freertos: Add unit test utilities

This commit adds "freertos_test_utils.h/c" that contains utility functions
used in FreeRTOS unit tests.

components/freertos/test/CMakeLists.txt

@@ -1,7 +1,8 @@
 # For refactored FreeRTOS unit tests, we need to support #include "xxx.h" of FreeRTOS headers
 idf_component_get_property(FREERTOS_ORIG_INCLUDE_PATH freertos ORIG_INCLUDE_PATH)
 
-idf_component_register(SRC_DIRS integration/event_groups
+idf_component_register(SRC_DIRS integration     # For freertos_test_utils.c
+                                integration/event_groups
                                 integration/queue
                                 integration/stream_buffer
                                 integration/tasks

components/freertos/test/integration/freertos_test_utils.c

@@ -0,0 +1,72 @@
+/*
+ * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "FreeRTOS.h"
+#include "semphr.h"
+#include "freertos_test_utils.h"
+
+#if ( configNUM_CORES > 1 )
+
+    typedef struct {
+        const TestFunction_t pxTestCode;
+        void * const pvTestCodeArg;
+        const SemaphoreHandle_t xTaskDoneSem;
+    } TestArgs_t;
+
+    static void test_func_task( void * pvParameters )
+    {
+        TestArgs_t * pxTestArgs = ( TestArgs_t * ) pvParameters;
+        /* Call the test function */
+        pxTestArgs->pxTestCode( pxTestArgs->pvTestCodeArg );
+        /* Indicate completion to the creation task and wait to be deleted. */
+        xSemaphoreGive( pxTestArgs->xTaskDoneSem );
+        vTaskSuspend( NULL );
+    }
+
+    void vTestOnAllCores( TestFunction_t pxTestCode, void * pvTestCodeArg, uint32_t ulStackDepth, UBaseType_t uxPriority )
+    {
+        SemaphoreHandle_t xTaskDoneSem = xSemaphoreCreateCounting( configNUM_CORES, 0 );
+        TaskHandle_t xTaskHandles[ configNUM_CORES ];
+        TestArgs_t xTestArgs = {
+            .pxTestCode = pxTestCode,
+            .pvTestCodeArg = pvTestCodeArg,
+            .xTaskDoneSem = xTaskDoneSem,
+        };
+
+        /* Create a separate task on each core to run the test function */
+        for( BaseType_t xCoreID = 0; xCoreID < configNUM_CORES; xCoreID++ ) {
+            #if ( CONFIG_FREERTOS_SMP == 1 )
+                xTaskCreateAffinitySet( test_func_task,
+                                        "task",
+                                        ulStackDepth,
+                                        ( void * ) &xTestArgs,
+                                        uxPriority,
+                                        ( UBaseType_t ) ( 1 << xCoreID ),
+                                        &( xTaskHandles[ xCoreID ] ) );
+            #else
+                xTaskCreatePinnedToCore( test_func_task,
+                                         "task",
+                                         ulStackDepth,
+                                         ( void * ) &xTestArgs,
+                                         uxPriority,
+                                         &( xTaskHandles[ xCoreID ] ),
+                                         xCoreID );
+            #endif
+        }
+
+        /* Wait for each tasks to complete test */
+        for( BaseType_t xCoreID = 0; xCoreID < configNUM_CORES; xCoreID++ ) {
+            xSemaphoreTake( xTaskDoneSem, portMAX_DELAY );
+        }
+
+        /* Cleanup */
+        for( BaseType_t xCoreID = 0; xCoreID < configNUM_CORES; xCoreID++ ) {
+            vTaskDelete( xTaskHandles[ xCoreID ] );
+        }
+        vSemaphoreDelete( xTaskDoneSem );
+    }
+
+#endif /* ( configNUM_CORES > 1 ) */

components/freertos/test/integration/freertos_test_utils.h

@@ -0,0 +1,32 @@
+/*
+ * SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <stdint.h>
+#include "FreeRTOS.h"
+
+#if ( configNUM_CORES > 1 )
+
+    /**
+     * @brief Prototype for test function.
+     *
+     * A test function can be passed to vTestOnAllCores() which will run the test function from a task on each core.
+     */
+    typedef void (* TestFunction_t)( void * );
+
+    /**
+     * @brief Run a test function on each core
+     *
+     * This function will internally create a task pinned to each core, where each task will call the provided test
+     * function. This function will block until all cores finish executing the test function.
+     *
+     * @param pxTestCode Test function
+     * @param pvTestCodeArg Argument provided to test function
+     * @param ulStackDepth Stack depth of the created tasks
+     * @param uxPriority Priority of the created tasks
+     */
+    void vTestOnAllCores( TestFunction_t pxTestCode, void * pvTestCodeArg, uint32_t ulStackDepth, UBaseType_t uxPriority );
+
+#endif /* ( configNUM_CORES > 1 ) */