1185 lines
34 KiB
C
1185 lines
34 KiB
C
/*
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* FreeRTOS V202111.00
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* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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* the Software without restriction, including without limitation the rights to
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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* the Software, and to permit persons to whom the Software is furnished to do so,
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*
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* https://www.FreeRTOS.org
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* https://github.com/FreeRTOS
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*
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*/
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/*! @file queue_receive_nonblocking_utest.c */
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/* C runtime includes. */
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#include <stdlib.h>
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#include <stdbool.h>
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#include <string.h>
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#include "../queue_utest_common.h"
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#include "mock_fake_port.h"
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/* Queue includes */
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#include "FreeRTOS.h"
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#include "FreeRTOSConfig.h"
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#include "queue.h"
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/* ============================ GLOBAL VARIABLES =========================== */
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/* Used to share a QueueHandle_t between a test case and it's callbacks */
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static QueueHandle_t xQueueHandleStatic = NULL;
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static BaseType_t xStubExpectedReturnValue = pdFALSE;
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/* ========================== CALLBACK FUNCTIONS =========================== */
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/* ============================= Unity Fixtures ============================= */
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void setUp( void )
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{
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commonSetUp();
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vFakePortAssertIfInterruptPriorityInvalid_Ignore();
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xQueueHandleStatic = NULL;
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xStubExpectedReturnValue = pdFALSE;
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}
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void tearDown( void )
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{
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commonTearDown();
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}
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void suiteSetUp()
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{
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commonSuiteSetUp();
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}
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int suiteTearDown( int numFailures )
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{
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return commonSuiteTearDown( numFailures );
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}
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/* ========================== Helper functions =========================== */
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/* ============================= Test Cases ============================== */
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/**
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* @brief Test xQueuePeek with an invalid QueueHandle
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* @coverage xQueuePeek
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*/
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void test_xQueuePeek_invalid_handle( void )
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{
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EXPECT_ASSERT_BREAK( xQueuePeek( NULL, NULL, 0 ) );
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}
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/**
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* @brief Test xQueuePeek with an empty queue
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* @coverage xQueuePeek
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*/
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void test_xQueuePeek_fail_empty( void )
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{
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/* Create a new queue */
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QueueHandle_t xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
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uint32_t checkVal = INVALID_UINT32;
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/* peek from the queue while empty */
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TEST_ASSERT_EQUAL( pdFALSE, xQueuePeek( xQueue, &checkVal, 0 ) );
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vQueueDelete( xQueue );
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}
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/**
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* @brief Test xQueuePeek with an empty queue of length 1, items size 0
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* @coverage xQueuePeek
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*/
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void test_xQueuePeek_zeroItemSize_empty( void )
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{
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/* Create a new queue */
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QueueHandle_t xQueue = xQueueCreate( 1, 0 );
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uint32_t checkVal = INVALID_UINT32;
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/* peek from the queue while empty */
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TEST_ASSERT_EQUAL( pdFALSE, xQueuePeek( xQueue, &checkVal, 0 ) );
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vQueueDelete( xQueue );
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}
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/**
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* @brief Test xQueuePeek with a full queue of length 1, items size 0
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* @coverage xQueuePeek
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*/
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void test_xQueuePeek_zeroItemSize_full( void )
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{
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/* Create a new queue */
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QueueHandle_t xQueue = xQueueCreate( 1, 0 );
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( void ) xQueueSend( xQueue, NULL, 0 );
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TEST_ASSERT_EQUAL( 1, uxQueueMessagesWaiting( xQueue ) );
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/* peek from the queue while full */
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TEST_ASSERT_EQUAL( pdTRUE, xQueuePeek( xQueue, NULL, 0 ) );
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TEST_ASSERT_EQUAL( 1, uxQueueMessagesWaiting( xQueue ) );
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vQueueDelete( xQueue );
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}
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/**
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* @brief Test xQueuePeek with a null pvBuffer on an empty queue of length 1, items size 4
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* @coverage xQueuePeek
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*/
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void test_xQueuePeek_fourItemSize_nullptr_assert_empty( void )
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{
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/* Create a new queue */
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QueueHandle_t xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
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fakeAssertExpectFail();
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/* peek from the queue with a nullptr storage location */
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TEST_ASSERT_EQUAL( pdFALSE, xQueuePeek( xQueue, NULL, 0 ) );
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TEST_ASSERT_EQUAL( true, fakeAssertGetFlagAndClear() );
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vQueueDelete( xQueue );
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}
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/**
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* @brief Test xQueuePeek with a null pvBuffer on a full queue of length 1, items size 4
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* @coverage xQueuePeek
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*/
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void test_xQueuePeek_fourItemSize_nullptr_assert_full( void )
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{
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/* Create a new queue */
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QueueHandle_t xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
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uint32_t testVal = getNextMonotonicTestValue();
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( void ) xQueueSend( xQueue, &testVal, 0 );
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/* peek from the queue with a nullptr storage location */
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EXPECT_ASSERT_BREAK( xQueuePeek( xQueue, NULL, 0 ) );
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vQueueDelete( xQueue );
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}
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/**
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* @brief Test xQueuePeek with an occupied queue
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* @coverage xQueuePeek
