refining low level tests

bsp_z7/main.c

@@ -15,6 +15,8 @@
 #include "xscutimer.h"
 #include "xuartps_hw.h"
 
+#include <unistd.h>
+
 /*
  * Configure the hardware as necessary to run this demo.
  */
@@ -172,11 +174,21 @@ void vApplicationIdleHook(void) {
   management options.  If there is a lot of heap memory free then the
   configTOTAL_HEAP_SIZE value in FreeRTOSConfig.h can be reduced to free up
   RAM. */
-  // xFreeHeapSpace = xPortGetFreeHeapSize();
+	  // xFreeHeapSpace = xPortGetFreeHeapSize();
   // xMinimumEverFreeHeapSpace = xPortGetMinimumEverFreeHeapSize();
 
   // /* Remove compiler warning about xFreeHeapSpace being set but never used.
   // */ (void)xFreeHeapSpace; (void)xMinimumEverFreeHeapSpace;
+#ifdef LOW_LEVEL_TESTS
+#define ERROR_MSG "\nPanic occured in the code executing the tests.\nWe'll consider this a failure:\n\ntest result: ❌ FAILED HORRIBLY\n"
+  // During low level tests, panics do not halt the execution but delete the current task.
+  // If this happens in the initial task, only the idle task remains. In this case, we
+  // simply end the execution.
+
+  write(2, ERROR_MSG, sizeof(ERROR_MSG));
+
+  done_error();
+#endif
 }
 
 void vApplicationTickHook(void) {

mission_rust/src/lib.rs

@@ -1,9 +1,15 @@
-#![no_std]
+#![cfg_attr(
+    not(test),
+    no_std
+)]
+
+
 #![feature(never_type)]
 //TODO os errors in API calls
 
 mod dh;
 pub mod fsrc;
+#[cfg(not(test))]
 mod panic;
 
 #[cfg(feature = "low_level_tests")]
@@ -36,7 +42,7 @@ extern "C" fn rust_main() {
     // we are already in a task (init task started by C), so we can use all APIs safely,
     // but start a new init task anyway to be able to control that task's stack here
     sifln!("Rust startup 🚀");
-    THREAD_INIT.take_no_init().unwrap().spawn(init_task);
+    THREAD_INIT.take_no_init().unwrap_or_else(|| {loop{}}).spawn(init_task);
     // delete self, init task will take over
     thread::current().delete();
 }
@@ -188,10 +194,6 @@ static THREAD_3: StaticReadOnceLock<
     Duration::from_millis(200),
 ));
 
-extern "C" {
-    fn done() -> !;
-}
-
 fn init_task() -> ! {
     sifln!("Mission enter");
 
@@ -208,10 +210,9 @@ fn init_task() -> ! {
         Duration::from_millis(500),
         0.5,
     );
-
+    
     debugger.run().unwrap();
 
-    panic!("done");
 
     // let test1 = TEST1.take().unwrap();
     // let test2 = TEST2.take().unwrap();
@@ -239,3 +240,10 @@ fn init_task() -> ! {
     sifln!("=====================Mission delete");
     osal::thread::current().delete();
 }
+
+#[test]
+fn panic_test() {
+    println!("print");
+    let test1 = TEST1.take().unwrap();
+    panic!("oh noes");
+}

mission_rust/src/low_level_tests/mod.rs

@@ -1,8 +1,8 @@
 //! Low level tests which need to be run with FreeRTOS present
 //!
-//! They can not be run as standard rust tests as the depend on the C code.
+//! They can not be run as standard rust tests as they depend on the C code.
 //! As such this module is to be linked
-//! as part of the main library into the low level C code.
+//! as part of the main library with the low level C code.
 //!
 //! Entry into the tests is provided by the extern "C" function
 //! rust_low_level_tests() to be called from C. It is assumed to be running in an init Thread
@@ -64,6 +64,8 @@ fn run_tests(tests: &mut [(fn(), &'static str)]) -> ! {
     let stack = TEST_RUNNER_STACK.take_no_init().unwrap();
     let thread_data = TEST_RUNNER_THREAD_DATA.take_no_init().unwrap();
 
+    panic!("oh noes");
+
     let number_of_tests = tests.len();
 
     sifln!();
@@ -79,7 +81,10 @@ fn run_tests(tests: &mut [(fn(), &'static str)]) -> ! {
     let mut failed = 0;
 
     for test in tests {
-        // std::io::stdout().flush().unwrap();
+        // Note for the pedantic: Static FreeRTOS can not delete tasks, only
+        // suspend them. So it is not formally correct to resuse the task data
+        // and stack. But as the suspended task will not be restarted, it does work
+        // in this (testing!) context.
         let test_function = test.0 as *const core::ffi::c_void;
         unsafe {
             osal::ffi::freertos_create_task_static(

mission_rust/src/panic.rs

@@ -12,7 +12,6 @@ extern "C" {
     fn freertos_task_notify(task: *const core::ffi::c_void, value: u32);
 }
 
-#[cfg(not(test))]
 #[panic_handler]
 fn panic(panic: &PanicInfo<'_>) -> ! {
     // unsafe { this breaks in ISR