority level for the new thread
* @return The same thread pointer passed as parameter.
*
* @notapi
*/
+thread_t *_thread_init(thread_t *tp, thread_t *parent, const char *name, tprio_t prio) {
+#else
thread_t *_thread_init(thread_t *tp, const char *name, tprio_t prio) {
+#endif
tp->prio = prio;
tp->state = CH_STATE_WTSTART;
@@ -110,6 +155,15 @@ thread_t *_thread_init(thread_t *tp, const char *name, tprio_t prio) {
#else
(void)name;
#endif
+#if CH_CFG_USE_THREADHIERARCHY == TRUE
+ if (parent != NULL) {
+ _thread_addChild(parent, tp);
+ } else {
+ tp->parent = parent;
+ tp->sibling = NULL;
+ }
+ tp->children = NULL;
+#endif
#if CH_CFG_USE_WAITEXIT == TRUE
list_init(&tp->waiting);
#endif
@@ -190,7 +244,11 @@ thread_t *chThdCreateSuspendedI(const thread_descriptor_t *tdp) {
PORT_SETUP_CONTEXT(tp, tdp->wbase, tp, tdp->funcp, tdp->arg);
/* The driver object is initialized but not started.*/
+#if CH_CFG_USE_THREADHIERARCHY == TRUE
+ return _thread_init(tp, tdp->parent, tdp->name, tdp->prio);
+#else
return _thread_init(tp, tdp->name, tdp->prio);
+#endif
}
/**
@@ -300,6 +358,7 @@ thread_t *chThdCreate(const thread_descriptor_t *tdp) {
return tp;
}
+#if CH_CFG_USE_THREADHIERARCHY == TRUE || defined(__DOXYGEN__)
/**
* @brief Creates a new thread into a static memory area.
* @post The created thread has a reference counter set to one, it is
@@ -315,13 +374,20 @@ thread_t *chThdCreate(const thread_descriptor_t *tdp) {
* @param[in] pf the thread function
* @param[in] arg an argument passed to the thread function. It can be
* @p NULL.
+ * @param[in] parent pointer to a parent thread. Parameter only available if
+ * @p CH_CFG_USE_THREADHIERARCHY is @p TRUE. It can be
+ * @p NULL.
* @return The pointer to the @p thread_t structure allocated for
* the thread into the working space area.
*
* @api
*/
+thread_t *chThdCreateStatic(void *wsp, size_t size,
+ tprio_t prio, tfunc_t pf, void *arg, thread_t *parent) {
+#else
thread_t *chThdCreateStatic(void *wsp, size_t size,
tprio_t prio, tfunc_t pf, void *arg) {
+#endif
thread_t *tp;
chDbgCheck((wsp != NULL) &&
@@ -358,7 +424,11 @@ thread_t *chThdCreateStatic(void *wsp, size_t size,
/* Setting up the port-dependent part of the working area.*/
PORT_SETUP_CONTEXT(tp, wsp, tp, pf, arg);
+#if CH_CFG_USE_THREADHIERARCHY == TRUE
+ tp = _thread_init(tp, parent, "noname", prio);
+#else
tp = _thread_init(tp, "noname", prio);
+#endif
/* Starting the thread immediately.*/
chSchWakeupS(tp, MSG_OK);
@@ -529,6 +599,30 @@ void chThdExitS(msg_t msg) {
#endif
#endif
+#if CH_CFG_USE_THREADHIERARCHY == TRUE
+ thread_t *child;
+ /* Remove from parent's list of children. */
+ if (tp->parent != NULL) {
+ if (tp->parent->children == tp) {
+ tp->parent->children = tp->sibling;
+ } else {
+ child = tp->parent->children;
+ while (child->sibling != tp) {
+ child = child->sibling;
+ }
+ child->sibling = tp->sibling;
+ }
+ tp->parent = NULL;
+ }
+ tp->sibling = NULL;
+ /* Move any child threads to the main thread. */
+ while (tp->children != NULL) {
+ child = tp->children;
+ tp->children = child->sibling;
+ _thread_addChild(&ch.mainthread, child);
+ }
+#endif
+
/* Going into final state.*/
chSchGoSleepS(CH_STATE_FINAL);
@@ -610,6 +704,43 @@ tprio_t chThdSetPriority(tprio_t newprio) {
#else
oldprio = currp->prio;
currp->prio = newprio;
+#endif
+#if (CH_CFG_USE_THREADHIERARCHY == TRUE) && (CH_CFG_THREADHIERARCHY_ORDERED == TRUE)
+ /* Reorder sibling list. */
+ if (currp->parent != NULL && newprio != oldprio) {
+ thread_t *sibling, *oldsibling;
+ if (newprio > oldprio) {
+ oldsibling = currp->sibling;
+ _thread_addChild(currp->parent, currp);
+ sibling = currp->sibling;
+ if (sibling != NULL) {
+ while (sibling->sibling != currp) {
+ sibling = sibling->sibling;
+ }
+ sibling->sibling = oldsibling;
+ }
+ } else /*if (newprio < oldprio)*/ {
+ sibling = currp->parent->children;
+ if (sibling == currp) {
+ currp->parent->children = currp->sibling;
+ _thread_addChild(currp->parent, currp);
+ } else {
+ while (sibling->sibling != currp) {
+ sibling = sibling->sibling;
+ }
+ sibling->sibling = currp->sibling;
+#if CH_CFG_USE_MUTEXES == TRUE
+ while (sibling->sibling != NULL && sibling->sibling->realprio > currp->realprio) {
+#else
+ while (sibling->sibling != NULL && sibling->sibling->prio > currp->prio) {
+#endif
+ sibling = sibling->sibling;
+ }
+ currp->sibling = sibling->sibling;
+ sibling->sibling = currp;
+ }
+ }
+ }
#endif
chSchRescheduleS();
chSysUnlock();
diff --git a/test/rt/source/test/rt_test_root.c b/test/rt/source/test/rt_test_root.c
--- a/test/rt/source/test/rt_test_root.c
+++ b/test/rt/source/test/rt_test_root.c
@@ -106,6 +106,14 @@ void * ROMCONST wa[5] = {test_buffer + (WA_SIZE * 0),
test_buffer + (WA_SIZE * 3),
test_buffer + (WA_SIZE * 4)};
+thread_t *test_create_thread(void *wsp, size_t size, tprio_t prio, tfunc_t pf, void *arg) {
+#if CH_CFG_USE_THREADHIERARCHY == TRUE
+ return chThdCreateStatic(wsp, size, prio, pf, arg, chThdGetSelfX());
+#else
+ return chThdCreateStatic(wsp, size, prio, pf, arg);
+#endif
+}
+
/*
* Sets a termination request in all the test-spawned threads.