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*/
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void test_xQueuePeek_success( void )
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{
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/* Create a new queue */
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QueueHandle_t xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
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uint32_t testVal = getNextMonotonicTestValue();
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( void ) xQueueSend( xQueue, &testVal, 0 );
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uint32_t checkVal = INVALID_UINT32;
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TEST_ASSERT_EQUAL( 1, uxQueueMessagesWaiting( xQueue ) );
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/* Peek from the queue while full */
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TEST_ASSERT_EQUAL( pdTRUE, xQueuePeek( xQueue, &checkVal, 0 ) );
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TEST_ASSERT_EQUAL( testVal, checkVal );
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/* Verify that xQueuePeek did not remove the item from the queue */
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TEST_ASSERT_EQUAL( 1, uxQueueMessagesWaiting( xQueue ) );
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vQueueDelete( xQueue );
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}
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/**
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* @brief Stub for vPortYieldWithinAPI which calls xQueueReceive
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*/
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static void vPortYieldWithinAPI_xQueueReceive_Stub( int cmock_num_calls )
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{
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td_task_vPortYieldWithinAPIStub( cmock_num_calls );
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vFakePortExitCriticalSection();
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uint32_t checkVal = INVALID_UINT32;
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TEST_ASSERT_EQUAL( xStubExpectedReturnValue == pdTRUE ? 1 : 0, uxQueueMessagesWaiting( xQueueHandleStatic ) );
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TEST_ASSERT_EQUAL( xStubExpectedReturnValue, xQueueReceive( xQueueHandleStatic, &checkVal, 0 ) );
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TEST_ASSERT_EQUAL( 0, uxQueueMessagesWaiting( xQueueHandleStatic ) );
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if( pdTRUE == xStubExpectedReturnValue )
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{
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TEST_ASSERT_EQUAL( getLastMonotonicTestValue(), checkVal );
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}
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else
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{
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TEST_ASSERT_EQUAL( INVALID_UINT32, checkVal );
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}
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vFakePortEnterCriticalSection();
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}
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/**
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* @brief Stub for vPortYieldWithinAPI which calls xQueuePeek
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*/
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static void vPortYieldWithinAPI_xQueuePeek_Stub( int cmock_num_calls )
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{
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td_task_vPortYieldWithinAPIStub( cmock_num_calls );
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vFakePortExitCriticalSection();
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uint32_t checkVal = INVALID_UINT32;
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TEST_ASSERT_EQUAL( xStubExpectedReturnValue == pdTRUE ? 1 : 0, uxQueueMessagesWaiting( xQueueHandleStatic ) );
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TEST_ASSERT_EQUAL( xStubExpectedReturnValue, xQueuePeek( xQueueHandleStatic, &checkVal, 0 ) );
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TEST_ASSERT_EQUAL( xStubExpectedReturnValue == pdTRUE ? 1 : 0, uxQueueMessagesWaiting( xQueueHandleStatic ) );
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if( pdTRUE == xStubExpectedReturnValue )
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{
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TEST_ASSERT_EQUAL( getLastMonotonicTestValue(), checkVal );
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}
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else
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{
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TEST_ASSERT_EQUAL( INVALID_UINT32, checkVal );
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}
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vFakePortEnterCriticalSection();
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}
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/**
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* @brief Test xQueuePeek with an occupied queue with a higher priority task waiting that does not modify the queue.
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* @coverage xQueuePeek
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*/
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void test_xQueuePeek_noop_waiting_higher_priority( void )
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{
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/* Create a new queue */
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QueueHandle_t xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
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/* Export for callback */
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xQueueHandleStatic = xQueue;
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/* Add a value to the queue */
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uint32_t testVal = getNextMonotonicTestValue();
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( void ) xQueueSend( xQueue, &testVal, 0 );
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/* Insert an item into the event list */
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td_task_setFakeTaskPriority( DEFAULT_PRIORITY + 1 );
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td_task_addFakeTaskWaitingToReceiveFromQueue( xQueue );
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/* peek from the queue */
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uint32_t checkVal = INVALID_UINT32;
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TEST_ASSERT_EQUAL( 1, uxQueueMessagesWaiting( xQueue ) );
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TEST_ASSERT_EQUAL( pdTRUE, xQueuePeek( xQueue, &checkVal, 0 ) );
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TEST_ASSERT_EQUAL( testVal, checkVal );
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TEST_ASSERT_EQUAL( 1, uxQueueMessagesWaiting( xQueue ) );
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/* Veify that the task Yielded */
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TEST_ASSERT_EQUAL( 1, td_task_getYieldCount() );
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/* Check that vTaskMissedYield was called */
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TEST_ASSERT_EQUAL( 1, td_task_getCount_vPortYieldWithinAPI() );
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vQueueDelete( xQueue );
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}
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/**
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* @brief Test xQueuePeek with an occupied queue with a higher priority xQueuePeek pending.
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* @coverage xQueuePeek
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*/
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void test_xQueuePeek_xQueuePeek_waiting_higher_priority( void )
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{
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/* Create a new queue */
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QueueHandle_t xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
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/* Export for callback */
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xQueueHandleStatic = xQueue;
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/* Add a value to the queue */
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uint32_t testVal = getNextMonotonicTestValue();
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( void ) xQueueSend( xQueue, &testVal, 0 );
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/* Insert an item into the event list */
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td_task_setFakeTaskPriority( DEFAULT_PRIORITY + 1 );
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td_task_addFakeTaskWaitingToReceiveFromQueue( xQueue );
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vFakePortYieldWithinAPI_Stub( &vPortYieldWithinAPI_xQueuePeek_Stub );
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xStubExpectedReturnValue = pdTRUE;
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/* peek from the queue */
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uint32_t checkVal = INVALID_UINT32;
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TEST_ASSERT_EQUAL( 1, uxQueueMessagesWaiting( xQueue ) );
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TEST_ASSERT_EQUAL( pdTRUE, xQueuePeek( xQueue, &checkVal, 0 ) );
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TEST_ASSERT_EQUAL( testVal, checkVal );
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TEST_ASSERT_EQUAL( 1, uxQueueMessagesWaiting( xQueue ) );
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/* Veify that the task Yielded */
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TEST_ASSERT_EQUAL( 1, td_task_getYieldCount() );
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/* Check that vTaskMissedYield was called */
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TEST_ASSERT_EQUAL( 1, td_task_getCount_vPortYieldWithinAPI() );
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vQueueDelete( xQueue );
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}
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/**
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* @brief Test xQueuePeek with an occupied queue with a higher priority xQueueReceive pending.
