Added test case for thread killing

include/sta/config.hpp

@@ -8,6 +8,8 @@
 #ifndef STA_CONFIG_HPP
 #define STA_CONFIG_HPP
 
+#define STA_STM32_SWD_USART_IDX 2
+
 #include <sta/devices/stm32/mcu/STM32F411xE.hpp>
 
 // Doesn't really do too much right now. Has to be added for successful compilation.

include/sta/tasty/config.hpp

@@ -2,6 +2,6 @@
 #ifndef STA_TASTY_CONFIG_HPP
 #define STA_TASTY_CONFIG_HPP
 
-#define TASTY_CASE_5
+#define TASTY_CASE_6
 
 #endif // STA_TASTY_CONFIG_HPP  

src/cases/case1.cpp

@@ -41,6 +41,9 @@ namespace sta
 				STA_TASTY_ASSERT(tacos::getState() == 1);
 
 				STA_TASTY_TERMINATE();
+
+
+				this->sleep(1000000);
 			}
 		};
 

src/cases/case6.cpp

@@ -0,0 +1,85 @@
+/**
+ * Tests if killing tasks works correctly and the memory is correctly freed.
+ */
+#include <sta/tasty/config.hpp>
+#ifdef TASTY_CASE_6
+
+#include <memory>
+#include <sta/tacos.hpp>
+#include <sta/tasty/utils.hpp>
+
+#include <sta/rtos/debug/heap_stats.hpp>
+#include <sta/rtos/signal.hpp>
+
+namespace sta
+{
+	namespace tasty
+	{
+		static uint8_t victim_alive_flag;
+
+
+		class Victim : public tacos::TacosThread
+		{
+		public:
+			Victim()
+				: tacos::TacosThread{"Dummy", osPriorityNormal}
+			{}
+
+			void func() override
+			{
+				victim_alive_flag = 1;
+				osThreadYield();
+			}
+		};
+
+
+		class ViciousMurderer : public tacos::TacosThread
+		{
+		public:
+			ViciousMurderer(std::shared_ptr<Victim> victim_ptr)
+				: tacos::TacosThread{"Dummy", osPriorityNormal},
+				  victim_ptr_{victim_ptr}
+			{}
+
+			void func() override
+			{
+				// Kill the thread and set it's heartbeat flag to 0.
+				victim_ptr_->kill();
+				victim_alive_flag = 0;
+
+				uint8_t frees = sta::rtos::getNumFrees();
+
+				// Skip a tick
+				osThreadYield();
+
+				// The killed threat shouldn't have set the heartbeat flag.
+				STA_TASTY_ASSERT(victim_alive_flag == 0);
+
+				// Wait for 100 ticks.
+				this->sleep(100);
+
+				// After waiting 100 ticks, the flag should still be 0 because the thread doesn't run.
+				STA_TASTY_ASSERT(victim_alive_flag == 0);
+
+				// Also, there should be two more frees:
+				STA_TASTY_ASSERT(sta::rtos::getNumFrees() - frees == 2);
+
+				STA_TASTY_TERMINATE();
+			}
+		private:
+			std::shared_ptr<Victim> victim_ptr_;
+		};
+
+		void onTastyInit()
+		{
+			std::shared_ptr<Victim> victim_ptr = tacos::addThread<Victim>({0});
+			tacos::addThread<ViciousMurderer>({0}, victim_ptr);
+		}
+	} // namespace tasty
+} // namespace sta
+
+#endif // TASTY_CASE_6/*
+
+
+
+

src/tasks/supervisor.cpp

@@ -18,9 +18,9 @@ namespace sta
         {
             for (TastyCheck check : checks_)
             {
-            	blocking(
+            	/*blocking(
 					check();
-            	);
+            	);*/
             }
         }
     } // namespace tasty

src/tasks/toggle.cpp

@@ -29,6 +29,7 @@ namespace sta
 
 		void ToggleThread::func()
 		{
+			/**
 			blocking(
 				this->sleep(ticks_);
 			)
@@ -37,6 +38,7 @@ namespace sta
 			uint16_t next = 1 - state;
 
 			sta::tacos::setState(state, next, lockout_);
+			*/
 		}
 	} // namespace tasty
 } // namespace sta