src/test/unit/scheduler_unittest.cc

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include <stdint.h>
  19
  20 extern "C" {
  21     #include "platform.h"
  22     #include "scheduler/scheduler.h"
  23 }
  24
  25 #include "unittest_macros.h"
  26 #include "gtest/gtest.h"
  27
  28 const int TEST_GYRO_SAMPLE_HZ = 8000;
  29 const int TEST_GYRO_SAMPLE_TIME = 10;
  30 const int TEST_FILTERING_TIME = 40;
  31 const int TEST_PID_LOOP_TIME = 58;
  32 const int TEST_UPDATE_ACCEL_TIME = 32;
  33 const int TEST_UPDATE_ATTITUDE_TIME = 28;
  34 const int TEST_HANDLE_SERIAL_TIME = 30;
  35 const int TEST_UPDATE_BATTERY_TIME = 1;
  36 const int TEST_UPDATE_RX_CHECK_TIME = 34;
  37 const int TEST_UPDATE_RX_MAIN_TIME = 1;
  38 const int TEST_IMU_UPDATE_TIME = 5;
  39 const int TEST_DISPATCH_TIME = 1;
  40
  41 #define TASK_COUNT_UNITTEST (TASK_BATTERY_VOLTAGE + 1)
  42 #define TASK_PERIOD_HZ(hz) (1000000 / (hz))
  43
  44 extern "C" {
  45     task_t * unittest_scheduler_selectedTask;
  46     uint8_t unittest_scheduler_selectedTaskDynPrio;
  47     timeDelta_t unittest_scheduler_taskRequiredTimeUs;
  48     bool taskGyroRan = false;
  49     bool taskFilterRan = false;
  50     bool taskPidRan = false;
  51     bool taskFilterReady = false;
  52     bool taskPidReady = false;
  53     uint8_t activePidLoopDenom = 1;
  54
  55     int16_t debug[1];
  56     uint8_t debugMode = 0;
  57
  58     // set up micros() to simulate time
  59     uint32_t simulatedTime = 0;
  60     uint32_t micros(void) { return simulatedTime; }
  61     uint32_t clockCyclesToMicros(uint32_t x) { return x/10;}
  62     int32_t clockCyclesTo10thMicros(int32_t x) { return x;}
  63     uint32_t clockMicrosToCycles(uint32_t x) { return x*10;}
  64     uint32_t getCycleCounter(void) {return simulatedTime * 10;}
  65
  66     // set up tasks to take a simulated representative time to execute
  67     bool gyroFilterReady(void) { return taskFilterReady; }
  68     bool pidLoopReady(void) { return taskPidReady; }
  69     void taskGyroSample(timeUs_t) { simulatedTime += TEST_GYRO_SAMPLE_TIME; taskGyroRan = true; }
  70     void taskFiltering(timeUs_t) { simulatedTime += TEST_FILTERING_TIME; taskFilterRan = true; }
  71     void taskMainPidLoop(timeUs_t) { simulatedTime += TEST_PID_LOOP_TIME; taskPidRan = true; }
  72     void taskUpdateAccelerometer(timeUs_t) { simulatedTime += TEST_UPDATE_ACCEL_TIME; }
  73     void taskHandleSerial(timeUs_t) { simulatedTime += TEST_HANDLE_SERIAL_TIME; }
  74     void taskUpdateBatteryVoltage(timeUs_t) { simulatedTime += TEST_UPDATE_BATTERY_TIME; }
  75     bool rxUpdateCheck(timeUs_t, timeDelta_t) { simulatedTime += TEST_UPDATE_RX_CHECK_TIME; return false; }
  76     void taskUpdateRxMain(timeUs_t) { simulatedTime += TEST_UPDATE_RX_MAIN_TIME; }
  77     void imuUpdateAttitude(timeUs_t) { simulatedTime += TEST_IMU_UPDATE_TIME; }
  78     void dispatchProcess(timeUs_t) { simulatedTime += TEST_DISPATCH_TIME; }
  79
  80     void resetGyroTaskTestFlags(void) {
  81         taskGyroRan = false;
  82         taskFilterRan = false;
  83         taskPidRan = false;
