add a demo for debugging

FreeRTOS/Demo/Posix_GCC/FreeRTOSConfig.h

@@ -43,7 +43,7 @@
 #define configUSE_TICK_HOOK                        1
 #define configUSE_DAEMON_TASK_STARTUP_HOOK         1
 #define configTICK_RATE_HZ                         ( 1000 )                  /* In this non-real time simulated environment the tick frequency has to be at least a multiple of the Win32 tick frequency, and therefore very slow. */
-#define configMINIMAL_STACK_SIZE                   ( ( unsigned short ) 70 ) /* In this simulated case, the stack only has to hold one small structure as the real stack is part of the win32 thread. */
+#define configMINIMAL_STACK_SIZE                   ( ( unsigned short ) 200 ) /* In this simulated case, the stack only has to hold one small structure as the real stack is part of the win32 thread. */
 #define configTOTAL_HEAP_SIZE                      ( ( size_t ) ( 65 * 1024 ) )
 #define configMAX_TASK_NAME_LEN                    ( 12 )
 #define configUSE_TRACE_FACILITY                   1

FreeRTOS/Demo/Posix_GCC/main.c

@@ -68,6 +68,7 @@
 
 #define    BLINKY_DEMO    0
 #define    FULL_DEMO      1
+#define    USER_DEMO      2
 
 #ifdef BUILD_DIR
     #define BUILD         BUILD_DIR
@@ -87,6 +88,7 @@
 /*-----------------------------------------------------------*/
 extern void main_blinky( void );
 extern void main_full( void );
+extern void main_sensor( void );
 static void traceOnEnter( void );
 
 /*
@@ -176,6 +178,11 @@ int main( void )
             console_print( "Starting full demo\n" );
             main_full();
         }
+    #elif ( mainSELECTED_APPLICATION == USER_DEMO )
+        {
+            console_print( "Staring sensors demo\n" );
+            main_sensor();
+        }
     #else
         {
             #error "The selected demo is not valid"
@@ -204,7 +211,7 @@ void vApplicationMallocFailedHook( void )
 }
 /*-----------------------------------------------------------*/
 
-void vApplicationIdleHook( void )
+__attribute__((noinline)) void vApplicationIdleHook( void )
 {
     /* vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set
      * to 1 in FreeRTOSConfig.h.  It will be called on each iteration of the idle

