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test(freertos): Added unit test for event groups to test priority inversion
This commit adds a FreeRTOS unit test to verify that event groups do not cause priority inversion when unblocking a higher priority task.
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components/freertos/test_apps/freertos/kernel/event_groups/test_freertos_eventgroups.c

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@@ -132,6 +132,57 @@ TEST_CASE("FreeRTOS Event Group Sync", "[freertos]")
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vEventGroupDelete(eg);
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}
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static TaskHandle_t run_order[2];
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static uint32_t run_order_index = 0;
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void task_test_eg_prio(void *arg)
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{
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TaskHandle_t main_task_hdl = (TaskHandle_t)arg;
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/* Notify the main task that this task has been created */
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xTaskNotifyGive(main_task_hdl);
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/* Wait for the event group bits to be set */
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TEST_ASSERT_EQUAL(1, xEventGroupWaitBits(eg, 1, pdTRUE, pdTRUE, portMAX_DELAY));
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/* Record the task handle in the run order array */
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run_order[run_order_index++] = xTaskGetCurrentTaskHandle();
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/* Suspend the task */
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vTaskSuspend(NULL);
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}
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TEST_CASE("FreeRTOS Event Groups do not cause priority inversion when higher priority task is unblocked", "[freertos]")
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{
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run_order[0] = NULL;
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run_order[1] = NULL;
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run_order_index = 0;
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/* Initialize the event group */
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eg = xEventGroupCreate();
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/* Create a task with higher priority than the task that will set the event group bits */
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TaskHandle_t higher_prio_hdl;
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TEST_ASSERT_EQUAL(pdTRUE, xTaskCreatePinnedToCore(task_test_eg_prio, "task_test_eg_prio", 2048, (void *)xTaskGetCurrentTaskHandle(), CONFIG_UNITY_FREERTOS_PRIORITY + 1, &higher_prio_hdl, CONFIG_UNITY_FREERTOS_CPU));
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/* Wait for the task to be created */
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ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
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/* Set the event group bits */
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xEventGroupSetBits(eg, 1);
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/* Record the task handle in the run order array */
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run_order[run_order_index++] = xTaskGetCurrentTaskHandle();
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/* Verify that the higher priority task was unblocked and immediately scheduled and the lower priority task was preempted */
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TEST_ASSERT_EQUAL(higher_prio_hdl, run_order[0]);
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TEST_ASSERT_EQUAL(xTaskGetCurrentTaskHandle(), run_order[1]);
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/* Clean up */
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vEventGroupDelete(eg);
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vTaskDelete(higher_prio_hdl);
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}
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/*-----------------Test case for event group trace facilities-----------------*/
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#ifdef CONFIG_FREERTOS_USE_TRACE_FACILITY
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/*

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