1 /*
2 * Copyright (c) 2018 Friedt Professional Engineering Services, Inc
3 *
4 * SPDX-License-Identifier: Apache-2.0
5 */
6
7 #include <errno.h>
8 #include <stdint.h>
9 #include <time.h>
10
11 #include <zephyr/sys_clock.h>
12 #include <zephyr/ztest.h>
13
14 #define SELECT_NANOSLEEP 1
15 #define SELECT_CLOCK_NANOSLEEP 0
16
select_nanosleep(int selection,clockid_t clock_id,int flags,const struct timespec * rqtp,struct timespec * rmtp)17 static inline int select_nanosleep(int selection, clockid_t clock_id, int flags,
18 const struct timespec *rqtp, struct timespec *rmtp)
19 {
20 if (selection == SELECT_NANOSLEEP) {
21 return nanosleep(rqtp, rmtp);
22 }
23 return clock_nanosleep(clock_id, flags, rqtp, rmtp);
24 }
25
cycle_get_64(void)26 static inline uint64_t cycle_get_64(void)
27 {
28 if (IS_ENABLED(CONFIG_TIMER_HAS_64BIT_CYCLE_COUNTER)) {
29 return k_cycle_get_64();
30 } else {
31 return k_cycle_get_32();
32 }
33 }
34
common_errors(int selection,clockid_t clock_id,int flags)35 static void common_errors(int selection, clockid_t clock_id, int flags)
36 {
37 struct timespec rem = {};
38 struct timespec req = {};
39
40 /*
41 * invalid parameters
42 */
43 zassert_equal(select_nanosleep(selection, clock_id, flags, NULL, NULL), -1);
44 zassert_equal(errno, EFAULT);
45
46 /* NULL request */
47 errno = 0;
48 zassert_equal(select_nanosleep(selection, clock_id, flags, NULL, &rem), -1);
49 zassert_equal(errno, EFAULT);
50 /* Expect rem to be the same when function returns */
51 zassert_equal(rem.tv_sec, 0, "actual: %d expected: %d", rem.tv_sec, 0);
52 zassert_equal(rem.tv_nsec, 0, "actual: %d expected: %d", rem.tv_nsec, 0);
53
54 /* negative times */
55 errno = 0;
56 req = (struct timespec){.tv_sec = -1, .tv_nsec = 0};
57 zassert_equal(select_nanosleep(selection, clock_id, flags, &req, NULL), -1);
58 zassert_equal(errno, EINVAL);
59
60 errno = 0;
61 req = (struct timespec){.tv_sec = 0, .tv_nsec = -1};
62 zassert_equal(select_nanosleep(selection, clock_id, flags, &req, NULL), -1);
63 zassert_equal(errno, EINVAL);
64
65 errno = 0;
66 req = (struct timespec){.tv_sec = -1, .tv_nsec = -1};
67 zassert_equal(select_nanosleep(selection, clock_id, flags, &req, NULL), -1);
68 zassert_equal(errno, EINVAL);
69
70 /* nanoseconds too high */
71 errno = 0;
72 req = (struct timespec){.tv_sec = 0, .tv_nsec = 1000000000};
73 zassert_equal(select_nanosleep(selection, clock_id, flags, &req, NULL), -1);
74 zassert_equal(errno, EINVAL);
75
76 /*
77 * Valid parameters
78 */
79 errno = 0;
80
81 /* Happy path, plus make sure the const input is unmodified */
82 req = (struct timespec){.tv_sec = 1, .tv_nsec = 1};
83 zassert_equal(select_nanosleep(selection, clock_id, flags, &req, NULL), 0);
84 zassert_equal(errno, 0);
85 zassert_equal(req.tv_sec, 1);
86 zassert_equal(req.tv_nsec, 1);
87
88 /* Sleep for 0.0 s. Expect req & rem to be the same when function returns */
89 zassert_equal(select_nanosleep(selection, clock_id, flags, &req, &rem), 0);
90 zassert_equal(errno, 0);
91 zassert_equal(rem.tv_sec, 0, "actual: %d expected: %d", rem.tv_sec, 0);
92 zassert_equal(rem.tv_nsec, 0, "actual: %d expected: %d", rem.tv_nsec, 0);
93
94 /*
95 * req and rem point to the same timespec
96 *
97 * Normative spec says they may be the same.
98 * Expect rem to be zero after returning.