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* @coverage xQueuePeek
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*/
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void test_xQueuePeek_xQueueReceive_waiting_higher_priority( void )
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{
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/* Create a new queue */
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QueueHandle_t xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
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/* Export for callback */
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xQueueHandleStatic = xQueue;
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/* Add a value to the queue */
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uint32_t testVal = getNextMonotonicTestValue();
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( void ) xQueueSend( xQueue, &testVal, 0 );
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/* Insert an item into the event list */
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td_task_setFakeTaskPriority( DEFAULT_PRIORITY + 1 );
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td_task_addFakeTaskWaitingToReceiveFromQueue( xQueue );
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vFakePortYieldWithinAPI_Stub( &vPortYieldWithinAPI_xQueueReceive_Stub );
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xStubExpectedReturnValue = pdTRUE;
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/* peek from the queue */
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uint32_t checkVal = INVALID_UINT32;
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TEST_ASSERT_EQUAL( 1, uxQueueMessagesWaiting( xQueue ) );
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TEST_ASSERT_EQUAL( pdTRUE, xQueuePeek( xQueue, &checkVal, 0 ) );
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TEST_ASSERT_EQUAL( testVal, checkVal );
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TEST_ASSERT_EQUAL( 0, uxQueueMessagesWaiting( xQueue ) );
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/* Veify that the task Yielded */
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TEST_ASSERT_EQUAL( 1, td_task_getYieldCount() );
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/* Check that vTaskMissedYield was called */
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TEST_ASSERT_EQUAL( 1, td_task_getCount_vPortYieldWithinAPI() );
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vQueueDelete( xQueue );
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}
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/**
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* @brief Test xQueuePeek with an occupied queue with a lower priority task pending which does not modify the queue.
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* @coverage xQueuePeek
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*/
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void test_xQueuePeek_noop_waiting_lower_priority( void )
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{
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/* Create a new queue */
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QueueHandle_t xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
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/* Export for callback */
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xQueueHandleStatic = xQueue;
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/* Add a value to the queue */
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uint32_t testVal = getNextMonotonicTestValue();
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( void ) xQueueSend( xQueue, &testVal, 0 );
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/* Insert an item into the event list */
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td_task_setFakeTaskPriority( DEFAULT_PRIORITY - 1 );
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td_task_addFakeTaskWaitingToReceiveFromQueue( xQueue );
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uint32_t checkVal = INVALID_UINT32;
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TEST_ASSERT_EQUAL( 1, uxQueueMessagesWaiting( xQueue ) );
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/* peek from the queue */
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TEST_ASSERT_EQUAL( pdTRUE, xQueuePeek( xQueue, &checkVal, 0 ) );
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TEST_ASSERT_EQUAL( testVal, checkVal );
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TEST_ASSERT_EQUAL( 1, uxQueueMessagesWaiting( xQueue ) );
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vQueueDelete( xQueue );
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}
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/**
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* @brief Test xQueuePeek with an occupied queue with a lower priority xQueuePeek operation pending.
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* @coverage xQueuePeek
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*/
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void test_xQueuePeek_xQueuePeek_waiting_lower_priority( void )
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{
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/* Create a new queue */
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QueueHandle_t xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
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/* Export for callback */
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xQueueHandleStatic = xQueue;
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/* Add a value to the queue */
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uint32_t testVal = getNextMonotonicTestValue();
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( void ) xQueueSend( xQueue, &testVal, 0 );
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/* Insert an item into the event list */
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td_task_setFakeTaskPriority( DEFAULT_PRIORITY - 1 );
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td_task_addFakeTaskWaitingToReceiveFromQueue( xQueue );
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vFakePortYieldWithinAPI_Stub( &vPortYieldWithinAPI_xQueuePeek_Stub );
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xStubExpectedReturnValue = pdFALSE;
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uint32_t checkVal = INVALID_UINT32;
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TEST_ASSERT_EQUAL( 1, uxQueueMessagesWaiting( xQueue ) );
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/* peek from the queue */
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TEST_ASSERT_EQUAL( pdTRUE, xQueuePeek( xQueue, &checkVal, 0 ) );
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TEST_ASSERT_EQUAL( testVal, checkVal );
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TEST_ASSERT_EQUAL( 1, uxQueueMessagesWaiting( xQueue ) );
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vQueueDelete( xQueue );
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}
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/**
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* @brief Test xQueuePeek with an occupied queue with a lower priority xQueueReceive operation pending.
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* @coverage xQueuePeek
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*/
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void test_xQueuePeek_xQueueReceive_waiting_lower_priority( void )
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{
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/* Create a new queue */
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QueueHandle_t xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
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/* Export for callback */
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xQueueHandleStatic = xQueue;
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/* Add a value to the queue */
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uint32_t testVal = getNextMonotonicTestValue();
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( void ) xQueueSend( xQueue, &testVal, 0 );
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/* Insert an item into the event list */
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td_task_setFakeTaskPriority( DEFAULT_PRIORITY - 1 );
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td_task_addFakeTaskWaitingToReceiveFromQueue( xQueue );
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vFakePortYieldWithinAPI_Stub( &vPortYieldWithinAPI_xQueueReceive_Stub );
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xStubExpectedReturnValue = pdFALSE;
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uint32_t checkVal = INVALID_UINT32;
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TEST_ASSERT_EQUAL( 1, uxQueueMessagesWaiting( xQueue ) );
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/* peek from the queue */
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TEST_ASSERT_EQUAL( pdTRUE, xQueuePeek( xQueue, &checkVal, 0 ) );
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TEST_ASSERT_EQUAL( testVal, checkVal );
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TEST_ASSERT_EQUAL( 1, uxQueueMessagesWaiting( xQueue ) );
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vQueueDelete( xQueue );
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}
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/**
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* @brief Test xQueuePeek with taskSCHEDULER_SUSPENDED and timeout=0
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* @details This should not cause xQueuePeek to configASSERT because
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* xQueuePeek is non-blocking when timeout=0.