  84         taskFilterReady = false;
  85         taskPidReady = false;
  86     }
  87
  88     extern int taskQueueSize;
  89     extern task_t* taskQueueArray[];
  90
  91     extern void queueClear(void);
  92     extern bool queueContains(task_t *task);
  93     extern bool queueAdd(task_t *task);
  94     extern bool queueRemove(task_t *task);
  95     extern task_t *queueFirst(void);
  96     extern task_t *queueNext(void);
  97
  98     task_id_t task_ids[TASK_COUNT] = {
  99         [TASK_SYSTEM] = {
 100             .taskName = "SYSTEM",
 101             .taskFunc = taskSystemLoad,
 102             .desiredPeriodUs = TASK_PERIOD_HZ(10),
 103             .staticPriority = TASK_PRIORITY_MEDIUM_HIGH,
 104         },
 105         [TASK_GYRO] = {
 106             .taskName = "GYRO",
 107             .taskFunc = taskGyroSample,
 108             .desiredPeriodUs = TASK_PERIOD_HZ(TEST_GYRO_SAMPLE_HZ),
 109             .staticPriority = TASK_PRIORITY_REALTIME,
 110         },
 111         [TASK_FILTER] = {
 112             .taskName = "FILTER",
 113             .taskFunc = taskFiltering,
 114             .desiredPeriodUs = TASK_PERIOD_HZ(4000),
 115             .staticPriority = TASK_PRIORITY_REALTIME,
 116         },
 117         [TASK_PID] = {
 118             .taskName = "PID",
 119             .taskFunc = taskMainPidLoop,
 120             .desiredPeriodUs = TASK_PERIOD_HZ(4000),
 121             .staticPriority = TASK_PRIORITY_REALTIME,
 122         },
 123         [TASK_ACCEL] = {
 124             .taskName = "ACCEL",
 125             .taskFunc = taskUpdateAccelerometer,
 126             .desiredPeriodUs = TASK_PERIOD_HZ(1000),
 127             .staticPriority = TASK_PRIORITY_MEDIUM,
 128         },
 129         [TASK_ATTITUDE] = {
 130             .taskName = "ATTITUDE",
 131             .taskFunc = imuUpdateAttitude,
 132             .desiredPeriodUs = TASK_PERIOD_HZ(100),
 133             .staticPriority = TASK_PRIORITY_MEDIUM,
 134         },
 135         [TASK_RX] = {
 136             .taskName = "RX",
 137             .checkFunc = rxUpdateCheck,
 138             .taskFunc = taskUpdateRxMain,
 139             .desiredPeriodUs = TASK_PERIOD_HZ(50),
 140             .staticPriority = TASK_PRIORITY_HIGH,
 141         },
 142         [TASK_SERIAL] = {
 143             .taskName = "SERIAL",
 144             .taskFunc = taskHandleSerial,
 145             .desiredPeriodUs = TASK_PERIOD_HZ(100),
 146             .staticPriority = TASK_PRIORITY_LOW,
 147         },
 148         [TASK_DISPATCH] = {
 149             .taskName = "DISPATCH",
 150             .taskFunc = dispatchProcess,
 151             .desiredPeriodUs = TASK_PERIOD_HZ(1000),
 152             .staticPriority = TASK_PRIORITY_HIGH,
 153         },
 154         [TASK_BATTERY_VOLTAGE] = {
 155             .taskName = "BATTERY_VOLTAGE",
 156             .taskFunc = taskUpdateBatteryVoltage,
 157             .desiredPeriodUs = TASK_PERIOD_HZ(50),
 158             .staticPriority = TASK_PRIORITY_MEDIUM,
 159         }
 160     };
 161
 162     task_t tasks[TASK_COUNT];
 163
 164     task_t *getTask(unsigned taskId)
