ostest: add kconfig to set priority

testing/ostest/CMakeLists.txt

@@ -162,6 +162,16 @@ if(CONFIG_TESTING_OSTEST)
   endif()
 
   set(OSTEST_SRCS ostest_main.c ${SRCS})
-  nuttx_add_application(NAME ostest SRCS ${OSTEST_SRCS})
+  nuttx_add_application(
+    MODULE
+    ${CONFIG_TESTING_OSTEST}
+    NAME
+    ostest
+    SRCS
+    ${OSTEST_SRCS}
+    STACKSIZE
+    ${CONFIG_TESTING_OSTEST_STACKSIZE}
+    PRIORITY
+    ${CONFIG_TESTING_OSTEST_PRIORITY})
 
 endif()

testing/ostest/Kconfig

@@ -18,6 +18,10 @@ config TESTING_OSTEST_LOOPS
 		Used to control the number of executions of the test.  If undefined, the test
 		executes one time.  If defined to be zero, the test runs forever.
 
+config TESTING_OSTEST_PRIORITY
+	int "OS test task priority"
+	default 150
+
 config TESTING_OSTEST_STACKSIZE
 	int "OS test stack size"
 	default 8192

testing/ostest/Makefile

@@ -25,7 +25,7 @@ include $(APPDIR)/Make.defs
 # ostest built-in application info
 
 PROGNAME = ostest
-PRIORITY = SCHED_PRIORITY_DEFAULT
+PRIORITY = $(CONFIG_TESTING_OSTEST_PRIORITY)
 STACKSIZE = $(CONFIG_DEFAULT_TASK_STACKSIZE)
 MODULE = $(CONFIG_TESTING_OSTEST)
 

testing/ostest/cancel.c

@@ -287,8 +287,8 @@ static FAR void *asynch_waiter(FAR void *parameter)
        ASSERT(false);
     }
 
-  /* Then wait a bit.  We should be canceled aynchronously while waiting, but
-   * the cancellation should pend because we are non-cancellable.
+  /* Then wait a bit.  We should be canceled asynchronously while waiting,
+   * but the cancellation should pend because we are non-cancelable.
    */
 
   usleep(250 * 1000);
@@ -321,6 +321,7 @@ static FAR void *asynch_waiter(FAR void *parameter)
 static void start_thread(FAR void *(*entry)(FAR void *), pthread_t *waiter,
                         int cancelable)
 {
+  struct sched_param param;
   pthread_attr_t attr;
   int status;
 
@@ -356,6 +357,18 @@ static void start_thread(FAR void *(*entry)(FAR void *), pthread_t *waiter,
       ASSERT(false);
     }
 
+  param.sched_priority = PRIORITY;
+  printf("start_thread: Parent thread priority=%d\n",
+          param.sched_priority);
+
+  status = pthread_attr_setschedparam(&attr, &param);
+  if (status != 0)
+    {
+      printf("start_thread: ERROR pthread_attr_setschedparam failed,"
+             "status=%d\n", status);
+      ASSERT(false);
+    }
+
   status = pthread_attr_setstacksize(&attr, STACKSIZE);
   if (status != 0)
     {

testing/ostest/cond.c

@@ -216,10 +216,10 @@ static void *thread_signaler(void *parameter)
 
 #if defined(CONFIG_SMP) && (CONFIG_SMP_NCPUS > 1)
       /* Workaround for SMP:
-       * In multi-core environment, thread_signaler would be excecuted prior
+       * In multi-core environment, thread_signaler would be executed prior
        * to the thread_waiter, even though priority of thread_signaler is
        * lower than the thread_waiter. In this case, thread_signaler will
-       * aquire mutex before the thread_waiter aquires it and will show
+       * acquire mutex before the thread_waiter acquire it and will show
        * the error message such as "thread_signaler: ERROR waiter state...".
        * To avoid this situaltion, we add the following usleep()
        */
@@ -253,7 +253,6 @@ void cond_test(void)
   struct sched_param sparam;
   int prio_min;
   int prio_max;
-  int prio_mid;
   int status;
 
   sem_init(&sem_thread_started, 0, 0);
@@ -289,11 +288,9 @@ void cond_test(void)
       printf("cond_test: pthread_attr_init failed, status=%d\n", status);
     }
 
-  prio_min = sched_get_priority_min(SCHED_FIFO);
   prio_max = sched_get_priority_max(SCHED_FIFO);
-  prio_mid = (prio_min + prio_max) / 2;
-
-  sparam.sched_priority = prio_mid;
+  sparam.sched_priority = PRIORITY + 10 <= prio_max ?
+                          PRIORITY + 10 : prio_max;
   status = pthread_attr_setschedparam(&attr, &sparam);
   if (status != OK)
     {
@@ -321,7 +318,9 @@ void cond_test(void)
       printf("cond_test: pthread_attr_init failed, status=%d\n", status);
     }
 