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* @coverage xQueuePeek
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*/
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void test_xQueuePeek_nonblocking_suspended_noassert( void )
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{
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QueueHandle_t xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
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uint32_t checkVal = INVALID_UINT32;
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td_task_setSchedulerState( taskSCHEDULER_SUSPENDED );
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TEST_ASSERT_EQUAL( pdFALSE, xQueuePeek( xQueue, &checkVal, 0 ) );
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td_task_setSchedulerState( taskSCHEDULER_RUNNING );
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vQueueDelete( xQueue );
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}
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/**
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* @brief Test xQueuePeekFromISR with an invalid QueueHandle
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* @coverage xQueuePeekFromISR
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*/
|
|
void test_xQueuePeekFromISR_invalid_handle( void )
|
|
{
|
|
EXPECT_ASSERT_BREAK( xQueuePeekFromISR( NULL, NULL ) );
|
|
}
|
|
|
|
/**
|
|
* @brief Test xQueuePeekFromISR with a full queue of length 1, items size 0
|
|
* @details xQueuePeekFromISR is not allowed on a semaphore (item size 0) and causes a configASSERT.
|
|
* @coverage xQueuePeekFromISR
|
|
*/
|
|
void test_xQueuePeekFromISR_zeroItemSize_assert_full( void )
|
|
{
|
|
/* Create a new queue */
|
|
QueueHandle_t xQueue = xQueueCreate( 1, 0 );
|
|
|
|
( void ) xQueueSend( xQueue, NULL, 0 );
|
|
|
|
vFakePortAssertIfInterruptPriorityInvalid_Expect();
|
|
ulFakePortSetInterruptMaskFromISR_ExpectAndReturn( getNextMonotonicTestValue() );
|
|
vFakePortClearInterruptMaskFromISR_Expect( getLastMonotonicTestValue() );
|
|
|
|
/* Expect an assertion failure because xQueuePeekFromISR is not supported for semaphores? */
|
|
fakeAssertExpectFail();
|
|
|
|
TEST_ASSERT_EQUAL( 1, uxQueueMessagesWaiting( xQueue ) );
|
|
|
|
/* peek from the queue while full */
|
|
TEST_ASSERT_EQUAL( pdTRUE, xQueuePeekFromISR( xQueue, NULL ) );
|
|
|
|
TEST_ASSERT_EQUAL( 1, uxQueueMessagesWaiting( xQueue ) );
|
|
|
|
TEST_ASSERT_EQUAL( true, fakeAssertGetFlagAndClear() );
|
|
|
|
vQueueDelete( xQueue );
|
|
}
|
|
|
|
/**
|
|
* @brief Test xQueuePeekFromISR with a null pvBuffer on an empty queue of length 1, items size 4
|
|
* @coverage xQueuePeekFromISR
|
|
*/
|
|
void test_xQueuePeekFromISR_fourItemSize_nullptr_assert_empty( void )
|
|
{
|
|
/* Create a new queue */
|
|
QueueHandle_t xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
|
|
|
|
vFakePortAssertIfInterruptPriorityInvalid_Expect();
|
|
ulFakePortSetInterruptMaskFromISR_ExpectAndReturn( getNextMonotonicTestValue() );
|
|
vFakePortClearInterruptMaskFromISR_Expect( getLastMonotonicTestValue() );
|
|
|
|
/* Expect an assertion failure due to the null pointer passed into xqueuePeekFromISR */
|
|
fakeAssertExpectFail();
|
|
|
|
/* peek from the queue with a nullptr storage location */
|
|
TEST_ASSERT_EQUAL( pdFALSE, xQueuePeekFromISR( xQueue, NULL ) );
|
|
|
|
TEST_ASSERT_EQUAL( true, fakeAssertGetFlagAndClear() );
|
|
|
|
vQueueDelete( xQueue );
|
|
}
|
|
|
|
/**
|
|
* @brief Test xQueuePeekFromISR with a null pvBuffer on a full queue of length 1, items size 4
|
|
* @coverage xQueuePeekFromISR
|
|
*/
|
|
void test_xQueuePeekFromISR_fourItemSize_nullptr_assert_full( void )
|
|
{
|
|
/* Create a new queue */
|
|
QueueHandle_t xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
|
|
|
|
uint32_t testVal = getNextMonotonicTestValue();
|
|
|
|
( void ) xQueueSend( xQueue, &testVal, 0 );
|
|
|
|
/* peek from the queue with a nullptr storage location */
|
|
EXPECT_ASSERT_BREAK( xQueuePeekFromISR( xQueue, NULL ) );
|
|
|
|
vQueueDelete( xQueue );
|
|
}
|
|
|
|
/**
|
|
* @brief Test xQueuePeekFromISR with an empty queue
|
|
* @coverage xQueuePeekFromISR
|
|
*/
|
|
void test_xQueuePeekFromISR_fail_empty( void )
|
|
{
|
|
/* Create a new queue */
|
|
QueueHandle_t xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
|
|
|
|
uint32_t checkVal = INVALID_UINT32;
|
|
|
|
vFakePortAssertIfInterruptPriorityInvalid_Expect();
|
|
ulFakePortSetInterruptMaskFromISR_ExpectAndReturn( getNextMonotonicTestValue() );
|
|
vFakePortClearInterruptMaskFromISR_Expect( getLastMonotonicTestValue() );
|
|
|
|
/* peek from the queue while empty */
|
|
TEST_ASSERT_EQUAL( pdFALSE, xQueuePeekFromISR( xQueue, &checkVal ) );
|
|
|
|
vQueueDelete( xQueue );
|
|
}
|
|
|
|
/**
|
|