 165     {
 166         return &tasks[taskId];
 167     }
 168 }
 169
 170 TEST(SchedulerUnittest, SetupTasks)
 171 {
 172     for (int i = 0; i < TASK_COUNT; ++i) {
 173         tasks[i].id = &task_ids[i];
 174     }
 175 }
 176
 177
 178 TEST(SchedulerUnittest, TestPriorites)
 179 {
 180     EXPECT_EQ(TASK_PRIORITY_MEDIUM_HIGH, tasks[TASK_SYSTEM].id->staticPriority);
 181     EXPECT_EQ(TASK_PRIORITY_REALTIME, tasks[TASK_GYRO].id->staticPriority);
 182     EXPECT_EQ(TASK_PRIORITY_MEDIUM, tasks[TASK_ACCEL].id->staticPriority);
 183     EXPECT_EQ(TASK_PRIORITY_LOW, tasks[TASK_SERIAL].id->staticPriority);
 184     EXPECT_EQ(TASK_PRIORITY_MEDIUM, tasks[TASK_BATTERY_VOLTAGE].id->staticPriority);
 185 }
 186
 187 TEST(SchedulerUnittest, TestQueueInit)
 188 {
 189     queueClear();
 190     EXPECT_EQ(0, taskQueueSize);
 191     EXPECT_EQ(0, queueFirst());
 192     EXPECT_EQ(0, queueNext());
 193     for (int ii = 0; ii <= TASK_COUNT; ++ii) {
 194         EXPECT_EQ(0, taskQueueArray[ii]);
 195     }
 196 }
 197
 198 task_t *deadBeefPtr = reinterpret_cast<task_t*>(0xDEADBEEF);
 199
 200 TEST(SchedulerUnittest, TestQueue)
 201 {
 202     queueClear();
 203     taskQueueArray[TASK_COUNT + 1] = deadBeefPtr;
 204
 205     queueAdd(&tasks[TASK_SYSTEM]); // TASK_PRIORITY_MEDIUM_HIGH
 206     EXPECT_EQ(1, taskQueueSize);
 207     EXPECT_EQ(&tasks[TASK_SYSTEM], queueFirst());
 208     EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
 209
 210     queueAdd(&tasks[TASK_SERIAL]); // TASK_PRIORITY_LOW
 211     EXPECT_EQ(2, taskQueueSize);
 212     EXPECT_EQ(&tasks[TASK_SYSTEM], queueFirst());
 213     EXPECT_EQ(&tasks[TASK_SERIAL], queueNext());
 214     EXPECT_EQ(NULL, queueNext());
 215     EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
 216
 217     queueAdd(&tasks[TASK_BATTERY_VOLTAGE]); // TASK_PRIORITY_MEDIUM
 218     EXPECT_EQ(3, taskQueueSize);
 219     EXPECT_EQ(&tasks[TASK_SYSTEM], queueFirst());
 220     EXPECT_EQ(&tasks[TASK_BATTERY_VOLTAGE], queueNext());
 221     EXPECT_EQ(&tasks[TASK_SERIAL], queueNext());
 222     EXPECT_EQ(NULL, queueNext());
 223     EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
 224
 225     queueAdd(&tasks[TASK_RX]); // TASK_PRIORITY_HIGH
 226     EXPECT_EQ(4, taskQueueSize);
 227     EXPECT_EQ(&tasks[TASK_RX], queueFirst());
 228     EXPECT_EQ(&tasks[TASK_SYSTEM], queueNext());
 229     EXPECT_EQ(&tasks[TASK_BATTERY_VOLTAGE], queueNext());
 230     EXPECT_EQ(&tasks[TASK_SERIAL], queueNext());
 231     EXPECT_EQ(NULL, queueNext());
 232     EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
 233
 234     queueRemove(&tasks[TASK_SYSTEM]); // TASK_PRIORITY_HIGH
 235     EXPECT_EQ(3, taskQueueSize);
 236     EXPECT_EQ(&tasks[TASK_RX], queueFirst());
 237     EXPECT_EQ(&tasks[TASK_BATTERY_VOLTAGE], queueNext());
 238     EXPECT_EQ(&tasks[TASK_SERIAL], queueNext());
 239     EXPECT_EQ(NULL, queueNext());
 240     EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
 241 }
 242
 243 TEST(SchedulerUnittest, TestQueueAddAndRemove)
 244 {
 245     queueClear();
 246     taskQueueArray[TASK_COUNT + 1] = deadBeefPtr;
 247
