apps: testing/ostest: Add comprehensive scheduler parameter tests

testing/ostest/CMakeLists.txt

@@ -110,6 +110,8 @@ if(CONFIG_TESTING_OSTEST)
       list(APPEND SRCS roundrobin.c)
     endif()
 
+    list(APPEND SRCS sched_params.c)
+
     if(CONFIG_SCHED_SPORADIC)
       list(APPEND SRCS sporadic.c sporadic2.c)
     endif()

testing/ostest/Makefile

@@ -111,6 +111,8 @@ ifneq ($(CONFIG_RR_INTERVAL),0)
 CSRCS += roundrobin.c
 endif
 
+CSRCS += sched_params.c
+
 ifeq ($(CONFIG_SCHED_SPORADIC),y)
 CSRCS += sporadic.c sporadic2.c
 endif

testing/ostest/ostest.h

@@ -224,6 +224,10 @@ void sigev_thread_test(void);
 
 void rr_test(void);
 
+/* sched_params.c ***********************************************************/
+
+void sched_params_test(void);
+
 /* sporadic.c ***************************************************************/
 
 void sporadic_test(void);

testing/ostest/ostest_main.c

@@ -574,6 +574,14 @@ static int user_main(int argc, char *argv[])
       check_test_memory_usage();
 #endif
 
+#if !defined(CONFIG_DISABLE_PTHREAD) && defined(CONFIG_BUILD_FLAT)
+      /* Verify scheduler parameter functions */
+
+      printf("\nuser_main: scheduler parameters test\n");
+      sched_params_test();
+      check_test_memory_usage();
+#endif
+
 #if !defined(CONFIG_DISABLE_PTHREAD) && defined(CONFIG_SCHED_SPORADIC)
       /* Verify sporadic scheduling */
 