-  sparam.sched_priority = (prio_min + prio_mid) / 2;
+  prio_min = sched_get_priority_min(SCHED_FIFO);
+  sparam.sched_priority = PRIORITY - 10 >= prio_min ?
+                          PRIORITY - 10 : prio_min;
   status = pthread_attr_setschedparam(&attr, &sparam);
   if (status != OK)
     {

testing/ostest/fpu.c

@@ -70,7 +70,7 @@
 #endif
 
 #ifndef CONFIG_TESTING_OSTEST_FPUPRIORITY
-#  define CONFIG_TESTING_OSTEST_FPUPRIORITY SCHED_PRIORITY_DEFAULT
+#  define CONFIG_TESTING_OSTEST_FPUPRIORITY PRIORITY
 #endif
 
 #ifndef CONFIG_TESTING_OSTEST_FPUSTACKSIZE

testing/ostest/mqueue.c

@@ -273,7 +273,6 @@ void mqueue_test(void)
   FAR void *expected;
   int prio_min;
   int prio_max;
-  int prio_mid;
   int status;
 
   /* Reset globals for the beginning of the test */
@@ -301,11 +300,9 @@ void mqueue_test(void)
       ASSERT(false);
     }
 
-  prio_min = sched_get_priority_min(SCHED_FIFO);
   prio_max = sched_get_priority_max(SCHED_FIFO);
-  prio_mid = (prio_min + prio_max) / 2;
-
-  sparam.sched_priority = prio_mid;
+  sparam.sched_priority = PRIORITY + 10 <= prio_max ?
+                          PRIORITY + 10 : prio_max;
   status = pthread_attr_setschedparam(&attr, &sparam);
   if (status != OK)
     {
@@ -348,7 +345,9 @@ void mqueue_test(void)
       ASSERT(false);
     }
 
-  sparam.sched_priority = (prio_min + prio_mid) / 2;
+  prio_min = sched_get_priority_min(SCHED_FIFO);
+  sparam.sched_priority = PRIORITY - 10 >= prio_min ?
+                          PRIORITY - 10 : prio_min;
   status = pthread_attr_setschedparam(&attr, &sparam);
   if (status != OK)
     {

testing/ostest/nsem.c

@@ -110,10 +110,8 @@ void nsem_test(void)
   FAR sem_t *sem1;
   FAR sem_t *sem2;
   struct sched_param sparam;
-  int prio_min;
-  int prio_max;
-  int prio_mid;
   pthread_attr_t attr;
+  int prio_max;
   int status;
 
   /* Open semaphore 2.  We will create that one */
@@ -137,11 +135,9 @@ void nsem_test(void)
       printf("nsem_test: pthread_attr_init failed, status=%d\n",  status);
     }
 
-  prio_min = sched_get_priority_min(SCHED_FIFO);
   prio_max = sched_get_priority_max(SCHED_FIFO);
-  prio_mid = (prio_min + prio_max) / 2;
-
-  sparam.sched_priority = (prio_mid + prio_max) / 2;
+  sparam.sched_priority = PRIORITY + 10 <= prio_max ?
+                          PRIORITY + 10 : prio_max;
   status = pthread_attr_setschedparam(&attr, &sparam);
   if (status != OK)
     {

testing/ostest/nxevent.c

@@ -281,7 +281,7 @@ void nxevent_test(void)
 
   /* Lower priority */
 
-  sparam.sched_priority = PTHREAD_DEFAULT_PRIORITY;
+  sparam.sched_priority = PRIORITY;
   pthread_attr_setschedparam(&attr, &sparam);
 
   /* Create thread */
@@ -304,7 +304,7 @@ void nxevent_test(void)
 
   /* Lower priority */
 
-  sparam.sched_priority = PTHREAD_DEFAULT_PRIORITY;
+  sparam.sched_priority = PRIORITY;
   pthread_attr_setschedparam(&attr, &sparam);
 
   /* Create thread */

testing/ostest/ostest.h

@@ -36,14 +36,24 @@
  * Pre-processor Definitions
  ****************************************************************************/
 
-/* The task_create task size can be specified in the defconfig file */
+#define OSTEST_NARGS              4
+#define RESTART_NARGS             3
 
-#ifdef CONFIG_TESTING_OSTEST_STACKSIZE
-#  define STACKSIZE CONFIG_TESTING_OSTEST_STACKSIZE
-#else
-#  define STACKSIZE 8192
+#define HALF_SECOND_USEC          500000L
+#define RETURN_STATUS             14
+
+#ifdef CONFIG_SCHED_WAITPID
+#  define NCHILDREN               3
 #endif
 
+/* The task_create priority can be specified in the defconfig file */
+
+#define PRIORITY                  CONFIG_TESTING_OSTEST_PRIORITY
+
+/* The task_create task size can be specified in the defconfig file */
+
+#define STACKSIZE                 CONFIG_TESTING_OSTEST_STACKSIZE
+
 /* The number of times to execute the test can be specified in the defconfig
  * file.
  */

testing/ostest/ostest_main.c

@@ -46,14 +46,6 @@
 
 #include "ostest.h"
 