*/
diff --git a/test/rt/source/test/rt_test_root.h b/test/rt/source/test/rt_test_root.h
--- a/test/rt/source/test/rt_test_root.h
+++ b/test/rt/source/test/rt_test_root.h
@@ -88,6 +88,7 @@ extern thread_t *threads[MAX_THREADS];
extern void * ROMCONST wa[5];
void test_print_port_info(void);
+thread_t *test_create_thread(void *wsp, size_t size, tprio_t prio, tfunc_t pf, void *arg);
void test_terminate_threads(void);
void test_wait_threads(void);
systime_t test_wait_tick(void);
diff --git a/test/rt/source/test/rt_test_sequence_001.c b/test/rt/source/test/rt_test_sequence_001.c
--- a/test/rt/source/test/rt_test_sequence_001.c
+++ b/test/rt/source/test/rt_test_sequence_001.c
@@ -193,6 +193,12 @@ static void rt_test_001_003_execute(void) {
test_print("--- CH_CFG_USE_REGISTRY: ");
test_printn(CH_CFG_USE_REGISTRY);
test_println("");
+ test_print("--- CH_CFG_USE_THREADHIERARCHY: ");
+ test_printn(CH_CFG_USE_THREADHIERARCHY);
+ test_println("");
+ test_print("--- CH_CFG_THREADHIERARCHY_ORDERED: ");
+ test_printn(CH_CFG_THREADHIERARCHY_ORDERED);
+ test_println("");
test_print("--- CH_CFG_USE_WAITEXIT: ");
test_printn(CH_CFG_USE_WAITEXIT);
test_println("");
@@ -207,7 +213,7 @@ static void rt_test_001_003_execute(void) {
test_println("");
test_print("--- CH_CFG_USE_MUTEXES_RECURSIVE: ");
test_printn(CH_CFG_USE_MUTEXES_RECURSIVE);
- test_println("");
+ test_println("");
test_print("--- CH_CFG_USE_CONDVARS: ");
test_printn(CH_CFG_USE_CONDVARS);
test_println("");
diff --git a/test/rt/source/test/rt_test_sequence_003.c b/test/rt/source/test/rt_test_sequence_003.c
--- a/test/rt/source/test/rt_test_sequence_003.c
+++ b/test/rt/source/test/rt_test_sequence_003.c
@@ -46,6 +46,20 @@ static THD_FUNCTION(thread, p) {
test_emit_token(*(char *)p);
}
+#if (CH_CFG_USE_THREADHIERARCHY)
+static THD_FUNCTION(hierarchythread, p) {
+
+ do {
+ if (*(tprio_t *)p != chThdGetPriorityX()) {
+ chThdSetPriority(*(tprio_t *)p);
+ }
+ chThdSleepMilliseconds(10);
+ } while (!chThdShouldTerminateX());
+
+ chThdExit(MSG_OK);
+}
+#endif
+
/****************************************************************************
* Test cases.
****************************************************************************/
@@ -166,11 +180,11 @@ static void rt_test_003_002_execute(void) {
sequence is tested.*/
test_set_step(1);
{
- 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");
+ threads[0] = test_create_thread(wa[0], WA_SIZE, chThdGetPriorityX()-5, thread, "E");
+ threads[1] = test_create_thread(wa[1], WA_SIZE, chThdGetPriorityX()-4, thread, "D");
+ threads[2] = test_create_thread(wa[2], WA_SIZE, chThdGetPriorityX()-3, thread, "C");
+ threads[3] = test_create_thread(wa[3], WA_SIZE, chThdGetPriorityX()-2, thread, "B");
+ threads[4] = test_create_thread(wa[4], WA_SIZE, chThdGetPriorityX()-1, thread, "A");
test_wait_threads();
test_assert_sequence("ABCDE", "invalid sequence");
}
@@ -179,11 +193,11 @@ static void rt_test_003_002_execute(void) {
sequence is tested.*/
test_set_step(2);
{
- 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");
+ threads[4] = test_create_thread(wa[4], WA_SIZE, chThdGetPriorityX()-1, thread, "A");
+ threads[3] = test_create_thread(wa[3], WA_SIZE, chThdGetPriorityX()-2, thread, "B");
+ threads[2] = test_create_thread(wa[2], WA_SIZE, chThdGetPriorityX()-3, thread, "C");
+ threads[1] = test_create_thread(wa[1], WA_SIZE, chThdGetPriorityX()-4, thread, "D");
+ threads[0] = test_create_thread(wa[0], WA_SIZE, chThdGetPriorityX()-5, thread, "E");
test_wait_threads();
test_assert_sequence("ABCDE", "invalid sequence");
}
@@ -192,11 +206,11 @@ static void rt_test_003_002_execute(void) {
sequence is tested.*/
test_set_step(3);
{
- 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");
+ threads[1] = test_create_thread(wa[1], WA_SIZE, chThdGetPriorityX()-4, thread, "D");
+ threads[0] = test_create_thread(wa[0], WA_SIZE, chThdGetPriorityX()-5, thread, "E");
+ threads[4] = test_create_thread(wa[4], WA_SIZE, chThdGetPriorityX()-1, thread, "A");
+ threads[3] = test_create_thread(wa[3], WA_SIZE, chThdGetPriorityX()-2, thread, "B");
+ threads[2] = test_create_thread(wa[2], WA_SIZE, chThdGetPriorityX()-3, thread, "C");
test_wait_threads();
test_assert_sequence("ABCDE", "invalid sequence");
}
@@ -325,6 +339,408 @@ static const testcase_t rt_test_003_004 = {
};
#endif /* CH_CFG_USE_MUTEXES */
+#if (CH_CFG_USE_THREADHIERARCHY) || defined(__DOXYGEN__)
+/**
+ * @page rt_test_003_005 [3.5] Thread hierarach with (un)ordered lists.
+ *
+ * Description
+ * Todo
+ *
+ * Conditions
+ * This test is only executed if the following preprocessor condition
+ * evaluates to true:
+ * - CH_CFG_USE_THREADHIERARCHY
+ * This test comprises additional tests if the following preprocessor
+ * condition evaluates to true:
+ * - CH_CFG_THREADHIERARCHY_ORDERED
+ * .
+ *
+ * Test Steps
+ * Todo
+ * .