* @brief Test xQueuePeekFromISR with an occupied queue
|
|
* @coverage xQueuePeekFromISR
|
|
*/
|
|
void test_xQueuePeekFromISR_success( void )
|
|
{
|
|
/* Create a new queue */
|
|
QueueHandle_t xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
|
|
|
|
uint32_t testVal = getNextMonotonicTestValue();
|
|
|
|
( void ) xQueueSend( xQueue, &testVal, 0 );
|
|
|
|
vFakePortAssertIfInterruptPriorityInvalid_Expect();
|
|
ulFakePortSetInterruptMaskFromISR_ExpectAndReturn( getNextMonotonicTestValue() );
|
|
vFakePortClearInterruptMaskFromISR_Expect( getLastMonotonicTestValue() );
|
|
|
|
uint32_t checkVal = INVALID_UINT32;
|
|
|
|
TEST_ASSERT_EQUAL( 1, uxQueueMessagesWaiting( xQueue ) );
|
|
|
|
/* peek from the queue while full */
|
|
TEST_ASSERT_EQUAL( pdTRUE, xQueuePeekFromISR( xQueue, &checkVal ) );
|
|
TEST_ASSERT_EQUAL( testVal, checkVal );
|
|
|
|
TEST_ASSERT_EQUAL( 1, uxQueueMessagesWaiting( xQueue ) );
|
|
|
|
vQueueDelete( xQueue );
|
|
}
|
|
|
|
/**
|
|
* @brief Test xQueueReceive with an invalid QueueHandle
|
|
* @coverage xQueueReceive
|
|
*/
|
|
void test_xQueueReceive_invalid_handle( void )
|
|
{
|
|
EXPECT_ASSERT_BREAK( xQueueReceive( NULL, NULL, 0 ) );
|
|
}
|
|
|
|
/**
|
|
* @brief Test xQueueReceive with an empty queue
|
|
* @coverage xQueueReceive
|
|
*/
|
|
void test_xQueueReceive_fail_empty( void )
|
|
{
|
|
/* Create a new queue */
|
|
QueueHandle_t xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
|
|
|
|
uint32_t checkVal = INVALID_UINT32;
|
|
|
|
/* receive from the queue while empty */
|
|
TEST_ASSERT_EQUAL( pdFALSE, xQueueReceive( xQueue, &checkVal, 0 ) );
|
|
|
|
vQueueDelete( xQueue );
|
|
}
|
|
|
|
/**
|
|
* @brief Test xQueueReceive with an empty queue of length 1, items size 0
|
|
* @coverage xQueueReceive
|
|
*/
|
|
void test_xQueueReceive_zeroItemSize_empty( void )
|
|
{
|
|
/* Create a new queue */
|
|
QueueHandle_t xQueue = xQueueCreate( 1, 0 );
|
|
|
|
uint32_t checkVal = INVALID_UINT32;
|
|
|
|
/* receive from the queue while empty */
|
|
TEST_ASSERT_EQUAL( pdFALSE, xQueueReceive( xQueue, &checkVal, 0 ) );
|
|
|
|
vQueueDelete( xQueue );
|
|
}
|
|
|
|
/**
|
|
* @brief Test xQueueReceive with a full queue of length 1, items size 0
|
|
* @coverage xQueueReceive
|
|
*/
|
|
void test_xQueueReceive_zeroItemSize_full( void )
|
|
{
|
|
/* Create a new queue */
|
|
QueueHandle_t xQueue = xQueueCreate( 1, 0 );
|
|
|
|
( void ) xQueueSend( xQueue, NULL, 0 );
|
|
|
|
TEST_ASSERT_EQUAL( 1, uxQueueMessagesWaiting( xQueue ) );
|
|
|
|
/* receive from the queue while full */
|
|
TEST_ASSERT_EQUAL( pdTRUE, xQueueReceive( xQueue, NULL, 0 ) );
|
|
|
|
TEST_ASSERT_EQUAL( 0, uxQueueMessagesWaiting( xQueue ) );
|
|
|
|
vQueueDelete( xQueue );
|
|
}
|
|
|
|
/**
|
|
* @brief Test xQueueReceive with a null pvBuffer on an empty queue of length 1, items size 4
|
|
* @coverage xQueueReceive
|
|
*/
|
|
void test_xQueueReceive_fourItemSize_nullptr_assert_empty( void )
|
|
{
|
|
/* Create a new queue */
|
|
QueueHandle_t xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
|
|
|
|
fakeAssertExpectFail();
|
|
|
|
/* receive from the queue with a nullptr storage location */
|
|
TEST_ASSERT_EQUAL( pdFALSE, xQueueReceive( xQueue, NULL, 0 ) );
|
|
|
|
TEST_ASSERT_EQUAL( true, fakeAssertGetFlagAndClear() );
|
|
|
|
vQueueDelete( xQueue );
|
|
}
|
|
|
|
/**
|
|
* @brief Test xQueueReceive with a null pvBuffer on a full queue of length 1, items size 4
|
|
* @coverage xQueueReceive
|
|
*/
|
|
void test_xQueueReceive_fourItemSize_nullptr_assert_full( void )
|
|
{
|
|
/* Create a new queue */
|
|
QueueHandle_t xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
|
|
|
|
uint32_t testVal = getNextMonotonicTestValue();
|
|
|
|
( void ) xQueueSend( xQueue, &testVal, 0 );
|
|
|
|
/* receive from the queue with a nullptr storage location */
|
|
EXPECT_ASSERT_BREAK( xQueueReceive( xQueue, NULL, 0 ) );
|
|
|
|
vQueueDelete( xQueue );
|
|
}
|
|
|
|
/**
|
|
* @brief Test xQueueReceive with an occupied queue
|
|
* @coverage xQueueReceive
|
|
*/
|
|
void test_xQueueReceive_success( void )
|
|
{
|
|
/* Create a new queue */
|
|
QueueHandle_t xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
|
|
|
|
uint32_t testVal = getNextMonotonicTestValue();
|
|
|
|
( void ) xQueueSend( xQueue, &testVal, 0 );
|
|
|
|
TEST_ASSERT_EQUAL( 1, uxQueueMessagesWaiting( xQueue ) );
|
|
|
|
uint32_t checkVal = INVALID_UINT32;
|
|
|
|
/* receive from the queue while full */
|
|
TEST_ASSERT_EQUAL( pdTRUE, xQueueReceive( xQueue, &checkVal, 0 ) );
|
|
TEST_ASSERT_EQUAL( testVal, checkVal );
|
|
|
|
TEST_ASSERT_EQUAL( 0, uxQueueMessagesWaiting( xQueue ) );
|
|
|
|
vQueueDelete( xQueue );
|
|
}
|
|
|
|
/**
|
|
* @brief Test xQueueReceive with an occupied queue with a higher priority task
|
|
* pending which does not modify the queue.