testing/ostest/sched_params.c

@@ -0,0 +1,346 @@
+/****************************************************************************
+ * apps/testing/ostest/sched_params.c
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <errno.h>
+#include <sched.h>
+#include <pthread.h>
+#include <unistd.h>
+#include <assert.h>
+#include <time.h>
+
+#include <nuttx/sched.h>
+
+#include "ostest.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Test parameters */
+
+#define SCHEDULER_TEST_PRIORITY_LOW    100
+#define SCHEDULER_TEST_PRIORITY_MED    150
+#define SCHEDULER_TEST_PRIORITY_HIGH   200
+
+#ifdef CONFIG_SCHED_SPORADIC
+#define SPORADIC_INIT_PRIORITY         150
+#define SPORADIC_MAX_REPL              200  /* Max priority */
+#define SPORADIC_REPL_PERIOD           1000 /* milliseconds */
+#define SPORADIC_BUDGET                300  /* milliseconds */
+#endif
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static pthread_t g_test_thread;
+static volatile bool g_thread_ready = false;
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: sched_test_thread
+ *
+ * Description:
+ *   Test thread that can have its scheduler parameters modified.
+ *
+ ****************************************************************************/
+
+static FAR void *sched_test_thread(FAR void *parameter)
+{
+  g_thread_ready = true;
+
+  /* Just keep the thread running for testing */
+
+  while (1)
+    {
+      usleep(100000);  /* Sleep 100ms */
+    }
+
+  return NULL;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: sched_params_test
+ *
+ * Description:
+ *   Test nxsched_set_param, nxsched_get_param, nxsched_set_scheduler,
+ *   and nxsched_get_scheduler functions. Also test CONFIG_SCHED_SPORADIC
+ *   if enabled.
+ *
+ ****************************************************************************/
+
+void sched_params_test(void)
+{
+  struct sched_param param;
+  struct sched_param get_param;
+  int policy;
+  int ret;
+  int current_priority;
+  pid_t main_pid;
+  int test_priorities[4];
+  int i;
+
+  test_priorities[0] = 120;
+  test_priorities[1] = 140;
+  test_priorities[2] = 160;
+  test_priorities[3] = 130;
+
+  printf("\nsched_params_test: Starting scheduler parameters test\n");
+
+  /* Test 1: Get main task's current scheduler and parameters */
+
+  printf("\nTest 1: Get main task scheduler and priority\n");
+
+  main_pid = getpid();
+  printf("sched_params_test: Main task PID = %d\n", main_pid);
+
+  /* Get scheduler policy for main task */
+
+  ret = nxsched_get_scheduler(main_pid);
+  if (ret < 0)
+    {
+      printf("sched_params_test: ERROR - nxsched_get_scheduler failed: %d\n",
+             ret);
+      ASSERT(false);
+    }
+
+  policy = ret;
+  printf("sched_params_test: Main task policy = %d (SCHED_FIFO=%d, "
+         "SCHED_RR=%d)\n", policy, SCHED_FIFO, SCHED_RR);
+
+  /* Get priority for main task */
+
+  ret = nxsched_get_param(main_pid, &get_param);
+  if (ret < 0)
+    {
+      printf("sched_params_test: ERROR -\
+              nxsched_get_param failed: %d\n", ret);
+      ASSERT(false);
+    }
+
+  current_priority = get_param.sched_priority;
+  printf("sched_params_test: Main task priority = %d\n", current_priority);
+
+  /* Test 2: Set priority and verify */
+
+  printf("\nTest 2: Set priority and verify\n");
+
+  param.sched_priority = SCHEDULER_TEST_PRIORITY_MED;
+
+  ret = nxsched_set_param(main_pid, &param);
+  if (ret < 0)
+    {
+      printf("sched_params_test: ERROR - \
+              nxsched_set_param failed: %d\n", ret);
+      ASSERT(false);
+    }
+
+  printf("sched_params_test: Set priority to %d\n",
+         SCHEDULER_TEST_PRIORITY_MED);
+
+  /* Verify the priority was set */
+
+  ret = nxsched_get_param(main_pid, &get_param);
+  if (ret < 0)
+    {
+      printf("sched_params_test: ERROR - \
+              nxsched_get_param after set " \
+             "failed: %d\n", ret);
+      ASSERT(false);
+    }
+
+  if (get_param.sched_priority != SCHEDULER_TEST_PRIORITY_MED)
+    {
+      printf("sched_params_test: ERROR - Priority not set correctly, "
+             "expected %d, got %d\n", SCHEDULER_TEST_PRIORITY_MED,
+             get_param.sched_priority);
+      ASSERT(false);
+    }
+
+  printf("sched_params_test: Verified priority set to %d\n",
+         SCHEDULER_TEST_PRIORITY_MED);
+
+  /* Test 3: Create a test thread and modify its parameters */
+
+  printf("\nTest 3: Test thread parameter modification\n");
+
+  g_thread_ready = false;
+
+  /* Create test thread with initial priority */
+
+  param.sched_priority = SCHEDULER_TEST_PRIORITY_LOW;
+  pthread_attr_t attr;
+  pthread_attr_init(&attr);
+  pthread_attr_setschedparam(&attr, &param);
+
+  ret = pthread_create(&g_test_thread, &attr, sched_test_thread, NULL);
+  pthread_attr_destroy(&attr);
+
+  if (ret != 0)
+    {
+      printf("sched_params_test: ERROR - pthread_create failed: %d\n", ret);
+      ASSERT(false);
+    }
+
+  printf("sched_params_test: Test thread created\n");
+
+  /* Wait for thread to be ready */
+
+  usleep(200000);  /* Wait 200ms for thread to start */
+
+  if (!g_thread_ready)
+    {
+      printf("sched_params_test: WARNING - Test thread not ready\n");
+    }
+
+  /* Get test thread parameters */
+
+  ret = nxsched_get_param((pid_t)g_test_thread, &get_param);
+  if (ret == 0)
+    {
+      printf("sched_params_test: Test thread initial priority = %d\n",
+             get_param.sched_priority);
+    }
+  else
+    {
+      printf("sched_params_test: WARNING - Could not get test thread "
+             "parameters: %d\n", ret);
+    }
+
+  /* Test 4: Verify invalid PID handling */
+
+  printf("\nTest 4: Test invalid PID handling\n");
+
+  /* Try to get scheduler for invalid PID */
+
+  ret = nxsched_get_scheduler(99999);
+  if (ret < 0 && ret == -ESRCH)
+    {
+      printf("sched_params_test: Correctly rejected invalid PID\n");
+    }
+  else if (ret < 0)
+    {
+      printf("sched_params_test: Got error for invalid PID: %d\n", ret);
+    }
+  else
+    {
+      printf("sched_params_test: WARNING - Did not reject invalid PID\n");
+    }
+
+  /* Test 5: Test getting scheduler for PID 0 (self) */
+
+  printf("\nTest 5: Get scheduler for self (PID 0)\n");
+
+  ret = nxsched_get_scheduler(0);
+  if (ret < 0)
+    {
+      printf("sched_params_test: ERROR - \
+              nxsched_get_scheduler(0) failed: %d\n", \
+              ret);
+      ASSERT(false);
+    }
+
+  printf("sched_params_test: Self scheduler policy = %d\n", ret);
+
+  /* Test 6: Get parameters for PID 0 (self) */
+
+  printf("\nTest 6: Get parameters for self (PID 0)\n");
+
+  ret = nxsched_get_param(0, &get_param);
+  if (ret < 0)
+    {
+      printf("sched_params_test: ERROR - nxsched_get_param(0) failed: %d\n",
+             ret);
+      ASSERT(false);
+    }
+
+  printf("sched_params_test: Self priority = %d\n", \
+          get_param.sched_priority);
+
+  /* Test 7: Multiple priority changes */
+
+  printf("\nTest 7: Multiple priority changes\n");
+
+  for (i = 0; i < 4; i++)
+    {
+      param.sched_priority = test_priorities[i];
+
+      ret = nxsched_set_param(main_pid, &param);
+      if (ret < 0)
+        {
+          printf("sched_params_test: ERROR - Failed to set priority to %d: "
+                 "%d\n", test_priorities[i], ret);
+          ASSERT(false);
+        }
+
+      ret = nxsched_get_param(main_pid, &get_param);
+      if (ret < 0)
+        {
+          printf("sched_params_test: ERROR - Failed to get priority: %d\n",
+                 ret);
+          ASSERT(false);
+        }
+
+      if (get_param.sched_priority != test_priorities[i])
+        {
+          printf("sched_params_test: ERROR - \
+                 Priority mismatch: expected %d, "
+                 "got %d\n", test_priorities[i], get_param.sched_priority);
+          ASSERT(false);
+        }
+
+      printf("sched_params_test: [%d] Priority changed to %d and verified\n",
+             i + 1, test_priorities[i]);
+    }
+
+  /* Restore original priority */
+
+  param.sched_priority = current_priority;
+  nxsched_set_param(main_pid, &param);
+
+  printf("\nTest 8: Restored original priority to %d\n", current_priority);
+
+  /* Cancel the test thread */
+
+  printf("\nsched_params_test: Canceling test thread\n");
+
+  pthread_cancel(g_test_thread);
+  pthread_join(g_test_thread, NULL);
+
+  printf("sched_params_test: Test thread cleaned up\n");
+
+  printf("\nsched_params_test: All scheduler parameter tests PASSED\n");
+}