+ */
+
+static void rt_test_003_005_execute(void) {
+
+ /* [3.5.1] Creating 1 parent and 4 child threads with increasing priority,
+ * hierarchy information is tested */
+ test_set_step(1);
+ {
+ tprio_t prios[MAX_THREADS];
+ thread_t *threads_cpy[MAX_THREADS];
+ thread_t *parents[MAX_THREADS];
+ thread_t *siblings[MAX_THREADS];
+ prios[0] = chThdGetPriorityX()-1;
+ prios[1] = chThdGetPriorityX()-5;
+ prios[2] = chThdGetPriorityX()-4;
+ prios[3] = chThdGetPriorityX()-3;
+ prios[4] = chThdGetPriorityX()-2;
+ threads[0] = chThdCreateStatic(wa[0], WA_SIZE, prios[0], hierarchythread, &prios[0], chThdGetSelfX());
+ threads[1] = chThdCreateStatic(wa[1], WA_SIZE, prios[1], hierarchythread, &prios[1], threads[0]);
+ threads[2] = chThdCreateStatic(wa[2], WA_SIZE, prios[2], hierarchythread, &prios[2], threads[0]);
+ threads[3] = chThdCreateStatic(wa[3], WA_SIZE, prios[3], hierarchythread, &prios[3], threads[0]);
+ threads[4] = chThdCreateStatic(wa[4], WA_SIZE, prios[4], hierarchythread, &prios[4], threads[0]);
+ threads_cpy[0] = threads[0];
+ threads_cpy[1] = threads[1];
+ threads_cpy[2] = threads[2];
+ threads_cpy[3] = threads[3];
+ threads_cpy[4] = threads[4];
+ parents[0] = threads[0]->parent;
+ parents[1] = threads[1]->parent;
+ parents[2] = threads[2]->parent;
+ parents[3] = threads[3]->parent;
+ parents[4] = threads[4]->parent;
+ siblings[0] = threads[0]->children;
+ siblings[1] = threads[1]->sibling;
+ siblings[2] = threads[2]->sibling;
+ siblings[3] = threads[3]->sibling;
+ siblings[4] = threads[4]->sibling;
+ test_terminate_threads();
+ test_wait_threads();
+ test_assert(parents[0] == chThdGetSelfX() &&
+ parents[1] == threads_cpy[0] &&
+ parents[2] == threads_cpy[0] &&
+ parents[3] == threads_cpy[0] &&
+ parents[4] == threads_cpy[0] &&
+ siblings[0] == threads_cpy[4] &&
+ siblings[1] == NULL &&
+ siblings[2] == threads_cpy[1] &&
+ siblings[3] == threads_cpy[2] &&
+ siblings[4] == threads_cpy[3], "invalid children list");
+ }
+
+ /* [3.5.2] Creating 1 parent and 4 child threads with decreasing priority,
+ * hierarchy information is tested.*/
+ test_set_step(2);
+ {
+ tprio_t prios[MAX_THREADS];
+ thread_t *threads_cpy[MAX_THREADS];
+ thread_t *parents[MAX_THREADS];
+ thread_t *siblings[MAX_THREADS];
+ prios[0] = chThdGetPriorityX()-1;
+ prios[1] = chThdGetPriorityX()-2;
+ prios[2] = chThdGetPriorityX()-3;
+ prios[3] = chThdGetPriorityX()-4;
+ prios[4] = chThdGetPriorityX()-5;
+ threads[0] = chThdCreateStatic(wa[0], WA_SIZE, prios[0], hierarchythread, &prios[0], chThdGetSelfX());
+ threads[1] = chThdCreateStatic(wa[1], WA_SIZE, prios[1], hierarchythread, &prios[1], threads[0]);
+ threads[2] = chThdCreateStatic(wa[2], WA_SIZE, prios[2], hierarchythread, &prios[2], threads[0]);
+ threads[3] = chThdCreateStatic(wa[3], WA_SIZE, prios[3], hierarchythread, &prios[3], threads[0]);
+ threads[4] = chThdCreateStatic(wa[4], WA_SIZE, prios[4], hierarchythread, &prios[4], threads[0]);
+ threads_cpy[0] = threads[0];
+ threads_cpy[1] = threads[1];
+ threads_cpy[2] = threads[2];
+ threads_cpy[3] = threads[3];
+ threads_cpy[4] = threads[4];
+ parents[0] = threads[0]->parent;
+ parents[1] = threads[1]->parent;
+ parents[2] = threads[2]->parent;
+ parents[3] = threads[3]->parent;
+ parents[4] = threads[4]->parent;
+ siblings[0] = threads[0]->children;
+ siblings[1] = threads[1]->sibling;
+ siblings[2] = threads[2]->sibling;
+ siblings[3] = threads[3]->sibling;
+ siblings[4] = threads[4]->sibling;
+ test_terminate_threads();
+ test_wait_threads();
+#if CH_CFG_THREADHIERARCHY_ORDERED == TRUE
+ test_assert(parents[0] == chThdGetSelfX() &&
+ parents[1] == threads_cpy[0] &&
+ parents[2] == threads_cpy[0] &&
+ parents[3] == threads_cpy[0] &&
+ parents[4] == threads_cpy[0] &&
+ siblings[0] == threads_cpy[1] &&
+ siblings[1] == threads_cpy[2] &&
+ siblings[2] == threads_cpy[3] &&
+ siblings[3] == threads_cpy[4] &&
+ siblings[4] == NULL, "invalid children list");
+#else
+ test_assert(parents[0] == chThdGetSelfX() &&
+ parents[1] == threads_cpy[0] &&
+ parents[2] == threads_cpy[0] &&
+ parents[3] == threads_cpy[0] &&
+ parents[4] == threads_cpy[0] &&
+ siblings[0] == threads_cpy[4] &&
+ siblings[4] == threads_cpy[3] &&
+ siblings[3] == threads_cpy[2] &&
+ siblings[2] == threads_cpy[1] &&
+ siblings[1] == NULL, "invalid children list");
+#endif
+ }
+
+ /* [3.5.3] Creating 1 parent and 4 child threads with identical priority,
+ * hierarchy information is tested.*/
+ test_set_step(3);
+ {
+ tprio_t prios[MAX_THREADS];
+ thread_t *threads_cpy[MAX_THREADS];
+ thread_t *parents[MAX_THREADS];
+ thread_t *siblings[MAX_THREADS];
+ prios[0] = chThdGetPriorityX()-1;
+ prios[1] = chThdGetPriorityX()-2;
+ prios[2] = chThdGetPriorityX()-2;
+ prios[3] = chThdGetPriorityX()-2;
+ prios[4] = chThdGetPriorityX()-2;
+ threads[0] = chThdCreateStatic(wa[0], WA_SIZE, prios[0], hierarchythread, &prios[0], chThdGetSelfX());
+ threads[1] = chThdCreateStatic(wa[1], WA_SIZE, prios[1], hierarchythread, &prios[1], threads[0]);