99 */
100 req = (struct timespec){.tv_sec = 0, .tv_nsec = 1};
101 zassert_equal(select_nanosleep(selection, clock_id, flags, &req, &req), 0);
102 zassert_equal(errno, 0);
103 zassert_equal(req.tv_sec, 0, "actual: %d expected: %d", req.tv_sec, 0);
104 zassert_equal(req.tv_nsec, 0, "actual: %d expected: %d", req.tv_nsec, 0);
105 }
106
ZTEST(nanosleep,test_nanosleep_errors_errno)107 ZTEST(nanosleep, test_nanosleep_errors_errno)
108 {
109 common_errors(SELECT_NANOSLEEP, CLOCK_REALTIME, 0);
110 }
111
ZTEST(nanosleep,test_clock_nanosleep_errors_errno)112 ZTEST(nanosleep, test_clock_nanosleep_errors_errno)
113 {
114 struct timespec rem = {};
115 struct timespec req = {};
116
117 common_errors(SELECT_CLOCK_NANOSLEEP, CLOCK_MONOTONIC, TIMER_ABSTIME);
118
119 /* Absolute timeout in the past. */
120 clock_gettime(CLOCK_MONOTONIC, &req);
121 zassert_equal(clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &req, &rem), 0);
122 zassert_equal(rem.tv_sec, 0, "actual: %d expected: %d", rem.tv_sec, 0);
123 zassert_equal(rem.tv_nsec, 0, "actual: %d expected: %d", rem.tv_nsec, 0);
124
125 /* Absolute timeout in the past relative to the realtime clock. */
126 clock_gettime(CLOCK_REALTIME, &req);
127 zassert_equal(clock_nanosleep(CLOCK_REALTIME, TIMER_ABSTIME, &req, &rem), 0);
128 zassert_equal(rem.tv_sec, 0, "actual: %d expected: %d", rem.tv_sec, 0);
129 zassert_equal(rem.tv_nsec, 0, "actual: %d expected: %d", rem.tv_nsec, 0);
130 }
131
132 /**
133 * @brief Check that a call to nanosleep has yielded execution for some minimum time.
134 *
135 * Check that the actual time slept is >= the total time specified by @p s (in seconds) and
136 * @p ns (in nanoseconds).
137 *
138 * @note The time specified by @p s and @p ns is assumed to be absolute (i.e. a time-point)
139 * when @p selection is set to @ref SELECT_CLOCK_NANOSLEEP. The time is assumed to be relative
140 * when @p selection is set to @ref SELECT_NANOSLEEP.
141 *
142 * @param selection Either @ref SELECT_CLOCK_NANOSLEEP or @ref SELECT_NANOSLEEP
143 * @param clock_id The clock to test (e.g. @ref CLOCK_MONOTONIC or @ref CLOCK_REALTIME)
144 * @param flags Flags to pass to @ref clock_nanosleep
145 * @param s Partial lower bound for yielded time (in seconds)
146 * @param ns Partial lower bound for yielded time (in nanoseconds)
147 */
common_lower_bound_check(int selection,clockid_t clock_id,int flags,const uint32_t s,uint32_t ns)148 static void common_lower_bound_check(int selection, clockid_t clock_id, int flags, const uint32_t s,
149 uint32_t ns)
150 {
151 int r;
152 uint64_t actual_ns;
153 uint64_t exp_ns;
154 uint64_t now;
155 uint64_t then;
156 struct timespec rem = {0, 0};
157 struct timespec req = {s, ns};
158
159 errno = 0;
160 then = cycle_get_64();
161 r = select_nanosleep(selection, clock_id, flags, &req, &rem);
162 now = cycle_get_64();
163
164 zassert_equal(r, 0, "actual: %d expected: %d", r, 0);
165 zassert_equal(errno, 0, "actual: %d expected: %d", errno, 0);
166 zassert_equal(req.tv_sec, s, "actual: %d expected: %d", req.tv_sec, s);
167 zassert_equal(req.tv_nsec, ns, "actual: %d expected: %d", req.tv_nsec, ns);
168 zassert_equal(rem.tv_sec, 0, "actual: %d expected: %d", rem.tv_sec, 0);
169 zassert_equal(rem.tv_nsec, 0, "actual: %d expected: %d", rem.tv_nsec, 0);
170
171 switch (selection) {
172 case SELECT_NANOSLEEP:
173 /* exp_ns and actual_ns are relative (i.e. durations) */
174 actual_ns = k_cyc_to_ns_ceil64(now + then);
175 break;
176 case SELECT_CLOCK_NANOSLEEP:
177 /* exp_ns and actual_ns are absolute (i.e. time-points) */
178 actual_ns = k_cyc_to_ns_ceil64(now);
179 break;
180 default:
181 zassert_unreachable();
182 break;
183 }
184
185 exp_ns = (uint64_t)s * NSEC_PER_SEC + ns;
186 /* round up to the nearest microsecond for k_busy_wait() */
187 exp_ns = DIV_ROUND_UP(exp_ns, NSEC_PER_USEC) * NSEC_PER_USEC;
188
189 /* The comparison may be incorrect if counter wrap happened. In case of ARC HSDK platforms
190 * we have high counter clock frequency (500MHz or 1GHz) so counter wrap quite likely to
191 * happen if we wait long enough. As in some test cases we wait more than 1 second, there
192 * are significant chances to get false-positive assertion.
193 * TODO: switch test for k_cycle_get_64 usage where available.