 248     // fill up the queue
 249     for (int taskId = 0; taskId < TASK_COUNT; ++taskId) {
 250         const bool added = queueAdd(&tasks[taskId]);
 251         EXPECT_TRUE(added);
 252         EXPECT_EQ(taskId + 1, taskQueueSize);
 253         EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
 254     }
 255     // double check end of queue
 256     EXPECT_EQ(TASK_COUNT, taskQueueSize);
 257     EXPECT_NE(static_cast<task_t*>(0), taskQueueArray[TASK_COUNT - 1]); // last item was indeed added to queue
 258     EXPECT_EQ(NULL, taskQueueArray[TASK_COUNT]); // null pointer at end of queue is preserved
 259     EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]); // there hasn't been an out by one error
 260
 261     // and empty it again
 262     for (int taskId = 0; taskId < TASK_COUNT; ++taskId) {
 263         const bool removed = queueRemove(&tasks[taskId]);
 264         EXPECT_TRUE(removed);
 265         EXPECT_EQ(TASK_COUNT - taskId - 1, taskQueueSize);
 266         EXPECT_EQ(NULL, taskQueueArray[TASK_COUNT - taskId]);
 267         EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]);
 268     }
 269
 270     // double check size and end of queue
 271     EXPECT_EQ(0, taskQueueSize); // queue is indeed empty
 272     EXPECT_EQ(NULL, taskQueueArray[0]); // there is a null pointer at the end of the queueu
 273     EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT + 1]); // no accidental overwrites past end of queue
 274 }
 275
 276 TEST(SchedulerUnittest, TestQueueArray)
 277 {
 278     // test there are no "out by one" errors or buffer overruns when items are added and removed
 279     queueClear();
 280     taskQueueArray[TASK_COUNT_UNITTEST + 1] = deadBeefPtr; // note, must set deadBeefPtr after queueClear
 281
 282     unsigned enqueuedTasks = 0;
 283     EXPECT_EQ(enqueuedTasks, taskQueueSize);
 284
 285     for (int taskId = 0; taskId < TASK_COUNT_UNITTEST - 1; ++taskId) {
 286         if (tasks[taskId].id->taskFunc) {
 287             setTaskEnabled(static_cast<taskId_e>(taskId), true);
 288             enqueuedTasks++;
 289             EXPECT_EQ(enqueuedTasks, taskQueueSize);
 290             EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT_UNITTEST + 1]);
 291         }
 292     }
 293
 294     EXPECT_NE(static_cast<task_t*>(0), taskQueueArray[enqueuedTasks - 1]);
 295     const task_t *lastTaskPrev = taskQueueArray[enqueuedTasks - 1];
 296     EXPECT_EQ(NULL, taskQueueArray[enqueuedTasks]);
 297     EXPECT_EQ(NULL, taskQueueArray[enqueuedTasks + 1]);
 298     EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT_UNITTEST + 1]);
 299
 300     setTaskEnabled(TASK_SYSTEM, false);
 301     EXPECT_EQ(enqueuedTasks - 1, taskQueueSize);
 302     EXPECT_EQ(lastTaskPrev, taskQueueArray[enqueuedTasks - 2]);
 303     EXPECT_EQ(NULL, taskQueueArray[enqueuedTasks - 1]); // NULL at end of queue
 304     EXPECT_EQ(NULL, taskQueueArray[enqueuedTasks]);
 305     EXPECT_EQ(NULL, taskQueueArray[enqueuedTasks + 1]);
 306     EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT_UNITTEST + 1]);
 307
 308     taskQueueArray[enqueuedTasks - 1] = 0;