|
|
* @coverage xQueueReceive
|
|
*/
|
|
void test_xQueueReceive_noop_waiting_higher_priority( void )
|
|
{
|
|
/* Create a new queue */
|
|
QueueHandle_t xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
|
|
|
|
/* Add a value to the queue */
|
|
uint32_t testVal = getNextMonotonicTestValue();
|
|
|
|
( void ) xQueueSend( xQueue, &testVal, 0 );
|
|
|
|
/* Insert an item into the event list */
|
|
td_task_setFakeTaskPriority( DEFAULT_PRIORITY + 1 );
|
|
td_task_addFakeTaskWaitingToSendToQueue( xQueue );
|
|
|
|
uint32_t checkVal = INVALID_UINT32;
|
|
|
|
TEST_ASSERT_EQUAL( 1, uxQueueMessagesWaiting( xQueue ) );
|
|
|
|
/* receive from the queue */
|
|
TEST_ASSERT_EQUAL( pdTRUE, xQueueReceive( xQueue, &checkVal, 0 ) );
|
|
TEST_ASSERT_EQUAL( testVal, checkVal );
|
|
|
|
TEST_ASSERT_EQUAL( 0, uxQueueMessagesWaiting( xQueue ) );
|
|
|
|
TEST_ASSERT_EQUAL( 1, td_task_getYieldCount() );
|
|
|
|
TEST_ASSERT_EQUAL( 1, td_task_getCount_vPortYieldWithinAPI() );
|
|
|
|
|
|
vQueueDelete( xQueue );
|
|
}
|
|
|
|
/**
|
|
* @brief Test xQueueReceive with an occupied queue with a lower priority task waiting which does not modify the queue.
|
|
* @coverage xQueueReceive
|
|
*/
|
|
void test_xQueueReceive_noop_waiting_lower_priority( void )
|
|
{
|
|
/* Create a new queue */
|
|
QueueHandle_t xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
|
|
|
|
/* Add a value to the queue */
|
|
uint32_t testVal = getNextMonotonicTestValue();
|
|
|
|
( void ) xQueueSend( xQueue, &testVal, 0 );
|
|
|
|
/* Insert an item into the event list */
|
|
td_task_setFakeTaskPriority( DEFAULT_PRIORITY - 1 );
|
|
td_task_addFakeTaskWaitingToSendToQueue( xQueue );
|
|
|
|
uint32_t checkVal = INVALID_UINT32;
|
|
|
|
TEST_ASSERT_EQUAL( 1, uxQueueMessagesWaiting( xQueue ) );
|
|
|
|
/* receive from the queue */
|
|
TEST_ASSERT_EQUAL( pdTRUE, xQueueReceive( xQueue, &checkVal, 0 ) );
|
|
TEST_ASSERT_EQUAL( testVal, checkVal );
|
|
|
|
TEST_ASSERT_EQUAL( 0, uxQueueMessagesWaiting( xQueue ) );
|
|
|
|
TEST_ASSERT_EQUAL( 0, td_task_getYieldCount() );
|
|
|
|
vQueueDelete( xQueue );
|
|
}
|
|
|
|
/**
|
|
* @brief Test xQueueReceive with taskSCHEDULER_SUSPENDED and timeout=0
|
|
* @details This should not cause xQueueReceive to configASSERT because
|
|
* xQueueReceive is non-blocking when timeout=0.
|
|
* @coverage xQueueReceive
|
|
*/
|
|
void test_xQueueReceive_nonblocking_suspended_noassert( void )
|
|
{
|
|
QueueHandle_t xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
|
|
|
|
uint32_t checkVal = INVALID_UINT32;
|
|
|
|
td_task_setSchedulerState( taskSCHEDULER_SUSPENDED );
|
|
|
|
TEST_ASSERT_EQUAL( pdFALSE, xQueueReceive( xQueue, &checkVal, 0 ) );
|
|
|
|
td_task_setSchedulerState( taskSCHEDULER_RUNNING );
|
|
|
|
vQueueDelete( xQueue );
|
|
}
|
|
|
|
/**
|
|
* @brief Test xQueueReceiveFromISR with an invalid QueueHandle
|
|
* @coverage xQueueReceiveFromISR
|
|
*/
|
|
void test_xQueueReceiveFromISR_invalid_handle( void )
|
|
{
|
|
EXPECT_ASSERT_BREAK( xQueueReceiveFromISR( NULL, NULL, NULL ) );
|
|
}
|
|
|
|
/**
|
|
* @brief Test xQueueReceiveFromISR with a full queue of length 1, items size 0
|
|
* @coverage xQueueReceiveFromISR
|
|
*/
|
|
void test_xQueueReceiveFromISR_zeroItemSize_noassert_full( void )
|
|
{
|
|
/* Create a new queue */
|
|
QueueHandle_t xQueue = xQueueCreate( 1, 0 );
|
|
|
|
( void ) xQueueSend( xQueue, NULL, 0 );
|
|
|
|
TEST_ASSERT_EQUAL( 1, uxQueueMessagesWaiting( xQueue ) );
|
|
|
|
/* receive from the queue while full */
|
|
TEST_ASSERT_EQUAL( pdTRUE, xQueueReceiveFromISR( xQueue, NULL, NULL ) );
|
|
|
|
TEST_ASSERT_EQUAL( 0, uxQueueMessagesWaiting( xQueue ) );
|
|
|
|
vQueueDelete( xQueue );
|
|
}
|
|
|
|
/**
|
|
* @brief Test xQueueReceiveFromISR with a null pvBuffer on an empty queue of length 1, items size 4
|
|
* @coverage xQueueReceiveFromISR
|
|
*/
|
|
void test_xQueueReceiveFromISR_fourItemSize_nullptr_assert_empty( void )
|
|
{
|
|
/* Create a new queue */
|
|
QueueHandle_t xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
|
|
|
|
/* Expect an assertion failure due to the null pointer passed into xqueuePeekFromISR */
|
|
fakeAssertExpectFail();
|
|
|
|
/* receive from the queue with a nullptr storage location */
|
|
TEST_ASSERT_EQUAL( pdFALSE, xQueueReceiveFromISR( xQueue, NULL, NULL ) );
|
|
|
|
TEST_ASSERT_EQUAL( true, fakeAssertGetFlagAndClear() );
|
|
|
|
vQueueDelete( xQueue );
|
|
}
|
|
|
|
/**
|
|
* @brief Test xQueueReceiveFromISR with a null pvBuffer on a full queue of length 1, items size 4
|
|
* @coverage xQueueReceiveFromISR
