tests/freertos: add test for compat layer

Added test for freertos. Only for BOARD:esp32-wroom-32 at the moment.
At the moment it only tests xSemaphoreTake(), xSemaphoreTakeRecursive() and the creation of the semaphore.
It creates the semaphore and calls take for it multiple times and checks whether the return value is correct.
Take should return (quote freertos documention):
"pdPASS Returned only if the call to xSemaphoreTakeRecursive() was successful in obtaining the semaphore."
"pdFAIL Returned if the call to xSemaphoreTakeRecursive() did not successfully obtain the semaphore."
The same for xSemaphoreTake().
The future goal for this test is to test the complete freertos compatibility layer
and to have the test for a general freertos compatibility layer that does not only work for esp32.

tests/freertos/Makefile

@@ -0,0 +1,8 @@
+include ../Makefile.tests_common
+
+USEMODULE += riot_freertos
+USEMODULE += shell
+BOARD_WHITELIST := esp32-wroom-32
+
+
+include $(RIOTBASE)/Makefile.include

tests/freertos/main.c

@@ -0,0 +1,103 @@
+/*
+ * Copyright (C) 2019 Freie Universitaet 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.
+ */
+
+/**
+ * @ingroup     tests
+ * @{
+ *
+ * @file
+ * @brief       freertos testing tool
+ *
+ * More detailed information about the file and the functionality implemented.
+ *
+ * @author      Julian Holzwarth <julian.holzwarth@fu-berlin.de>
+ *
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+
+#include "shell.h"
+
+#include "freertos/FreeRTOS.h"
+#include "semaphore_test.h"
+
+/**
+ * Foward declarations
+ */
+static int cmd_test_mutex(int argc, char **argv);
+static int cmd_test_recursive_mutex(int argc, char **argv);
+
+
+/**
+ * @brief   List of command for this application.
+ */
+static const shell_command_t shell_commands[] = {
+    { "mutex_semaphore", "tests freertos mutex semaphor", cmd_test_mutex, },
+    { "recursive_mutex_semaphore", "tests freertos recursive mutex semaphor", cmd_test_recursive_mutex },
+    { NULL, NULL, NULL }
+};
+
+/**
+ * @brief   shell command to test freertos mutex semaphore
+ *
+ * @param[in] argc  Number of arguments
+ * @param[in] argv  Array of arguments
+ *
+ * @return 0 on success
+ */
+static int cmd_test_mutex(int argc, char **argv)
+{
+    (void)argc;
+    (void)argv;
+    puts("starting test: mutex semaphore");
+    if (semaphore_test_mutex_take() == pdPASS) {
+        puts("OK");
+    }
+    else {
+        puts("mutex semaphore test failed");
+    }
+
+    return 0;
+}
+
+/**
+ * @brief   shell command to test freertos recursive mutex semaphore
+ *
+ * @param[in] argc  Number of arguments
+ * @param[in] argv  Array of arguments
+ *
+ * @return 0 on success
+ */
+static int cmd_test_recursive_mutex(int argc, char **argv)
+{
+    (void)argc;
+    (void)argv;
+    puts("starting test: recursive mutex semaphore");
+    if (semaphore_test_recursive_mutex_take() == pdPASS) {
+        puts("OK");
+    }
+    else {
+        puts("recursive mutex semaphore test failed");
+    }
+    return 0;
+}
+
+/**
+ * @brief   main function starting shell
+ *
+ * @return 0 on success
+ */
+int main(void)
+{
+    puts("Starting shell...");
+    char line_buf[SHELL_DEFAULT_BUFSIZE];
+    shell_run(shell_commands, line_buf, SHELL_DEFAULT_BUFSIZE);
+
+    return 0;
+}