+ threads[2] = chThdCreateStatic(wa[2], WA_SIZE, prios[2], hierarchythread, &prios[2], threads[0]);
+ threads[3] = chThdCreateStatic(wa[3], WA_SIZE, prios[3], hierarchythread, &prios[3], threads[0]);
+ threads[4] = chThdCreateStatic(wa[4], WA_SIZE, prios[4], hierarchythread, &prios[4], threads[0]);
+ threads_cpy[0] = threads[0];
+ threads_cpy[1] = threads[1];
+ threads_cpy[2] = threads[2];
+ threads_cpy[3] = threads[3];
+ threads_cpy[4] = threads[4];
+ parents[0] = threads[0]->parent;
+ parents[1] = threads[1]->parent;
+ parents[2] = threads[2]->parent;
+ parents[3] = threads[3]->parent;
+ parents[4] = threads[4]->parent;
+ siblings[0] = threads[0]->children;
+ siblings[1] = threads[1]->sibling;
+ siblings[2] = threads[2]->sibling;
+ siblings[3] = threads[3]->sibling;
+ siblings[4] = threads[4]->sibling;
+ test_terminate_threads();
+ test_wait_threads();
+ test_assert(parents[0] == chThdGetSelfX() &&
+ parents[1] == threads_cpy[0] &&
+ parents[2] == threads_cpy[0] &&
+ parents[3] == threads_cpy[0] &&
+ parents[4] == threads_cpy[0] &&
+ siblings[0] == threads_cpy[4] &&
+ siblings[1] == NULL &&
+ siblings[2] == threads_cpy[1] &&
+ siblings[3] == threads_cpy[2] &&
+ siblings[4] == threads_cpy[3] , "invalid children list");
+ }
+
+ /* [3.5.4] Creating 1 parent and 4 child threads with increasing priority
+ * which are terminated in a controlled manner, hierarchy information is
+ * tested.*/
+ test_set_step(4);
+ {
+ tprio_t prios[MAX_THREADS];
+ thread_t *threads_cpy[MAX_THREADS];
+ thread_t *parents[MAX_THREADS];
+ thread_t *siblings[MAX_THREADS];
+ prios[0] = chThdGetPriorityX()-1;
+ prios[1] = chThdGetPriorityX()-5;
+ prios[2] = chThdGetPriorityX()-4;
+ prios[3] = chThdGetPriorityX()-3;
+ prios[4] = chThdGetPriorityX()-2;
+ threads[0] = chThdCreateStatic(wa[0], WA_SIZE, prios[0], hierarchythread, &prios[0], chThdGetSelfX());
+ threads[1] = chThdCreateStatic(wa[1], WA_SIZE, prios[1], hierarchythread, &prios[1], threads[0]);
+ threads[2] = chThdCreateStatic(wa[2], WA_SIZE, prios[2], hierarchythread, &prios[2], threads[0]);
+ threads[3] = chThdCreateStatic(wa[3], WA_SIZE, prios[3], hierarchythread, &prios[3], threads[0]);
+ threads[4] = chThdCreateStatic(wa[4], WA_SIZE, prios[4], hierarchythread, &prios[4], threads[0]);
+ threads_cpy[0] = threads[0];
+ threads_cpy[1] = threads[1];
+ threads_cpy[2] = threads[2];
+ threads_cpy[3] = threads[3];
+ threads_cpy[4] = threads[4];
+#if CH_CFG_USE_REGISTRY == TRUE
+ chThdAddRef(threads[1]);
+ chThdAddRef(threads[4]);
+#endif
+ chThdTerminate(threads[1]);
+ chThdTerminate(threads[4]);
+ chThdWait(threads[1]);
+ chThdWait(threads[4]);
+ parents[0] = threads[0]->parent;
+ parents[1] = threads[1]->parent;
+ parents[2] = threads[2]->parent;
+ parents[3] = threads[3]->parent;
+ parents[4] = threads[4]->parent;
+ siblings[0] = threads[0]->children;
+ siblings[1] = threads[1]->sibling;
+ siblings[2] = threads[2]->sibling;
+ siblings[3] = threads[3]->sibling;
+ siblings[4] = threads[4]->sibling;
+ test_terminate_threads();
+ test_wait_threads();
+ test_assert(parents[0] == chThdGetSelfX() &&
+ parents[2] == threads_cpy[0] &&
+ parents[3] == threads_cpy[0] &&
+ siblings[0] == threads_cpy[3] &&
+ siblings[2] == NULL &&
+ siblings[3] == threads_cpy[2], "invalid children list");
+ }
+
+ /* [3.5.5] Creating 1 parent and 4 child threads and then terminating the
+ * parent, hierarchy information is tested.*/
+ test_set_step(5);
+ {
+ tprio_t prios[MAX_THREADS];
+ thread_t *threads_cpy[MAX_THREADS];
+ thread_t *parents[MAX_THREADS];
+ uint8_t thdmask = 0;
+ prios[0] = chThdGetPriorityX()-1;
+ prios[1] = chThdGetPriorityX()-1;
+ prios[2] = chThdGetPriorityX()-1;
+ prios[3] = chThdGetPriorityX()-1;
+ prios[4] = chThdGetPriorityX()-1;
+ threads[0] = chThdCreateStatic(wa[0], WA_SIZE, prios[0], hierarchythread, &prios[0], chThdGetSelfX());
+ threads[1] = chThdCreateStatic(wa[1], WA_SIZE, prios[1], hierarchythread, &prios[1], threads[0]);
+ threads[2] = chThdCreateStatic(wa[2], WA_SIZE, prios[2], hierarchythread, &prios[2], threads[0]);
+ threads[3] = chThdCreateStatic(wa[3], WA_SIZE, prios[3], hierarchythread, &prios[3], threads[0]);
+ threads[4] = chThdCreateStatic(wa[4], WA_SIZE, prios[4], hierarchythread, &prios[4], threads[0]);
+ threads_cpy[0] = threads[0];
+ threads_cpy[1] = threads[1];
+ threads_cpy[2] = threads[2];
+ threads_cpy[3] = threads[3];
+ threads_cpy[4] = threads[4];
+#if CH_CFG_USE_REGISTRY == TRUE
+ chThdAddRef(threads[0]);
+#endif
+ chThdTerminate(threads[0]);
+ chThdWait(threads[0]);
+ parents[0] = threads_cpy[0]->parent;
+ parents[1] = threads_cpy[1]->parent;
+ parents[2] = threads_cpy[2]->parent;
+ parents[3] = threads_cpy[3]->parent;
+ parents[4] = threads_cpy[4]->parent;
+ for (thread_t* sibling = ch.mainthread.children; sibling != NULL; sibling = sibling->sibling) {
+ thdmask |= (sibling == threads[0]) ? 1 << 0 : 0;
+ thdmask |= (sibling == threads[1]) ? 1 << 1 : 0;
+ thdmask |= (sibling == threads[2]) ? 1 << 2 : 0;
+ thdmask |= (sibling == threads[3]) ? 1 << 3 : 0;
+ thdmask |= (sibling == threads[4]) ? 1 << 4 : 0;
+ }