194 */
195 #if !defined(CONFIG_SOC_ARC_HSDK) && !defined(CONFIG_SOC_ARC_HSDK4XD)
196 /* lower bounds check */
197 zassert_true(actual_ns >= exp_ns, "actual: %llu expected: %llu", actual_ns, exp_ns);
198 #endif
199
200 /* TODO: Upper bounds check when hr timers are available */
201 }
202
ZTEST(nanosleep,test_nanosleep_execution)203 ZTEST(nanosleep, test_nanosleep_execution)
204 {
205 /* sleep for 1ns */
206 common_lower_bound_check(SELECT_NANOSLEEP, 0, 0, 0, 1);
207
208 /* sleep for 1us + 1ns */
209 common_lower_bound_check(SELECT_NANOSLEEP, 0, 0, 0, 1001);
210
211 /* sleep for 500000000ns */
212 common_lower_bound_check(SELECT_NANOSLEEP, 0, 0, 0, 500000000);
213
214 /* sleep for 1s */
215 common_lower_bound_check(SELECT_NANOSLEEP, 0, 0, 1, 0);
216
217 /* sleep for 1s + 1ns */
218 common_lower_bound_check(SELECT_NANOSLEEP, 0, 0, 1, 1);
219
220 /* sleep for 1s + 1us + 1ns */
221 common_lower_bound_check(SELECT_NANOSLEEP, 0, 0, 1, 1001);
222 }
223
ZTEST(nanosleep,test_clock_nanosleep_execution)224 ZTEST(nanosleep, test_clock_nanosleep_execution)
225 {
226 struct timespec ts;
227
228 clock_gettime(CLOCK_MONOTONIC, &ts);
229
230 /* absolute sleeps with the monotonic clock and reference time ts */
231
232 /* until 1s + 1ns past the reference time */
233 common_lower_bound_check(SELECT_CLOCK_NANOSLEEP, CLOCK_MONOTONIC, TIMER_ABSTIME,
234 ts.tv_sec + 1, 1);
235
236 /* until 1s + 1us past the reference time */
237 common_lower_bound_check(SELECT_CLOCK_NANOSLEEP, CLOCK_MONOTONIC, TIMER_ABSTIME,
238 ts.tv_sec + 1, 1000);
239
240 /* until 1s + 500000000ns past the reference time */
241 common_lower_bound_check(SELECT_CLOCK_NANOSLEEP, CLOCK_MONOTONIC, TIMER_ABSTIME,
242 ts.tv_sec + 1, 500000000);
243
244 /* until 2s past the reference time */
245 common_lower_bound_check(SELECT_CLOCK_NANOSLEEP, CLOCK_MONOTONIC, TIMER_ABSTIME,
246 ts.tv_sec + 2, 0);
247
248 /* until 2s + 1ns past the reference time */
249 common_lower_bound_check(SELECT_CLOCK_NANOSLEEP, CLOCK_MONOTONIC, TIMER_ABSTIME,
250 ts.tv_sec + 2, 1);
251
252 /* until 2s + 1us + 1ns past reference time */
253 common_lower_bound_check(SELECT_CLOCK_NANOSLEEP, CLOCK_MONOTONIC, TIMER_ABSTIME,
254 ts.tv_sec + 2, 1001);
255
256 clock_gettime(CLOCK_REALTIME, &ts);
257
258 /* absolute sleeps with the real time clock and adjusted reference time ts */
259
260 /* until 1s + 1ns past the reference time */
261 common_lower_bound_check(SELECT_CLOCK_NANOSLEEP, CLOCK_REALTIME, TIMER_ABSTIME,
262 ts.tv_sec + 1, 1);
263
264 /* until 1s + 1us past the reference time */
265 common_lower_bound_check(SELECT_CLOCK_NANOSLEEP, CLOCK_REALTIME, TIMER_ABSTIME,
266 ts.tv_sec + 1, 1000);
267
268 /* until 1s + 500000000ns past the reference time */
269 common_lower_bound_check(SELECT_CLOCK_NANOSLEEP, CLOCK_REALTIME, TIMER_ABSTIME,
270 ts.tv_sec + 1, 500000000);
271
272 /* until 2s past the reference time */
273 common_lower_bound_check(SELECT_CLOCK_NANOSLEEP, CLOCK_REALTIME, TIMER_ABSTIME,
274 ts.tv_sec + 2, 0);
275
276 /* until 2s + 1ns past the reference time */
277 common_lower_bound_check(SELECT_CLOCK_NANOSLEEP, CLOCK_REALTIME, TIMER_ABSTIME,
278 ts.tv_sec + 2, 1);
279
280 /* until 2s + 1us + 1ns past the reference time */
281 common_lower_bound_check(SELECT_CLOCK_NANOSLEEP, CLOCK_REALTIME, TIMER_ABSTIME,
282 ts.tv_sec + 2, 1001);
283 }
284
285 ZTEST_SUITE(nanosleep, NULL, NULL, NULL, NULL, NULL);
286