tests/freertos/semaphore_test.c

@@ -0,0 +1,82 @@
+/*
+ * Copyright (C) 2019 Freie Universitaet 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.
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+
+#include "freertos/semphr.h"
+#include "freertos/queue.h"
+#include "freertos/FreeRTOS.h"
+
+#include "semaphore_test.h"
+
+/**
+ * @brief   tests the take function for a freertos mutex semaphore
+ *
+ * @return pdPASS when the test is passed, pdFail otherwise
+ */
+int semaphore_test_mutex_take(void)
+{
+    SemaphoreHandle_t testing_semaphore = xSemaphoreCreateMutex();
+
+    if (testing_semaphore == NULL) {
+        puts("test failed: mutex semaphore not created");
+        return pdFAIL;
+    }
+    /*
+     * Freertos Documentation:
+     * "pdPASS: Returned only if the call to xSemaphoreTake()
+     * was successful in obtaining the semaphore."
+     */
+    /* first call should be successful */
+    if (xSemaphoreTake(testing_semaphore, 0) == pdFAIL) {
+        puts("error in Take");
+        vSemaphoreDelete(testing_semaphore);
+        return pdFAIL;
+    }
+    /* after the fist call every call should fail */
+    if (xSemaphoreTake(testing_semaphore, 0) == pdPASS) {
+        puts("error in Take");
+        vSemaphoreDelete(testing_semaphore);
+        return pdFAIL;
+    }
+    vSemaphoreDelete(testing_semaphore);
+    return pdPASS;
+}
+
+/**
+ * @brief   tests the take function for a freertos recursive mutex semaphore
+ *
+ * @return pdPASS when the test is passed, pdFAIL otherwise
+ */
+int semaphore_test_recursive_mutex_take(void)
+{
+    SemaphoreHandle_t testing_semaphore = xSemaphoreCreateRecursiveMutex();
+
+    if (testing_semaphore == NULL) {
+        puts("test failed: recursive mutex semaphore not created");
+        return pdFAIL;
+    }
+    /*
+     * Freertos Documentation:
+     * "pdPASS: Returned only if the call to xSemaphoreTakeRecursive()
+     * was successful in obtaining the semaphore.",
+     * "once a recursive mutex has been successfully ‘taken’ by a task,
+     * further calls to xSemaphoreTakeRecursive() made by the
+     * same task will also be successful."
+     */
+    for (size_t i = 0; i < 3; i++) {
+        if (xSemaphoreTakeRecursive(testing_semaphore, 0) == pdFAIL) {
+            puts("error in Take");
+            vSemaphoreDelete(testing_semaphore);
+            return pdFAIL;
+        }
+    }
+    vSemaphoreDelete(testing_semaphore);
+    return pdPASS;
+}

tests/freertos/semaphore_test.h

@@ -0,0 +1,47 @@
+/*
+ * Copyright (C) 2019 Freie Universitaet 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.
+ */
+#ifndef SEMAPHORE_TEST_H
+#define SEMAPHORE_TEST_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @ingroup     tests
+ * @{
+ *
+ * @file
+ * @brief       freertos testing tool
+ *
+ * More detailed information about the file and the functionality implemented.
+ *
+ * @author      Julian Holzwarth <julian.holzwarth@fu-berlin.de>
+ *
+ */
+
+
+/**
+ * @brief   tests the take function for a freertos mutex semaphore
+ *
+ * @return pdPASS when the test is passed, pdFail otherwise
+ */
+int semaphore_test_mutex_take(void);
+
+/**
+ * @brief   tests the take function for a freertos recursive mutex semaphore
+ *
+ * @return pdPASS when the test is passed, pdFAIL otherwise
+ */
+int semaphore_test_recursive_mutex_take(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* SEMAPHORE_TEST_H */

tests/freertos/tests/01-run.py

@@ -0,0 +1,34 @@
+#!/usr/bin/env python3
+
+#  Copyright (C) 2019 Freie Universitaet 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.
+
+# @author      Julian Holzwarth <julian.holzwarth@fu-berlin.de>
+
+import sys
+import pexpect
+from testrunner import run
+
+
+def testfunc(child):
+    # Try to wait for the shell
+    for _ in range(0, 10):
+        child.sendline("help")
+        if child.expect_exact(["> ", pexpect.TIMEOUT], timeout=1) == 0:
+            break
+    child.sendline("mutex_semaphore")
+    child.expect("starting test: mutex semaphore")
+    child.expect("OK")
+    child.expect_exact("> ")
+
+    child.sendline("recursive_mutex_semaphore")
+    child.expect_exact("starting test: recursive mutex semaphore")
+    child.expect("OK")
+    child.expect_exact("> ")
+
+
+if __name__ == "__main__":
+    sys.exit(run(testfunc))