+ test_terminate_threads();
+ test_wait_threads();
+ test_assert(parents[1] == &ch.mainthread &&
+ parents[2] == &ch.mainthread &&
+ parents[3] == &ch.mainthread &&
+ parents[4] == &ch.mainthread &&
+ thdmask == ((1 << 1) | (1 << 2) | (1 << 3) | (1 << 4)), "child thread recovery failed");
+ }
+
+ /* [3.5.6] Creating 1 parent and 4 child threads with increasing priority
+ * and then increasing the priority of a low-priority child, hierarchy
+ * information is tested.*/
+ test_set_step(6);
+ {
+ tprio_t prios[MAX_THREADS];
+ thread_t *threads_cpy[MAX_THREADS];
+ tprio_t testprios[2];
+ thread_t *siblings[MAX_THREADS];
+ prios[0] = chThdGetPriorityX()-1;
+ prios[1] = chThdGetPriorityX()-5;
+ prios[2] = chThdGetPriorityX()-4;
+ prios[3] = chThdGetPriorityX()-3;
+ prios[4] = chThdGetPriorityX()-2;
+ threads[0] = chThdCreateStatic(wa[0], WA_SIZE, prios[0], hierarchythread, &prios[0], chThdGetSelfX());
+ threads[1] = chThdCreateStatic(wa[1], WA_SIZE, prios[1], hierarchythread, &prios[1], threads[0]);
+ threads[2] = chThdCreateStatic(wa[2], WA_SIZE, prios[2], hierarchythread, &prios[2], threads[0]);
+ threads[3] = chThdCreateStatic(wa[3], WA_SIZE, prios[3], hierarchythread, &prios[3], threads[0]);
+ threads[4] = chThdCreateStatic(wa[4], WA_SIZE, prios[4], hierarchythread, &prios[4], threads[0]);
+ threads_cpy[0] = threads[0];
+ threads_cpy[1] = threads[1];
+ threads_cpy[2] = threads[2];
+ threads_cpy[3] = threads[3];
+ threads_cpy[4] = threads[4];
+ chThdSleepMilliseconds(10);
+ testprios[0] = threads[1]->prio;
+ prios[1] = prios[4];
+ chThdSleepMilliseconds(10);
+ testprios[1] = threads[1]->prio;
+ siblings[0] = threads[0]->children;
+ siblings[1] = threads[1]->sibling;
+ siblings[2] = threads[2]->sibling;
+ siblings[3] = threads[3]->sibling;
+ siblings[4] = threads[4]->sibling;
+ test_terminate_threads();
+ test_wait_threads();
+#if CH_CFG_THREADHIERARCHY_ORDERED == TRUE
+ test_assert(testprios[0] == chThdGetPriorityX()-5 &&
+ testprios[1] == prios[4] &&
+ siblings[0] == threads_cpy[1] &&
+ siblings[1] == threads_cpy[4] &&
+ siblings[2] == NULL &&
+ siblings[3] == threads_cpy[2] &&
+ siblings[4] == threads_cpy[3], "invalid children list");
+#else
+ test_assert(testprios[0] == chThdGetPriorityX()-5 &&
+ testprios[1] == prios[4] &&
+ siblings[0] == threads_cpy[4] &&
+ siblings[1] == NULL &&
+ siblings[2] == threads_cpy[1] &&
+ siblings[3] == threads_cpy[2] &&
+ siblings[4] == threads_cpy[3], "invalid children list");
+#endif
+ }
+
+ /* [3.5.7] Creating 1 parent and 4 child threads with increasing priority
+ * and the decreasing the priority of a high-priority child, hierarchy
+ * information is tested.*/
+ test_set_step(7);
+ {
+ tprio_t prios[MAX_THREADS];
+ thread_t *threads_cpy[MAX_THREADS];
+ tprio_t testprios[2];
+ thread_t *siblings[MAX_THREADS];
+ prios[0] = chThdGetPriorityX()-1;
+ prios[1] = chThdGetPriorityX()-5;
+ prios[2] = chThdGetPriorityX()-4;
+ prios[3] = chThdGetPriorityX()-3;
+ prios[4] = chThdGetPriorityX()-2;
+ threads[0] = chThdCreateStatic(wa[0], WA_SIZE, prios[0], hierarchythread, &prios[0], chThdGetSelfX());
+ threads[1] = chThdCreateStatic(wa[1], WA_SIZE, prios[1], hierarchythread, &prios[1], threads[0]);
+ threads[2] = chThdCreateStatic(wa[2], WA_SIZE, prios[2], hierarchythread, &prios[2], threads[0]);
+ threads[3] = chThdCreateStatic(wa[3], WA_SIZE, prios[3], hierarchythread, &prios[3], threads[0]);
+ threads[4] = chThdCreateStatic(wa[4], WA_SIZE, prios[4], hierarchythread, &prios[4], threads[0]);
+ threads_cpy[0] = threads[0];
+ threads_cpy[1] = threads[1];
+ threads_cpy[2] = threads[2];
+ threads_cpy[3] = threads[3];
+ threads_cpy[4] = threads[4];
+ chThdSleepMilliseconds(10);
+ testprios[0] = threads[4]->prio;
+ prios[4] = prios[1];
+ chThdSleepMilliseconds(10);
+ testprios[1] = threads[4]->prio;
+ siblings[0] = threads[0]->children;
+ siblings[1] = threads[1]->sibling;
+ siblings[2] = threads[2]->sibling;
+ siblings[3] = threads[3]->sibling;
+ siblings[4] = threads[4]->sibling;
+ test_terminate_threads();
+ test_wait_threads();
+#if CH_CFG_THREADHIERARCHY_ORDERED == TRUE
+ test_assert(testprios[0] == chThdGetPriorityX()-2 &&
+ testprios[1] == prios[1] &&
+ siblings[0] == threads_cpy[3] &&
+ siblings[1] == NULL &&
+ siblings[2] == threads_cpy[4] &&
+ siblings[3] == threads_cpy[2] &&
+ siblings[4] == threads_cpy[1], "invalid children list");
+#else
+ test_assert(testprios[0] == chThdGetPriorityX()-2 &&
+ testprios[1] == prios[1] &&
+ siblings[0] == threads_cpy[4] &&
+ siblings[1] == NULL &&
+ siblings[2] == threads_cpy[1] &&
+ siblings[3] == threads_cpy[2] &&
+ siblings[4] == threads_cpy[3], "invalid children list");
+#endif
+ }
+}
+
+
+static const testcase_t rt_test_003_005 = {
+#if CH_CFG_THREADHIERARCHY_ORDERED == TRUE
+ "Thread hierarchy with ordered lists",
+#else
+ "Thread hierarchy with unordered lists",
+#endif
+ NULL,
+ NULL,
+ rt_test_003_005_execute
+};
+#endif /* CH_CFG_USE_THREADHIERARCHY */
+
/****************************************************************************
* Exported data.