 309     setTaskEnabled(TASK_SYSTEM, true);
 310     EXPECT_EQ(enqueuedTasks, taskQueueSize);
 311     EXPECT_EQ(lastTaskPrev, taskQueueArray[enqueuedTasks - 1]);
 312     EXPECT_EQ(NULL, taskQueueArray[enqueuedTasks]);
 313     EXPECT_EQ(NULL, taskQueueArray[enqueuedTasks + 1]);
 314     EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT_UNITTEST + 1]);
 315
 316     taskInfo_t taskInfo;
 317     getTaskInfo(static_cast<taskId_e>(enqueuedTasks + 1), &taskInfo);
 318     EXPECT_FALSE(taskInfo.isEnabled);
 319     setTaskEnabled(static_cast<taskId_e>(enqueuedTasks), true);
 320     EXPECT_EQ(enqueuedTasks, taskQueueSize);
 321     EXPECT_EQ(lastTaskPrev, taskQueueArray[enqueuedTasks - 1]);
 322     EXPECT_EQ(NULL, taskQueueArray[enqueuedTasks + 1]); // check no buffer overrun
 323     EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT_UNITTEST + 1]);
 324
 325     setTaskEnabled(TASK_SYSTEM, false);
 326     EXPECT_EQ(enqueuedTasks - 1, taskQueueSize);
 327     EXPECT_EQ(NULL, taskQueueArray[enqueuedTasks]);
 328     EXPECT_EQ(NULL, taskQueueArray[enqueuedTasks + 1]);
 329     EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT_UNITTEST + 1]);
 330
 331     setTaskEnabled(TASK_ACCEL, false);
 332     EXPECT_EQ(enqueuedTasks - 2, taskQueueSize);
 333     EXPECT_EQ(NULL, taskQueueArray[enqueuedTasks - 1]);
 334     EXPECT_EQ(NULL, taskQueueArray[enqueuedTasks]);
 335     EXPECT_EQ(NULL, taskQueueArray[enqueuedTasks + 1]);
 336     EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT_UNITTEST + 1]);
 337
 338     setTaskEnabled(TASK_BATTERY_VOLTAGE, false);
 339     EXPECT_EQ(enqueuedTasks - 2, taskQueueSize);
 340     EXPECT_EQ(NULL, taskQueueArray[enqueuedTasks - 2]);
 341     EXPECT_EQ(NULL, taskQueueArray[enqueuedTasks - 1]);
 342     EXPECT_EQ(NULL, taskQueueArray[enqueuedTasks]);
 343     EXPECT_EQ(NULL, taskQueueArray[enqueuedTasks + 1]);
 344     EXPECT_EQ(deadBeefPtr, taskQueueArray[TASK_COUNT_UNITTEST + 1]);
 345 }
 346
 347 TEST(SchedulerUnittest, TestSchedulerInit)
 348 {
 349     schedulerInit();
 350     EXPECT_EQ(1, taskQueueSize);
 351     EXPECT_EQ(&tasks[TASK_SYSTEM], queueFirst());
 352 }
 353
 354 TEST(SchedulerUnittest, TestScheduleEmptyQueue)
 355 {
 356     queueClear();
 357     simulatedTime = 4000;
 358     // run the with an empty queue
 359     scheduler();
 360     EXPECT_EQ(NULL, unittest_scheduler_selectedTask);
 361 }
 362
 363 TEST(SchedulerUnittest, TestSingleTask)
 364 {
 365     schedulerInit();
 366     // disable all tasks except TASK_ACCEL
 367     for (int taskId = 0; taskId < TASK_COUNT; ++taskId) {
 368         setTaskEnabled(static_cast<taskId_e>(taskId), false);
 369     }
 370     setTaskEnabled(TASK_ACCEL, true);
 371     tasks[TASK_ACCEL].lastExecutedAtUs = 1000;
 372     tasks[TASK_ACCEL].lastStatsAtUs = 1000;
 373     simulatedTime = 2050;
 374     // run the scheduler and check the task has executed
 375     scheduler();
 376     EXPECT_NE(unittest_scheduler_selectedTask, static_cast<task_t*>(0));
 377     EXPECT_EQ(unittest_scheduler_selectedTask, &tasks[TASK_ACCEL]);
