Two more test cases for the watchdog

src/cases/case10.cpp

@@ -0,0 +1,118 @@
+/*
+ * case10.cpp
+ *
+ *  Created on: Feb 7, 2024
+ *      Author: Dario
+ */
+
+/**
+ * Tests if threads are properly terminated and started because of state transitions. The thread status is updated accordingly and no memory leaks occur.
+ */
+#include <sta/tasty/config.hpp>
+#ifdef TASTY_CASE_10
+
+#include <sta/tacos.hpp>
+#include <sta/tasty/utils.hpp>
+#include <sta/tacos/watchdog.hpp>
+#include <sta/rtos/signal.hpp>
+
+namespace sta
+{
+    namespace tasty
+    {
+    	RtosSignal * signal;
+
+    	class ThreadA : public tacos::TacosThread
+		{
+		public:
+			ThreadA()
+				: tacos::TacosThread{"A", osPriorityNormal}
+			{
+
+			}
+
+			void pointless_expensive_computation()
+			{
+				uint32_t ticks = osKernelGetSysTimerCount();
+				uint32_t freq = osKernelGetSysTimerCount();
+				uint64_t dummyCounter = 0;
+
+				while (osKernelGetSysTimerCount() <= ticks + 2 * freq)
+				{
+					dummyCounter++;
+				}
+			}
+
+			void func() override
+			{
+				this->sleep(3000);
+
+				signal->notify();
+
+				// This should notify the watchdog that this thread should be monitored.
+				blocking(
+					pointless_expensive_computation();
+				)
+
+				signal->notify();
+
+				pointless_expensive_computation();
+
+			}
+		};
+
+		std::shared_ptr<ThreadA> thread_A;
+
+    	class Observer : public tacos::TacosThread
+		{
+		public:
+			Observer()
+				: tacos::TacosThread{"Observer", osPriorityNormal}
+			{
+
+			}
+
+
+
+			void func() override
+			{
+				uint16_t restarts = tacos::Watchdog::instance()->getNumRestarts();
+
+				// Wait for thread A to finish sleeping.
+				blocking(
+					signal->wait();
+				)
+
+				// Thread A shouldn't have been restarted because sleep() sets the thread's status to WAITING.
+				STA_TASTY_ASSERT(tacos::Watchdog::instance()->getNumRestarts() == restarts);
+
+				blocking(
+					signal->wait();
+				)
+
+				// Thread A shouldn't have been restarted because the computationally expensive computation was wrapped in blocking()
+				STA_TASTY_ASSERT(tacos::Watchdog::instance()->getNumRestarts() == restarts);
+
+				this->sleep(2500);
+
+				STA_TASTY_ASSERT(tacos::Watchdog::instance()->getNumRestarts() == restarts + 1);
+
+				STA_TASTY_TERMINATE();
+			}
+		};
+
+        void onTastyInit()
+        {
+        	signal = new RtosSignal(2);
+
+            thread_A = tacos::addThread<ThreadA>({0});
+            tacos::addThread<Observer>({0, 1});
+        }
+    } // namespace tasty
+}
+
+#endif // TASTY_CASE_10
+
+
+
+

src/cases/case11.cpp

@@ -0,0 +1,77 @@
+/*
+ * case10.cpp
+ *
+ *  Created on: Feb 7, 2024
+ *      Author: Dario
+ */
+
+/**
+ * Tests if threads are properly terminated and started because of state transitions. The thread status is updated accordingly and no memory leaks occur.
+ */
+#include <sta/tasty/config.hpp>
+#ifdef TASTY_CASE_11
+
+#include <sta/tacos.hpp>
+#include <sta/tasty/utils.hpp>
+#include <sta/tacos/watchdog.hpp>
+#include <sta/rtos/signal.hpp>
+
+namespace sta
+{
+    namespace tasty
+    {
+    	class ThreadA : public tacos::TacosThread
+		{
+		public:
+			ThreadA()
+				: tacos::TacosThread{"A", osPriorityNormal}
+			{
+
+			}
+
+			void init() override
+			{
+				// Tells the watchdog to ignore this thread.
+				watchdogIgnore();
+			}
+
+			void func() override
+			{
+				// Thread is stuck in infinite loop
+				while (true)
+				{
+					osThreadYield();
+				}
+			}
+		};
+
+    	class Observer : public tacos::TacosThread
+		{
+		public:
+			Observer()
+				: tacos::TacosThread{"Observer", osPriorityNormal}
+			{
+
+			}
+
+
+			void func() override
+			{
+				this->sleep(2000);
+
+				// The watchdog shouldn't have restarted thread A.
+				STA_TASTY_ASSERT(tacos::Watchdog::instance()->getNumRestarts() == 0);
+
+				STA_TASTY_TERMINATE();
+			}
+		};
+
+        void onTastyInit()
+        {
+            tacos::addThread<ThreadA>({0});
+            tacos::addThread<Observer>({0, 1});
+        }
+    } // namespace tasty
+}
+
+#endif // TASTY_CASE_11

src/cases/case9.cpp

@@ -13,8 +13,6 @@
 
 #include <sta/tacos.hpp>
 #include <sta/tasty/utils.hpp>
-#include <sta/tacos/watchdog.hpp>
-#include <sta/rtos/mutex.hpp>
 #include <sta/rtos/debug/heap_stats.hpp>
 
 namespace sta