****************************************************************************/
@@ -338,6 +754,9 @@ const testcase_t * const rt_test_sequence_003_array[] = {
&rt_test_003_003,
#if (CH_CFG_USE_MUTEXES) || defined(__DOXYGEN__)
&rt_test_003_004,
+#endif
+#if (CH_CFG_USE_THREADHIERARCHY) || defined(__DOXYGEN__)
+ &rt_test_003_005,
#endif
NULL
};
diff --git a/test/rt/source/test/rt_test_sequence_004.c b/test/rt/source/test/rt_test_sequence_004.c
--- a/test/rt/source/test/rt_test_sequence_004.c
+++ b/test/rt/source/test/rt_test_sequence_004.c
@@ -83,7 +83,7 @@ static void rt_test_004_001_execute(void) {
and the state of the reference are tested.*/
test_set_step(1);
{
- threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX()-1, thread1, "A");
+ threads[0] = test_create_thread(wa[0], WA_SIZE, chThdGetPriorityX()-1, thread1, "A");
chSysLock();
msg = chThdSuspendTimeoutS(&tr1, TIME_INFINITE);
chSysUnlock();
diff --git a/test/rt/source/test/rt_test_sequence_005.c b/test/rt/source/test/rt_test_sequence_005.c
--- a/test/rt/source/test/rt_test_sequence_005.c
+++ b/test/rt/source/test/rt_test_sequence_005.c
@@ -178,11 +178,11 @@ static void rt_test_005_002_execute(void) {
initialized to zero.*/
test_set_step(1);
{
- threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX()+5, thread1, "A");
- threads[1] = chThdCreateStatic(wa[1], WA_SIZE, chThdGetPriorityX()+1, thread1, "B");
- threads[2] = chThdCreateStatic(wa[2], WA_SIZE, chThdGetPriorityX()+3, thread1, "C");
- threads[3] = chThdCreateStatic(wa[3], WA_SIZE, chThdGetPriorityX()+4, thread1, "D");
- threads[4] = chThdCreateStatic(wa[4], WA_SIZE, chThdGetPriorityX()+2, thread1, "E");
+ threads[0] = test_create_thread(wa[0], WA_SIZE, chThdGetPriorityX()+5, thread1, "A");
+ threads[1] = test_create_thread(wa[1], WA_SIZE, chThdGetPriorityX()+1, thread1, "B");
+ threads[2] = test_create_thread(wa[2], WA_SIZE, chThdGetPriorityX()+3, thread1, "C");
+ threads[3] = test_create_thread(wa[3], WA_SIZE, chThdGetPriorityX()+4, thread1, "D");
+ threads[4] = test_create_thread(wa[4], WA_SIZE, chThdGetPriorityX()+2, thread1, "E");
}
/* [5.2.2] The semaphore is signaled 5 times. The thread activation
@@ -248,7 +248,7 @@ static void rt_test_005_003_execute(void) {
/* [5.3.2] Testing non-timeout condition.*/
test_set_step(2);
{
- threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX() - 1,
+ threads[0] = test_create_thread(wa[0], WA_SIZE, chThdGetPriorityX() - 1,
thread2, 0);
msg = chSemWaitTimeout(&sem1, TIME_MS2I(500));
test_wait_threads();
@@ -305,7 +305,7 @@ static void rt_test_005_004_execute(void) {
/* [5.4.1] A thread is created, it goes to wait on the semaphore.*/
test_set_step(1);
{
- threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX()+1, thread1, "A");
+ threads[0] = test_create_thread(wa[0], WA_SIZE, chThdGetPriorityX()+1, thread1, "A");
}
/* [5.4.2] The semaphore counter is increased by two, it is then
@@ -366,7 +366,7 @@ static void rt_test_005_005_execute(void) {
non-atomical wait and signal operations on a semaphore.*/
test_set_step(1);
{
- threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX()+1, thread3, 0);
+ threads[0] = test_create_thread(wa[0], WA_SIZE, chThdGetPriorityX()+1, thread3, 0);
}
/* [5.5.2] The function chSemSignalWait() is invoked by specifying
@@ -448,7 +448,7 @@ static void rt_test_005_006_execute(void) {
/* [5.6.3] Starting a signaler thread at a lower priority.*/
test_set_step(3);
{
- threads[0] = chThdCreateStatic(wa[0], WA_SIZE,
+ threads[0] = test_create_thread(wa[0], WA_SIZE,
chThdGetPriorityX()-1, thread4, &bsem);
}
diff --git a/test/rt/source/test/rt_test_sequence_006.c b/test/rt/source/test/rt_test_sequence_006.c
--- a/test/rt/source/test/rt_test_sequence_006.c
+++ b/test/rt/source/test/rt_test_sequence_006.c
@@ -276,11 +276,11 @@ static void rt_test_006_001_execute(void) {
priority order.*/
test_set_step(3);
{
- threads[0] = chThdCreateStatic(wa[0], WA_SIZE, prio+1, thread1, "E");
- threads[1] = chThdCreateStatic(wa[1], WA_SIZE, prio+2, thread1, "D");
- threads[2] = chThdCreateStatic(wa[2], WA_SIZE, prio+3, thread1, "C");
- threads[3] = chThdCreateStatic(wa[3], WA_SIZE, prio+4, thread1, "B");
- threads[4] = chThdCreateStatic(wa[4], WA_SIZE, prio+5, thread1, "A");
+ threads[0] = test_create_thread(wa[0], WA_SIZE, prio+1, thread1, "E");
+ threads[1] = test_create_thread(wa[1], WA_SIZE, prio+2, thread1, "D");
+ threads[2] = test_create_thread(wa[2], WA_SIZE, prio+3, thread1, "C");
+ threads[3] = test_create_thread(wa[3], WA_SIZE, prio+4, thread1, "B");
+ threads[4] = test_create_thread(wa[4], WA_SIZE, prio+5, thread1, "A");
}
/* [6.1.4] Unlocking the mutex, the threads will wakeup in priority
@@ -347,9 +347,9 @@ static void rt_test_006_002_execute(void) {
complete in priority order.*/
test_set_step(2);
{
- threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX()-1, thread2H, 0);
- threads[1] = chThdCreateStatic(wa[1], WA_SIZE, chThdGetPriorityX()-2, thread2M, 0);
- threads[2] = chThdCreateStatic(wa[2], WA_SIZE, chThdGetPriorityX()-3, thread2L, 0);
+ threads[0] = test_create_thread(wa[0], WA_SIZE, chThdGetPriorityX()-1, thread2H, 0);
+ threads[1] = test_create_thread(wa[1], WA_SIZE, chThdGetPriorityX()-2, thread2M, 0);
+ threads[2] = test_create_thread(wa[2], WA_SIZE, chThdGetPriorityX()-3, thread2L, 0);
test_wait_threads();
test_assert_sequence("ABC", "invalid sequence");
}
@@ -418,11 +418,11 @@ static void rt_test_006_003_execute(void) {
complete in priority order.*/
test_set_step(2);
{
- threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX()-5, thread3LL, 0);
- threads[1] = chThdCreateStatic(wa[1], WA_SIZE, chThdGetPriorityX()-4, thread3L, 0);
- threads[2] = chThdCreateStatic(wa[2], WA_SIZE, chThdGetPriorityX()-3, thread3M, 0);