FreeRTOS/Demo/Posix_GCC/main_sensors.c

@@ -0,0 +1,288 @@
+/*
+ * FreeRTOS V202111.00
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
+ *
+ */
+
+/******************************************************************************
+ * NOTE 1: The FreeRTOS demo threads will not be running continuously, so
+ * do not expect to get real time behaviour from the FreeRTOS Linux port, or
+ * this demo application.  Also, the timing information in the FreeRTOS+Trace
+ * logs have no meaningful units.  See the documentation page for the Linux
+ * port for further information:
+ * https://freertos.org/FreeRTOS-simulator-for-Linux.html
+ *
+ * NOTE 2:  This project provides two demo applications.  A simple blinky style
+ * project, and a more comprehensive test and demo application.  The
+ * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
+ * between the two.  See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
+ * in main.c.  This file implements the simply blinky version.  Console output
+ * is used in place of the normal LED toggling.
+ *
+ * NOTE 3:  This file only contains the source code that is specific to the
+ * basic demo.  Generic functions, such FreeRTOS hook functions, are defined
+ * in main.c.
+ ******************************************************************************
+ *
+ * main_blinky() creates one queue, one software timer, and two tasks.  It then
+ * starts the scheduler.
+ *
+ * The Queue Send Task:
+ * The queue send task is implemented by the prvQueueSendTask() function in
+ * this file.  It uses vTaskDelayUntil() to create a periodic task that sends
+ * the value 100 to the queue every 200 milliseconds (please read the notes
+ * above regarding the accuracy of timing under Linux).
+ *
+ * The Queue Send Software Timer:
+ * The timer is an auto-reload timer with a period of two seconds.  The timer's
+ * callback function writes the value 200 to the queue.  The callback function
+ * is implemented by prvQueueSendTimerCallback() within this file.
+ *
+ * The Queue Receive Task:
+ * The queue receive task is implemented by the prvQueueReceiveTask() function
+ * in this file.  prvQueueReceiveTask() waits for data to arrive on the queue.
+ * When data is received, the task checks the value of the data, then outputs a
+ * message to indicate if the data came from the queue send task or the queue
+ * send software timer.
+ *
+ * Expected Behaviour:
+ * - The queue send task writes to the queue every 200ms, so every 200ms the
+ *   queue receive task will output a message indicating that data was received
+ *   on the queue from the queue send task.
+ * - The queue send software timer has a period of two seconds, and is reset
+ *   each time a key is pressed.  So if two seconds expire without a key being
+ *   pressed then the queue receive task will output a message indicating that
+ *   data was received on the queue from the queue send software timer.
+ *
+ * NOTE:  Console input and output relies on Linux system calls, which can
+ * interfere with the execution of the FreeRTOS Linux port. This demo only
+ * uses Linux system call occasionally. Heavier use of Linux system calls
+ * may crash the port.
+ */
+
+#include <stdio.h>
+#include <pthread.h>
+
+/* Kernel includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+#include "timers.h"
+#include "semphr.h"
+
+/* Local includes. */
+#include "console.h"
+
+/* Priorities at which the tasks are created. */
+#define mainQUEUE_RECEIVE_TASK_PRIORITY    ( tskIDLE_PRIORITY + 2 )
+#define mainQUEUE_SEND_TASK_PRIORITY       ( tskIDLE_PRIORITY + 1 )
+
+/* The rate at which data is sent to the queue.  The times are converted from
+ * milliseconds to ticks using the pdMS_TO_TICKS() macro. */
+#define mainTASK_SEND_FREQUENCY_MS         pdMS_TO_TICKS( 200UL )
+#define mainTIMER_SEND_FREQUENCY_MS        pdMS_TO_TICKS( 2000UL )
+
+/* The number of items the queue can hold at once. */
+#define mainQUEUE_LENGTH                   ( 2 )
+
+/* The values sent to the queue receive task from the queue send task and the
+ * queue send software timer respectively. */
+#define mainVALUE_SENT_FROM_TASK           ( 100UL )
+#define mainVALUE_SENT_FROM_TIMER          ( 200UL )
+
+/*-----------------------------------------------------------*/
+
+/*
+ * The tasks as described in the comments at the top of this file.
+ */
+static void prvQueueReceiveTask( void * pvParameters );
+static void prvQueueSendTask( void * pvParameters );
+
+/*
+ * The callback function executed when the software timer expires.
+ */
+static void prvQueueSendTimerCallback( TimerHandle_t xTimerHandle );
+
+/*-----------------------------------------------------------*/
+
+/* The queue used by both tasks. */
+static QueueHandle_t xQueue = NULL;
+
+/* A software timer that is started from the tick hook. */
+static TimerHandle_t xTimer = NULL;
+
+/* Handels for 2 worker threads, so they can delete themselves */
+static TaskHandle_t txThread = NULL;
+static TaskHandle_t rxThread = NULL;
+/*-----------------------------------------------------------*/
+void LLVMFuzzerTestOneInput(  uint8_t * , size_t   );
+static uint8_t Data_own[4096] = {0};
+static uint64_t Data_size = 4096;
+
+/*** SEE THE COMMENTS AT THE TOP OF THIS FILE ***/
+void main_sensor( void )
+{
+
+    /* Create the queue. */
+    xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( uint32_t ) );
+
+    if( xQueue != NULL )
+    {
+        // vTaskStartScheduler();
+        LLVMFuzzerTestOneInput(Data_own, 4096);
+    }
+
+    /* If all is well, the scheduler will now be running, and the following
+     * line will never be reached.  If the following line does execute, then
+     * there was insufficient FreeRTOS heap memory available for the idle and/or