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-#define PRIORITY         100
-#define NARGS              4
-#define HALF_SECOND_USEC 500000L
-
 /****************************************************************************
  * Private Data
  ****************************************************************************/
@@ -72,9 +64,9 @@ static const char write_data2[] = "stdio_test: write fd=2\n";
  * pointer types.
  */
 
-static const char *g_argv[NARGS + 1];
+static const char *g_argv[OSTEST_NARGS + 1];
 #else
-static const char *g_argv[NARGS + 1] =
+static const char *g_argv[OSTEST_NARGS + 1] =
 {
   arg1, arg2, arg3, arg4, NULL
 };
@@ -229,19 +221,19 @@ static int user_main(int argc, char *argv[])
 
   /* Verify passed arguments */
 
-  if (argc != NARGS + 1)
+  if (argc != OSTEST_NARGS + 1)
     {
       printf("user_main: ERROR expected argc=%d got argc=%d\n",
-             NARGS + 1, argc);
+             OSTEST_NARGS + 1, argc);
       ASSERT(false);
     }
 
-  for (i = 0; i <= NARGS; i++)
+  for (i = 0; i <= OSTEST_NARGS; i++)
     {
       printf("user_main: argv[%d]=\"%s\"\n", i, argv[i]);
     }
 
-  for (i = 1; i <= NARGS; i++)
+  for (i = 1; i <= OSTEST_NARGS; i++)
     {
       if (strcmp(argv[i], g_argv[i - 1]) != 0)
         {

testing/ostest/prioinherit.c

@@ -352,7 +352,7 @@ static FAR void *lowpri_thread(FAR void *parameter)
       while (g_middlestate == NOTSTARTED &&
              nhighpri_waiting() < NHIGHPRI_THREADS)
         {
-          printf("lowpri_thread-%d: Waiting for the midle pri task to run\n",
+          printf("lowpri_thread-%d: Waiting for the mid pri task to run\n",
                  threadno);
           printf("    g_middlestate:  %d\n", (int)g_middlestate);
           for (i = 0; i < NHIGHPRI_THREADS; i++)
@@ -403,7 +403,7 @@ static FAR void *lowpri_thread(FAR void *parameter)
            */
 
           printf("lowpri_thread-%d: %s the middle priority task has already"
-                 " exitted!\n",
+                 " exited!\n",
                  threadno, count >= 0 ? "SUCCESS" : "ERROR");
           ASSERT(count >= 0);
           printf("               g_middlestate:  %d sem count=%d\n",
@@ -516,7 +516,7 @@ void priority_inheritance(void)
     {
       printf("priority_inheritance: ERROR sched_getparam failed\n");
       ASSERT(false);
-      sparam.sched_priority = PTHREAD_DEFAULT_PRIORITY;
+      sparam.sched_priority = PRIORITY;
     }
 
   my_pri = sparam.sched_priority;
@@ -657,7 +657,7 @@ void priority_inheritance(void)
       if (status != 0)
         {
           printf("priority_inheritance: "
-                 "ERRROR pthread_create failed, status=%d\n", status);
+                 "ERROR pthread_create failed, status=%d\n", status);
           ASSERT(false);
         }
     }

testing/ostest/pthread_exit.c

@@ -37,12 +37,6 @@
 
 #ifdef CONFIG_SCHED_WAITPID
 
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-#define PRIORITY  100
-
 /****************************************************************************
  * Private Functions
  ****************************************************************************/

testing/ostest/restart.c

@@ -40,18 +40,11 @@
 
 #ifndef CONFIG_BUILD_KERNEL
 
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-#define PRIORITY    100
-#define NARGS         3
-
 /****************************************************************************
  * Private Data
  ****************************************************************************/
 
-static char * const g_argv[NARGS + 1] =
+static char * const g_argv[RESTART_NARGS + 1] =
 {
   "This is argument 1",
   "Argument 2 here",
@@ -83,14 +76,14 @@ static int restart_main(int argc, char *argv[])
 
   /* Verify passed arguments */
 
-  if (argc != NARGS + 1)
+  if (argc != RESTART_NARGS + 1)
     {
       printf("restart_main: ERROR: Expected argc=%d got argc=%d\n",
-             NARGS + 1, argc);
+             RESTART_NARGS + 1, argc);
       ASSERT(false);
     }
 
-  for (i = 0; i <= NARGS; i++)
+  for (i = 0; i <= RESTART_NARGS; i++)
     {
       printf("restart_main: argv[%d]=\"%s\"\n", i, argv[i]);
       if (i > 0 && strcmp(argv[i], g_argv[i - 1]) != 0)

testing/ostest/schedlock.c

@@ -164,7 +164,7 @@ void sched_lock_test(void)
         {
           printf("sched_lock: ERROR sched_getparam failed\n");
           ASSERT(false);
-          sparam.sched_priority = PTHREAD_DEFAULT_PRIORITY;
+          sparam.sched_priority = PRIORITY;
         }
 
       highprio = sparam.sched_priority - 2;