 378     EXPECT_EQ(1050, tasks[TASK_ACCEL].taskLatestDeltaTimeUs);
 379     EXPECT_EQ(2050, tasks[TASK_ACCEL].lastExecutedAtUs);
 380     EXPECT_EQ(TEST_UPDATE_ACCEL_TIME, tasks[TASK_ACCEL].totalExecutionTimeUs);
 381     // task has run, so its dynamic priority should have been set to zero
 382     EXPECT_EQ(0, tasks[TASK_GYRO].dynamicPriority);
 383 }
 384
 385 TEST(SchedulerUnittest, TestTwoTasks)
 386 {
 387     // disable all tasks except TASK_ACCEL and TASK_ATTITUDE
 388     for (int taskId = 0; taskId < TASK_COUNT; ++taskId) {
 389         setTaskEnabled(static_cast<taskId_e>(taskId), false);
 390     }
 391     setTaskEnabled(TASK_ACCEL, true);
 392     setTaskEnabled(TASK_ATTITUDE, true);
 393
 394     // set it up so that TASK_ACCEL ran just before TASK_ATTITUDE
 395     static const uint32_t startTime = 4000;
 396     simulatedTime = startTime;
 397     tasks[TASK_ACCEL].lastExecutedAtUs = simulatedTime;
 398     tasks[TASK_ATTITUDE].lastExecutedAtUs = tasks[TASK_ACCEL].lastExecutedAtUs - TEST_UPDATE_ATTITUDE_TIME;
 399     EXPECT_EQ(0, tasks[TASK_ATTITUDE].taskAgeCycles);
 400     // run the scheduler
 401     scheduler();
 402     // no tasks should have run, since neither task's desired time has elapsed
 403     EXPECT_EQ(static_cast<task_t*>(0), unittest_scheduler_selectedTask);
 404
 405     // NOTE:
 406     // TASK_ACCEL    desiredPeriodUs is 1000 microseconds
 407     // TASK_ATTITUDE desiredPeriodUs is 10000 microseconds
 408     // 500 microseconds later
 409     simulatedTime += 500;
 410     // no tasks should run, since neither task's desired time has elapsed
 411     scheduler();
 412     EXPECT_EQ(static_cast<task_t*>(0), unittest_scheduler_selectedTask);
 413
 414     // 500 microseconds later, TASK_ACCEL desiredPeriodUs has elapsed
 415     simulatedTime += 500;
 416     // TASK_ACCEL should now run
 417     scheduler();
 418     EXPECT_EQ(&tasks[TASK_ACCEL], unittest_scheduler_selectedTask);
 419     EXPECT_EQ(5000 + TEST_UPDATE_ACCEL_TIME, simulatedTime);
 420
 421     simulatedTime += 1000 - TEST_UPDATE_ACCEL_TIME;
 422     scheduler();
 423     // TASK_ACCEL should run again
 424     EXPECT_EQ(&tasks[TASK_ACCEL], unittest_scheduler_selectedTask);
 425
 426     scheduler();
 427     // No task should have run
 428     EXPECT_EQ(static_cast<task_t*>(0), unittest_scheduler_selectedTask);
 429
 430     simulatedTime = startTime + 10500; // TASK_ACCEL and TASK_ATTITUDE desiredPeriodUss have elapsed
 431     // of the two TASK_ACCEL should run first
 432     scheduler();
 433     EXPECT_EQ(&tasks[TASK_ACCEL], unittest_scheduler_selectedTask);
 434     // and finally TASK_ATTITUDE should now run
 435     scheduler();
 436     EXPECT_EQ(&tasks[TASK_ATTITUDE], unittest_scheduler_selectedTask);
 437 }
 438
 439 TEST(SchedulerUnittest, TestGyroTask)
 440 {
 441     static const uint32_t startTime = 4000;
 442
 443     // enable the gyro
 444     schedulerEnableGyro();
 445
 446     // disable all tasks except TASK_GYRO, TASK_FILTER and TASK_PID
 447     for (int taskId = 0; taskId < TASK_COUNT; ++taskId) {
 448         setTaskEnabled(static_cast<taskId_e>(taskId), false);