|
|
*/
|
|
void test_xQueueReceiveFromISR_fourItemSize_nullptr_assert_full( void )
|
|
{
|
|
/* Create a new queue */
|
|
QueueHandle_t xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
|
|
|
|
uint32_t testVal = getNextMonotonicTestValue();
|
|
|
|
( void ) xQueueSend( xQueue, &testVal, 0 );
|
|
|
|
/* receive from the queue with a nullptr storage location */
|
|
EXPECT_ASSERT_BREAK( xQueueReceiveFromISR( xQueue, NULL, NULL ) );
|
|
|
|
vQueueDelete( xQueue );
|
|
}
|
|
|
|
/**
|
|
* @brief Test xQueueReceiveFromISR with an empty queue
|
|
* @coverage xQueueReceiveFromISR
|
|
*/
|
|
void test_xQueueReceiveFromISR_fail_empty( void )
|
|
{
|
|
/* Create a new queue */
|
|
QueueHandle_t xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
|
|
|
|
uint32_t checkVal = INVALID_UINT32;
|
|
|
|
/* receive from the queue while empty */
|
|
TEST_ASSERT_EQUAL( pdFALSE, xQueueReceiveFromISR( xQueue, &checkVal, NULL ) );
|
|
|
|
vQueueDelete( xQueue );
|
|
}
|
|
|
|
/**
|
|
* @brief Test xQueueReceiveFromISR with an occupied queue
|
|
* @coverage xQueueReceiveFromISR
|
|
*/
|
|
void test_xQueueReceiveFromISR_success( void )
|
|
{
|
|
/* Create a new queue */
|
|
QueueHandle_t xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
|
|
|
|
uint32_t testVal = getNextMonotonicTestValue();
|
|
|
|
( void ) xQueueSend( xQueue, &testVal, 0 );
|
|
|
|
uint32_t checkVal = INVALID_UINT32;
|
|
|
|
TEST_ASSERT_EQUAL( 1, uxQueueMessagesWaiting( xQueue ) );
|
|
|
|
/* receive from the queue while full */
|
|
TEST_ASSERT_EQUAL( pdTRUE, xQueueReceiveFromISR( xQueue, &checkVal, NULL ) );
|
|
TEST_ASSERT_EQUAL( testVal, checkVal );
|
|
|
|
TEST_ASSERT_EQUAL( 0, uxQueueMessagesWaiting( xQueue ) );
|
|
|
|
vQueueDelete( xQueue );
|
|
}
|
|
|
|
/**
|
|
* @brief Test xQueueReceiveFromISR on a queue that is locked
|
|
* @coverage xQueueReceiveFromISR
|
|
*/
|
|
void test_xQueueReceiveFromISR_locked( void )
|
|
{
|
|
/* Create a new queue */
|
|
QueueHandle_t xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
|
|
|
|
/* Send a test value so the queue is not empty */
|
|
uint32_t testVal = getNextMonotonicTestValue();
|
|
|
|
( void ) xQueueSend( xQueue, &testVal, 0 );
|
|
|
|
/* Set private lock counters */
|
|
vSetQueueRxLock( xQueue, queueLOCKED_UNMODIFIED );
|
|
vSetQueueTxLock( xQueue, queueLOCKED_UNMODIFIED );
|
|
|
|
TEST_ASSERT_EQUAL( 1, uxQueueMessagesWaiting( xQueue ) );
|
|
|
|
uint32_t checkVal = INVALID_UINT32;
|
|
|
|
/* Run xQueueReceiveFromISR with the queue locked */
|
|
TEST_ASSERT_EQUAL( pdTRUE, xQueueReceiveFromISR( xQueue, &checkVal, NULL ) );
|
|
|
|
TEST_ASSERT_EQUAL( 0, uxQueueMessagesWaiting( xQueue ) );
|
|
|
|
/* Verify that the cRxLock counter has been incremented */
|
|
TEST_ASSERT_EQUAL( queueLOCKED_UNMODIFIED + 1, cGetQueueRxLock( xQueue ) );
|
|
|
|
/* Verify that the cTxLock counter has not changed */
|
|
TEST_ASSERT_EQUAL( queueLOCKED_UNMODIFIED, cGetQueueTxLock( xQueue ) );
|
|
|
|
vQueueDelete( xQueue );
|
|
}
|
|
|
|
/**
|
|
* @brief Test xQueueReceiveFromISR on a queue that is locked and cRxLock overflows.
|
|
* @coverage xQueueReceiveFromISR
|
|
*/
|
|
void test_xQueueReceiveFromISR_locked_overflow( void )
|
|
{
|
|
/* Create a new queue */
|
|
QueueHandle_t xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
|
|
|
|
/* Send a test value so the queue is not empty */
|
|
uint32_t testVal = getNextMonotonicTestValue();
|
|
|
|
( void ) xQueueSend( xQueue, &testVal, 0 );
|
|
|
|
/* Set private lock counters */
|
|
vSetQueueRxLock( xQueue, INT8_MAX );
|
|
vSetQueueTxLock( xQueue, INT8_MAX );
|
|
|
|
uint32_t checkVal = INVALID_UINT32;
|
|
|
|
/* Expect an assertion since the cRxLock value has overflowed */
|
|
fakeAssertExpectFail();
|
|
|
|
TEST_ASSERT_EQUAL( 1, uxQueueMessagesWaiting( xQueue ) );
|
|
|
|
/* Run xQueueReceiveFromISR with the queue locked */
|
|
TEST_ASSERT_EQUAL( pdTRUE, xQueueReceiveFromISR( xQueue, &checkVal, NULL ) );
|
|
|
|
TEST_ASSERT_EQUAL( 0, uxQueueMessagesWaiting( xQueue ) );
|
|
|
|
TEST_ASSERT_EQUAL( testVal, checkVal );
|
|
|
|
/* Verify that the cRxLock counter has been incremented and overflowed */
|
|
TEST_ASSERT_EQUAL( INT8_MIN, cGetQueueRxLock( xQueue ) );
|
|
|
|
/* Verify that the cTxLock counter has not changed */
|
|
TEST_ASSERT_EQUAL( INT8_MAX, cGetQueueTxLock( xQueue ) );
|
|
|
|
TEST_ASSERT_EQUAL( true, fakeAssertGetFlagAndClear() );
|
|
|
|
vQueueDelete( xQueue );
|
|
}
|
|
|
|
/**
|
|
* @brief Test xQueueReceiveFromISR with an occupied queue with higher priority tasks waiting.