- threads[3] = chThdCreateStatic(wa[3], WA_SIZE, chThdGetPriorityX()-2, thread3H, 0);
- threads[4] = chThdCreateStatic(wa[4], WA_SIZE, chThdGetPriorityX()-1, thread3HH, 0);
+ threads[0] = test_create_thread(wa[0], WA_SIZE, chThdGetPriorityX()-5, thread3LL, 0);
+ threads[1] = test_create_thread(wa[1], WA_SIZE, chThdGetPriorityX()-4, thread3L, 0);
+ threads[2] = test_create_thread(wa[2], WA_SIZE, chThdGetPriorityX()-3, thread3M, 0);
+ threads[3] = test_create_thread(wa[3], WA_SIZE, chThdGetPriorityX()-2, thread3H, 0);
+ threads[4] = test_create_thread(wa[4], WA_SIZE, chThdGetPriorityX()-1, thread3HH, 0);
test_wait_threads();
test_assert_sequence("ABCDE", "invalid sequence");
}
@@ -501,8 +501,8 @@ static void rt_test_006_004_execute(void) {
/* [6.4.2] Spawning threads A and B at priorities P(A) and P(B).*/
test_set_step(2);
{
- threads[0] = chThdCreateStatic(wa[0], WA_SIZE, pa, thread4A, "A");
- threads[1] = chThdCreateStatic(wa[1], WA_SIZE, pb, thread4B, "B");
+ threads[0] = test_create_thread(wa[0], WA_SIZE, pa, thread4A, "A");
+ threads[1] = test_create_thread(wa[1], WA_SIZE, pb, thread4B, "B");
}
/* [6.4.3] Locking the mutex M1 before thread A has a chance to lock
@@ -839,11 +839,11 @@ static void rt_test_006_007_execute(void) {
test_set_step(1);
{
tprio_t prio = chThdGetPriorityX();
- threads[0] = chThdCreateStatic(wa[0], WA_SIZE, prio+1, thread6, "E");
- threads[1] = chThdCreateStatic(wa[1], WA_SIZE, prio+2, thread6, "D");
- threads[2] = chThdCreateStatic(wa[2], WA_SIZE, prio+3, thread6, "C");
- threads[3] = chThdCreateStatic(wa[3], WA_SIZE, prio+4, thread6, "B");
- threads[4] = chThdCreateStatic(wa[4], WA_SIZE, prio+5, thread6, "A");
+ threads[0] = test_create_thread(wa[0], WA_SIZE, prio+1, thread6, "E");
+ threads[1] = test_create_thread(wa[1], WA_SIZE, prio+2, thread6, "D");
+ threads[2] = test_create_thread(wa[2], WA_SIZE, prio+3, thread6, "C");
+ threads[3] = test_create_thread(wa[3], WA_SIZE, prio+4, thread6, "B");
+ threads[4] = test_create_thread(wa[4], WA_SIZE, prio+5, thread6, "A");
}
/* [6.7.2] Atomically signaling the condition variable five times
@@ -908,11 +908,11 @@ static void rt_test_006_008_execute(void) {
test_set_step(1);
{
tprio_t prio = chThdGetPriorityX();
- threads[0] = chThdCreateStatic(wa[0], WA_SIZE, prio+1, thread6, "E");
- threads[1] = chThdCreateStatic(wa[1], WA_SIZE, prio+2, thread6, "D");
- threads[2] = chThdCreateStatic(wa[2], WA_SIZE, prio+3, thread6, "C");
- threads[3] = chThdCreateStatic(wa[3], WA_SIZE, prio+4, thread6, "B");
- threads[4] = chThdCreateStatic(wa[4], WA_SIZE, prio+5, thread6, "A");
+ threads[0] = test_create_thread(wa[0], WA_SIZE, prio+1, thread6, "E");
+ threads[1] = test_create_thread(wa[1], WA_SIZE, prio+2, thread6, "D");
+ threads[2] = test_create_thread(wa[2], WA_SIZE, prio+3, thread6, "C");
+ threads[3] = test_create_thread(wa[3], WA_SIZE, prio+4, thread6, "B");
+ threads[4] = test_create_thread(wa[4], WA_SIZE, prio+5, thread6, "A");
}
/* [6.8.2] Broarcasting on the condition variable then waiting for
@@ -986,21 +986,21 @@ static void rt_test_006_009_execute(void) {
M1 and goes to wait on C1.*/
test_set_step(2);
{
- threads[0] = chThdCreateStatic(wa[0], WA_SIZE, prio+1, thread8, "A");
+ threads[0] = test_create_thread(wa[0], WA_SIZE, prio+1, thread8, "A");
}
/* [6.9.3] Thread C is created at priority P(+2), it enqueues on M1
and boosts TA priority at P(+2).*/
test_set_step(3);
{
- threads[1] = chThdCreateStatic(wa[1], WA_SIZE, prio+2, thread6, "C");
+ threads[1] = test_create_thread(wa[1], WA_SIZE, prio+2, thread6, "C");
}
/* [6.9.4] Thread B is created at priority P(+3), it enqueues on M2
and boosts TA priority at P(+3).*/
test_set_step(4);
{
- threads[2] = chThdCreateStatic(wa[2], WA_SIZE, prio+3, thread9, "B");
+ threads[2] = test_create_thread(wa[2], WA_SIZE, prio+3, thread9, "B");
}
/* [6.9.5] Signaling C1: TA wakes up, unlocks M1 and priority goes to
diff --git a/test/rt/source/test/rt_test_sequence_007.c b/test/rt/source/test/rt_test_sequence_007.c
--- a/test/rt/source/test/rt_test_sequence_007.c
+++ b/test/rt/source/test/rt_test_sequence_007.c
@@ -79,7 +79,7 @@ static void rt_test_007_001_execute(void) {
/* [7.1.1] Starting the messenger thread.*/
test_set_step(1);
{
- threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX() + 1,
+ threads[0] = test_create_thread(wa[0], WA_SIZE, chThdGetPriorityX() + 1,
msg_thread1, chThdGetSelfX());
}
diff --git a/test/rt/source/test/rt_test_sequence_008.c b/test/rt/source/test/rt_test_sequence_008.c
--- a/test/rt/source/test/rt_test_sequence_008.c
+++ b/test/rt/source/test/rt_test_sequence_008.c
@@ -226,7 +226,7 @@ static void rt_test_008_003_execute(void) {
test_set_step(3);
{
target_time = chTimeAddX(test_wait_tick(), TIME_MS2I(50));
- threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX() - 1,
+ threads[0] = test_create_thread(wa[0], WA_SIZE, chThdGetPriorityX() - 1,
evt_thread3, chThdGetSelfX());
}
@@ -300,7 +300,7 @@ static void rt_test_008_004_execute(void) {
test_set_step(3);
{
target_time = chTimeAddX(test_wait_tick(), TIME_MS2I(50));
- threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX() - 1,
+ threads[0] = test_create_thread(wa[0], WA_SIZE, chThdGetPriorityX() - 1,
evt_thread3, chThdGetSelfX());
}
@@ -381,7 +381,7 @@ static void rt_test_008_005_execute(void) {
test_set_step(4);
{
target_time = chTimeAddX(test_wait_tick(), TIME_MS2I(50));
- threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX() - 1,
+ threads[0] = test_create_thread(wa[0], WA_SIZE, chThdGetPriorityX() - 1,
evt_thread3, chThdGetSelfX());
}
@@ -514,7 +514,7 @@ static void rt_test_008_007_execute(void) {
test_set_step(2);
{
target_time = chTimeAddX(test_wait_tick(), TIME_MS2I(50));
- threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX() - 1,
+ threads[0] = test_create_thread(wa[0], WA_SIZE, chThdGetPriorityX() - 1,
evt_thread7, "A");
}
diff --git a/test/rt/source/test/rt_test_sequence_010.c b/test/rt/source/test/rt_test_sequence_010.c
--- a/test/rt/source/test/rt_test_sequence_010.c
+++ b/test/rt/source/test/rt_test_sequence_010.c
@@ -169,7 +169,7 @@ static void rt_test_010_001_execute(void) {
the current thread.*/
test_set_step(1);
{
- threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX()-1, bmk_thread1, NULL);
+ threads[0] = test_create_thread(wa[0], WA_SIZE, chThdGetPriorityX()-1, bmk_thread1, NULL);
}
/* [10.1.2] The number of messages exchanged is counted in a one
@@ -230,7 +230,7 @@ static void rt_test_010_002_execute(void) {
than the current thread.*/
test_set_step(1);
{
- threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX()+1, bmk_thread1, NULL);
+ threads[0] = test_create_thread(wa[0], WA_SIZE, chThdGetPriorityX()+1, bmk_thread1, NULL);
}
/* [10.2.2] The number of messages exchanged is counted in a one
@@ -294,17 +294,17 @@ static void rt_test_010_003_execute(void) {
than the current thread.*/
test_set_step(1);
{
- threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX()+1, bmk_thread1, NULL);
+ threads[0] = test_create_thread(wa[0], WA_SIZE, chThdGetPriorityX()+1, bmk_thread1, NULL);
}
/* [10.3.2] Four threads are started at a lower priority than the
current thread.*/
test_set_step(2);
{
- threads[1] = chThdCreateStatic(wa[1], WA_SIZE, chThdGetPriorityX()-2, bmk_thread3, NULL);
- threads[2] = chThdCreateStatic(wa[2], WA_SIZE, chThdGetPriorityX()-3, bmk_thread3, NULL);
- threads[3] = chThdCreateStatic(wa[3], WA_SIZE, chThdGetPriorityX()-4, bmk_thread3, NULL);
- threads[4] = chThdCreateStatic(wa[4], WA_SIZE, chThdGetPriorityX()-5, bmk_thread3, NULL);
+ threads[1] = test_create_thread(wa[1], WA_SIZE, chThdGetPriorityX()-2, bmk_thread3, NULL);
+ threads[2] = test_create_thread(wa[2], WA_SIZE, chThdGetPriorityX()-3, bmk_thread3, NULL);
+ threads[3] = test_create_thread(wa[3], WA_SIZE, chThdGetPriorityX()-4, bmk_thread3, NULL);
+ threads[4] = test_create_thread(wa[4], WA_SIZE, chThdGetPriorityX()-5, bmk_thread3, NULL);
}
/* [10.3.3] The number of messages exchanged is counted in a one
@@ -360,7 +360,7 @@ static void rt_test_010_004_execute(void) {
/* [10.4.1] Starting the target thread at an higher priority level.*/
test_set_step(1);
{
- tp = threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX()+1,
+ tp = threads[0] = test_create_thread(wa[0], WA_SIZE, chThdGetPriorityX()+1,
bmk_thread4, NULL);
}
@@ -444,7 +444,7 @@ static void rt_test_010_005_execute(void) {
start = test_wait_tick();
end = chTimeAddX(start, TIME_MS2I(1000));
do {
- chThdWait(chThdCreateStatic(wa[0], WA_SIZE, prio, bmk_thread3, NULL));
+ chThdWait(test_create_thread(wa[0], WA_SIZE, prio, bmk_thread3, NULL));
n++;
#if defined(SIMULATOR)
_sim_check_for_interrupts();
@@ -502,9 +502,9 @@ static void rt_test_010_006_execute(void) {
end = chTimeAddX(start, TIME_MS2I(1000));
do {
#if CH_CFG_USE_REGISTRY
- chThdRelease(chThdCreateStatic(wa[0], WA_SIZE, prio, bmk_thread3, NULL));
+ chThdRelease(test_create_thread(wa[0], WA_SIZE, prio, bmk_thread3, NULL));
#else
- chThdCreateStatic(wa[0], WA_SIZE, prio, bmk_thread3, NULL);
+ test_create_thread(wa[0], WA_SIZE, prio, bmk_thread3, NULL);
#endif
n++;
#if defined(SIMULATOR)
@@ -566,11 +566,11 @@ static void rt_test_010_007_execute(void) {
immediately enqueue on a semaphore.*/
test_set_step(1);
{
- threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX()+5, bmk_thread7, NULL);
- threads[1] = chThdCreateStatic(wa[1], WA_SIZE, chThdGetPriorityX()+4, bmk_thread7, NULL);
- threads[2] = chThdCreateStatic(wa[2], WA_SIZE, chThdGetPriorityX()+3, bmk_thread7, NULL);
- threads[3] = chThdCreateStatic(wa[3], WA_SIZE, chThdGetPriorityX()+2, bmk_thread7, NULL);
- threads[4] = chThdCreateStatic(wa[4], WA_SIZE, chThdGetPriorityX()+1, bmk_thread7, NULL);
+ threads[0] = test_create_thread(wa[0], WA_SIZE, chThdGetPriorityX()+5, bmk_thread7, NULL);
+ threads[1] = test_create_thread(wa[1], WA_SIZE, chThdGetPriorityX()+4, bmk_thread7, NULL);
+ threads[2] = test_create_thread(wa[2], WA_SIZE, chThdGetPriorityX()+3, bmk_thread7, NULL);
+ threads[3] = test_create_thread(wa[3], WA_SIZE, chThdGetPriorityX()+2, bmk_thread7, NULL);
+ threads[4] = test_create_thread(wa[4], WA_SIZE, chThdGetPriorityX()+1, bmk_thread7, NULL);
}
/* [10.7.2] The semaphore is reset waking up the five threads. The
@@ -645,12 +645,12 @@ static void rt_test_010_008_execute(void) {
test_set_step(1);
{
n = 0;
- test_wait_tick();threads[0] = chThdCreateStatic(wa[0], WA_SIZE, chThdGetPriorityX()-1, bmk_thread8, (void *)&n);
+ test_wait_tick();threads[0] = test_create_thread(wa[0], WA_SIZE, chThdGetPriorityX()-1, bmk_thread8, (void *)&n);
- threads[1] = chThdCreateStatic(wa[1], WA_SIZE, chThdGetPriorityX()-1, bmk_thread8, (void *)&n);
- threads[2] = chThdCreateStatic(wa[2], WA_SIZE, chThdGetPriorityX()-1, bmk_thread8, (void *)&n);
- threads[3] = chThdCreateStatic(wa[3], WA_SIZE, chThdGetPriorityX()-1, bmk_thread8, (void *)&n);
- threads[4] = chThdCreateStatic(wa[4], WA_SIZE, chThdGetPriorityX()-1, bmk_thread8, (void *)&n);
+ threads[1] = test_create_thread(wa[1], WA_SIZE, chThdGetPriorityX()-1, bmk_thread8, (void *)&n);
+ threads[2] = test_create_thread(wa[2], WA_SIZE, chThdGetPriorityX()-1, bmk_thread8, (void *)&n);
+ threads[3] = test_create_thread(wa[3], WA_SIZE, chThdGetPriorityX()-1, bmk_thread8, (void *)&n);
+ threads[4] = test_create_thread(wa[4], WA_SIZE, chThdGetPriorityX()-1, bmk_thread8, (void *)&n);
}
/* [10.8.2] Waiting one second then terminating the 5 threads.*/
--
2.17.1