+     * timer tasks	to be created.  See the memory management section on the
+     * FreeRTOS web site for more details. */
+    // for( ; ; )
+    // {
+    // }
+}
+/*-----------------------------------------------------------*/
+/* This function will only get called by the alf harnes if it detects the system ideling */
+__attribute__((noinline)) void LLVMFuzzerTestOneInput( uint8_t *Data, size_t Size )
+{
+    Data_size = Size;
+    xTaskCreate( prvQueueReceiveTask,             /* The function that implements the task. */
+                    "Rx",                            /* The text name assigned to the task - for debug only as it is not used by the kernel. */
+                    configMINIMAL_STACK_SIZE,        /* The size of the stack to allocate to the task. */
+                    NULL,                            /* The parameter passed to the task - not used in this simple case. */
+                    mainQUEUE_RECEIVE_TASK_PRIORITY, /* The priority assigned to the task. */
+                    NULL );                          /* The task handle is not required, so NULL is passed. */
+
+    xTaskCreate( prvQueueSendTask, "TX", configMINIMAL_STACK_SIZE, Data, mainQUEUE_SEND_TASK_PRIORITY, NULL );
+
+    vTaskStartScheduler();
+    puts("Past End of function");
+}
+
+/*-----------------------------------------------------------*/
+
+__attribute__((noinline)) static void prvQueueSendTask( void * pvParameters )
+{
+    TickType_t xNextWakeTime;
+    const TickType_t xBlockTime = mainTASK_SEND_FREQUENCY_MS;
+    uint32_t ulValueToSend = mainVALUE_SENT_FROM_TASK;
+
+    /* Prevent the compiler warning about the unused parameter. */
+    // ( void ) pvParameters;
+
+    /* Initialise xNextWakeTime - this only needs to be done once. */
+    // xNextWakeTime = xTaskGetTickCount();
+
+    const uint8_t* simulatedInputs = (const uint8_t*) pvParameters;
+
+    static char filter[3] = {0};
+
+    for(int i=0;i<Data_size;i++)
+    {
+        filter[0]=filter[1];
+        filter[1]=filter[2];
+        filter[2]=simulatedInputs[i];
+        /* Place this task in the blocked state until it is time to run again.
+        *  The block time is specified in ticks, pdMS_TO_TICKS() was used to
+        *  convert a time specified in milliseconds into a time specified in ticks.
+        *  While in the Blocked state this task will not consume any CPU time. */
+        // vTaskDelayUntil( &xNextWakeTime, xBlockTime );
+
+        /* Send to the queue - causing the queue receive task to unblock and
+         * write to the console.  0 is used as the block time so the send operation
+         * will not block - it shouldn't need to block as the queue should always
+         * have at least one space at this point in the code. */
+        ulValueToSend = (filter[0]+filter[1]+filter[2])/3;
+        if ( ulValueToSend > 64 )
+        {
+            printf("Send Input %d\n",ulValueToSend);
+            xQueueSend( xQueue, &ulValueToSend, 0U );
+        }
+    }
+    uint32_t errsig = 1;
+    puts("Data depleted, suspending scedule");
+    xQueueSend( xQueue, &errsig, 0U );
+    vTaskDelete(txThread);
+}
+/*-----------------------------------------------------------*/
+
+static void prvQueueSendTimerCallback( TimerHandle_t xTimerHandle )
+{
+    const uint32_t ulValueToSend = mainVALUE_SENT_FROM_TIMER;
+
+    /* This is the software timer callback function.  The software timer has a
+     * period of two seconds and is reset each time a key is pressed.  This
+     * callback function will execute if the timer expires, which will only happen
+     * if a key is not pressed for two seconds. */
+
+    /* Avoid compiler warnings resulting from the unused parameter. */
+    ( void ) xTimerHandle;
+
+    /* Send to the queue - causing the queue receive task to unblock and
+     * write out a message.  This function is called from the timer/daemon task, so
+     * must not block.  Hence the block time is set to 0. */
+    xQueueSend( xQueue, &ulValueToSend, 0U );
+}
+/*-----------------------------------------------------------*/
+
+__attribute__((noinline)) static void prvQueueReceiveTask( void * pvParameters )
+{
+    uint32_t ulReceivedValue;
+
+    /* Prevent the compiler warning about the unused parameter. */
+    ( void ) pvParameters;
+
+    for( ; ; )
+    {
+        /* Wait until something arrives in the queue - this task will block
+         * indefinitely provided INCLUDE_vTaskSuspend is set to 1 in
+         * FreeRTOSConfig.h.  It will not use any CPU time while it is in the
+         * Blocked state. */
+        xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );
+
+        int counter = 0;
+
+        for (int i=1;i<=ulReceivedValue;i++)
+        {
+            if (i % 3 || i % 5)
+            {
+                counter++;
+            }
+        }
+
+        /* To get here something must have been received from the queue, but
+         * is it an expected value?  Normally calling printf() from a task is not
+         * a good idea.  Here there is lots of stack space and only one task is
+         * using console IO so it is ok.  However, note the comments at the top of
+         * this file about the risks of making Linux system calls (such as
+         * console output) from a FreeRTOS task. */
+        if( ulReceivedValue == 1 )
+        {
+            puts("Recieved End-Signal");
+            // abort();    // vTaskEndSceduler leads to a deadlock when running in the fuzzers fork-server
+            // exit(0);
+            vTaskEndScheduler();
+            vTaskDelete(txThread);
+        }
+    }
+}
+/*-----------------------------------------------------------*/