|
|
* @details also verify that calling xQueueReceiveFromISR with a NULL pxHigherPriorityTaskWoken does not cause invalid memory access.
|
|
* @coverage xQueueReceiveFromISR
|
|
*/
|
|
void test_xQueueReceiveFromISR_tasks_waiting_higher_priority_success( void )
|
|
{
|
|
/* Create a new queue */
|
|
QueueHandle_t xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
|
|
|
|
/* Add a value to the queue */
|
|
uint32_t testVal = getNextMonotonicTestValue();
|
|
|
|
( void ) xQueueSend( xQueue, &testVal, 0 );
|
|
|
|
/* set up mocks for this test case */
|
|
vFakePortAssertIfInterruptPriorityInvalid_Expect();
|
|
|
|
/* Insert an item into the event list */
|
|
td_task_setFakeTaskPriority( DEFAULT_PRIORITY + 1 );
|
|
td_task_addFakeTaskWaitingToSendToQueue( xQueue );
|
|
|
|
uint32_t checkVal = INVALID_UINT32;
|
|
|
|
TEST_ASSERT_EQUAL( 1, uxQueueMessagesWaiting( xQueue ) );
|
|
|
|
/* receive from the queue */
|
|
TEST_ASSERT_EQUAL( pdTRUE, xQueueReceiveFromISR( xQueue, &checkVal, NULL ) );
|
|
TEST_ASSERT_EQUAL( testVal, checkVal );
|
|
|
|
TEST_ASSERT_EQUAL( 0, uxQueueMessagesWaiting( xQueue ) );
|
|
|
|
TEST_ASSERT_EQUAL( 1, td_task_getYieldPending() );
|
|
|
|
vQueueDelete( xQueue );
|
|
}
|
|
|
|
/**
|
|
* @brief Test xQueueReceiveFromISR with an occupied queue and verify that the returned pxHigherPriorityTaskWoken value has been set accordingly.
|
|
* @coverage xQueueReceiveFromISR
|
|
*/
|
|
void test_xQueueReceiveFromISR_tasks_waiting_higher_priority_check_pxHigherPriorityTaskWoken( void )
|
|
{
|
|
/* Create a new queue */
|
|
QueueHandle_t xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
|
|
|
|
/* Add a value to the queue */
|
|
uint32_t testVal = getNextMonotonicTestValue();
|
|
|
|
( void ) xQueueSend( xQueue, &testVal, 0 );
|
|
|
|
/* set up mocks for this test case */
|
|
vFakePortAssertIfInterruptPriorityInvalid_Expect();
|
|
|
|
/* Insert an item into the event list */
|
|
td_task_setFakeTaskPriority( DEFAULT_PRIORITY + 1 );
|
|
td_task_addFakeTaskWaitingToSendToQueue( xQueue );
|
|
|
|
uint32_t checkVal = INVALID_UINT32;
|
|
|
|
BaseType_t xHigherPriorityTaskWoken = false;
|
|
|
|
TEST_ASSERT_EQUAL( 1, uxQueueMessagesWaiting( xQueue ) );
|
|
|
|
/* receive from the queue */
|
|
TEST_ASSERT_EQUAL( pdTRUE, xQueueReceiveFromISR( xQueue, &checkVal, &xHigherPriorityTaskWoken ) );
|
|
|
|
TEST_ASSERT_EQUAL( true, xHigherPriorityTaskWoken );
|
|
|
|
TEST_ASSERT_EQUAL( testVal, checkVal );
|
|
|
|
TEST_ASSERT_EQUAL( 0, uxQueueMessagesWaiting( xQueue ) );
|
|
|
|
TEST_ASSERT_EQUAL( 1, td_task_getYieldPending() );
|
|
|
|
vQueueDelete( xQueue );
|
|
}
|
|
|
|
/**
|
|
* @brief Test xQueueReceiveFromISR with an occupied queue with a lower priority task waiting.
|
|
* @coverage xQueueReceiveFromISR
|
|
*/
|
|
void test_xQueueReceiveFromISR_tasks_waiting_lower_priority_success( void )
|
|
{
|
|
/* Create a new queue */
|
|
QueueHandle_t xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
|
|
|
|
/* Add a value to the queue */
|
|
uint32_t testVal = getNextMonotonicTestValue();
|
|
|
|
( void ) xQueueSend( xQueue, &testVal, 0 );
|
|
|
|
/* set up mocks for this test case */
|
|
vFakePortAssertIfInterruptPriorityInvalid_Expect();
|
|
|
|
/* Insert an item into the event list */
|
|
td_task_setFakeTaskPriority( DEFAULT_PRIORITY - 1 );
|
|
td_task_addFakeTaskWaitingToSendToQueue( xQueue );
|
|
|
|
uint32_t checkVal = INVALID_UINT32;
|
|
|
|
BaseType_t xHigherPriorityTaskWoken = false;
|
|
|
|
TEST_ASSERT_EQUAL( 1, uxQueueMessagesWaiting( xQueue ) );
|
|
|
|
/* receive from the queue */
|
|
TEST_ASSERT_EQUAL( pdTRUE, xQueueReceiveFromISR( xQueue, &checkVal, &xHigherPriorityTaskWoken ) );
|
|
|
|
TEST_ASSERT_EQUAL( 0, uxQueueMessagesWaiting( xQueue ) );
|
|
|
|
TEST_ASSERT_EQUAL( false, xHigherPriorityTaskWoken );
|
|
|
|
TEST_ASSERT_EQUAL( testVal, checkVal );
|
|
|
|
vQueueDelete( xQueue );
|
|
}
|