RTOS/tests/unit/test_scheduler.c

/**
 * @file test_scheduler.c
 * @brief Unit tests for scheduler
 */

#include "unity.h"
#include "kernel.h"
#include "scheduler.h"
#include "task.h"
#include <string.h>

/* Test task handles */
static TaskHandle_t test_tasks[10];
static volatile uint32_t task_execution_count[10];
static volatile uint32_t task_execution_order[100];
static volatile uint32_t execution_index = 0;

/* Test task functions */
static void test_task_0(void* params) {
    (void)params;
    while (1) {
        task_execution_count[0]++;
        task_execution_order[execution_index++] = 0;
        kernel_delay(10);
    }
}

static void test_task_1(void* params) {
    (void)params;
    while (1) {
        task_execution_count[1]++;
        task_execution_order[execution_index++] = 1;
        kernel_delay(20);
    }
}

static void test_task_2(void* params) {
    (void)params;
    while (1) {
        task_execution_count[2]++;
        task_execution_order[execution_index++] = 2;
        kernel_delay(50);
    }
}

/* Test Setup */
void setUp(void) {
    /* Reset test state */
    memset((void*)task_execution_count, 0, sizeof(task_execution_count));
    execution_index = 0;

    /* Initialize kernel */
    kernel_init();
}

/* Test Teardown */
void tearDown(void) {
    /* Stop kernel */
    kernel_stop();
}

/* ============================================================================
 * Test Cases
 * ============================================================================ */

/**
 * @brief Test scheduler initialization
 */
void test_scheduler_init(void) {
    SchedulerConfig_t config = {
        .type = SCHEDULER_PRIORITY_PREEMPTIVE,
        .time_slice_ticks = 10,
        .enable_deadline_monitoring = true
    };

    scheduler_init(&config);

    /* Verify scheduler is initialized */
    TEST_ASSERT_NOT_NULL(scheduler_get_current_task());
}

/**
 * @brief Test task creation and scheduling
 */
void test_task_creation(void) {
    TaskConfig_t config = {
        .name = "test_task",
        .function = test_task_0,
        .parameters = NULL,
        .stack_size = 1024,
        .priority = 1,
        .period_ticks = 0
    };

    test_tasks[0] = task_create(&config);

    TEST_ASSERT_NOT_NULL(test_tasks[0]);
    TEST_ASSERT_EQUAL(1, task_get_priority(test_tasks[0]));
    TEST_ASSERT_EQUAL(TASK_READY, task_get_state(test_tasks[0]));
}

/**
 * @brief Test priority-based scheduling
 */
void test_priority_scheduling(void) {
    /* Create tasks with different priorities */
    TaskConfig_t config1 = {
        .name = "high_priority",
        .function = test_task_0,
        .parameters = NULL,
        .stack_size = 1024,
        .priority = 0,
        .period_ticks = 10
    };

    TaskConfig_t config2 = {
        .name = "low_priority",
        .function = test_task_1,
        .parameters = NULL,
        .stack_size = 1024,
        .priority = 5,
        .period_ticks = 10
    };

    test_tasks[0] = task_create(&config1);
    test_tasks[1] = task_create(&config2);

    /* Start kernel */
    kernel_start();

    /* Let tasks run for 100ms */
    kernel_delay(100);

    /* High priority task should execute more */
    TEST_ASSERT_GREATER_THAN(task_execution_count[1], task_execution_count[0]);
}

/**
 * @brief Test round-robin scheduling
 */
void test_round_robin_scheduling(void) {
    /* Create two tasks with same priority */
    TaskConfig_t config1 = {
        .name = "task_a",
        .function = test_task_0,
        .parameters = NULL,
        .stack_size = 1024,
        .priority = 3,
        .period_ticks = 0
    };

    TaskConfig_t config2 = {
        .name = "task_b",
        .function = test_task_1,
        .parameters = NULL,
        .stack_size = 1024,
        .priority = 3,
        .period_ticks = 0
    };

    test_tasks[0] = task_create(&config1);
    test_tasks[1] = task_create(&config2);

    kernel_start();
    kernel_delay(100);

    /* Both tasks should execute */
    TEST_ASSERT_GREATER_THAN(0, task_execution_count[0]);
    TEST_ASSERT_GREATER_THAN(0, task_execution_count[1]);
}

/**
 * @brief Test scheduler statistics
 */
void test_scheduler_statistics(void) {
    SchedulerStatistics_t stats;

    scheduler_get_statistics(&stats);

    TEST_ASSERT_GREATER_THAN(0, stats.context_switches);
    TEST_ASSERT_GREATER_OR_EQUAL(0, stats.preemptions);
}

/**
 * @brief Test scheduler lock/unlock
 */
void test_scheduler_lock_unlock(void) {
    /* Lock scheduler */
    scheduler_lock();

    /* Try to yield */
    scheduler_yield();

    /* Unlock scheduler */
    scheduler_unlock();

    TEST_ASSERT_TRUE(true);
}

/* ============================================================================
 * Test Runner
 * ============================================================================ */
int main(void) {
    UNITY_BEGIN();

    RUN_TEST(test_scheduler_init);
    RUN_TEST(test_task_creation);
    RUN_TEST(test_priority_scheduling);
    RUN_TEST(test_round_robin_scheduling);
    RUN_TEST(test_scheduler_statistics);
    RUN_TEST(test_scheduler_lock_unlock);

    return UNITY_END();
}