 449     }
 450     setTaskEnabled(TASK_GYRO, true);
 451     setTaskEnabled(TASK_FILTER, true);
 452     setTaskEnabled(TASK_PID, true);
 453
 454     // First set it up so TASK_GYRO just ran
 455     simulatedTime = startTime;
 456     tasks[TASK_GYRO].lastExecutedAtUs = simulatedTime;
 457     // reset the flags
 458     resetGyroTaskTestFlags();
 459
 460     // run the scheduler
 461     scheduler();
 462     // no tasks should have run
 463     EXPECT_EQ(static_cast<task_t*>(0), unittest_scheduler_selectedTask);
 464     // also the gyro, filter and PID task indicators should be false
 465     EXPECT_FALSE(taskGyroRan);
 466     EXPECT_FALSE(taskFilterRan);
 467     EXPECT_FALSE(taskPidRan);
 468
 469     /* Test the gyro task running but not triggering the filtering or PID */
 470     // set the TASK_GYRO last executed time to be one period earlier
 471     simulatedTime = startTime;
 472     tasks[TASK_GYRO].lastExecutedAtUs = simulatedTime - TASK_PERIOD_HZ(TEST_GYRO_SAMPLE_HZ);
 473
 474     // reset the flags
 475     resetGyroTaskTestFlags();
 476
 477     // run the scheduler
 478     scheduler();
 479
 480     // the gyro task indicator should be true and the TASK_FILTER and TASK_PID indicators should be false
 481     EXPECT_TRUE(taskGyroRan);
 482     EXPECT_FALSE(taskFilterRan);
 483     EXPECT_FALSE(taskPidRan);
 484     // expect that no other tasks other than TASK_GYRO should have run
 485     EXPECT_EQ(static_cast<task_t*>(0), unittest_scheduler_selectedTask);
 486
 487     /* Test the gyro task running and triggering the filtering task */
 488     // set the TASK_GYRO last executed time to be one period earlier
 489     simulatedTime = startTime;
 490     tasks[TASK_GYRO].lastExecutedAtUs = simulatedTime - TASK_PERIOD_HZ(TEST_GYRO_SAMPLE_HZ);
 491
 492     // reset the flags
 493     resetGyroTaskTestFlags();
 494     taskFilterReady = true;
 495
 496     // run the scheduler
 497     scheduler();
 498     // the gyro and filter task indicators should be true and TASK_PID indicator should be false
 499     EXPECT_TRUE(taskGyroRan);
 500     EXPECT_TRUE(taskFilterRan);
 501     EXPECT_FALSE(taskPidRan);
 502     // expect that no other tasks other tasks should have run
 503     EXPECT_EQ(static_cast<task_t*>(0), unittest_scheduler_selectedTask);
 504
 505     /* Test the gyro task running and triggering the PID task */
 506     // set the TASK_GYRO last executed time to be one period earlier
 507     simulatedTime = startTime;
 508     tasks[TASK_GYRO].lastExecutedAtUs = simulatedTime - TASK_PERIOD_HZ(TEST_GYRO_SAMPLE_HZ);
 509
 510     // reset the flags
 511     resetGyroTaskTestFlags();
 512     taskPidReady = true;
 513
 514     // run the scheduler
 515     scheduler();
 516     // the gyro and PID task indicators should be true and TASK_FILTER indicator should be false
 517     EXPECT_TRUE(taskGyroRan);
 518     EXPECT_FALSE(taskFilterRan);
 519     EXPECT_TRUE(taskPidRan);
 520     // expect that no other tasks other tasks should have run
 521     EXPECT_EQ(static_cast<task_t*>(0), unittest_scheduler_selectedTask);
 522 }
 523