FreeRTOS/Source/portable/ThirdParty/GCC/Posix/port.c

@@ -178,7 +178,7 @@ Thread_t *pxFirstThread = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
  */
 portBASE_TYPE xPortStartScheduler( void )
 {
-int iSignal;
+siginfo_t iSignal;
 sigset_t xSignals;
 
     hMainThread = pthread_self();
@@ -193,16 +193,23 @@ sigset_t xSignals;
     /* Wait until signaled by vPortEndScheduler(). */
     sigemptyset( &xSignals );
     sigaddset( &xSignals, SIG_RESUME );
+    sigaddset( &xSignals, SIGTERM );
 
+    // puts("Waiting for SigTerm");
+    struct timespec to_wait = {0};
+    to_wait.tv_sec=1;
     while ( !xSchedulerEnd )
     {
-        sigwait( &xSignals, &iSignal );
+        sigtimedwait( &xSignals, &iSignal, &to_wait);
+        // puts("SigTerm recieved or timeout");
     }
+    puts("Main Thread recieved signal");
 
     /* Cancel the Idle task and free its resources */
 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
     vPortCancelThread( xTaskGetIdleTaskHandle() );
 #endif
+    puts("Idle Task cancled");
 
 #if ( configUSE_TIMERS == 1 )
     /* Cancel the Timer task and free its resources */
@@ -212,6 +219,7 @@ sigset_t xSignals;
     /* Restore original signal mask. */
     (void)pthread_sigmask( SIG_SETMASK, &xSchedulerOriginalSignalMask,  NULL );
 
+    puts("Main Thread returns");
     return 0;
 }
 /*-----------------------------------------------------------*/
@@ -238,6 +246,7 @@ Thread_t *xCurrentThread;
 
     /* Signal the scheduler to exit its loop. */
     xSchedulerEnd = pdTRUE;
+    // printf("Sending SigTerm to %u\n",hMainThread);
     (void)pthread_kill( hMainThread, SIG_RESUME );
 
     xCurrentThread = prvGetThreadFromTask( xTaskGetCurrentTaskHandle() );
@@ -418,8 +427,11 @@ Thread_t *pxThreadToCancel = prvGetThreadFromTask( pxTaskToDelete );
      * The thread has already been suspended so it can be safely cancelled.
      */
     pthread_cancel( pxThreadToCancel->pthread );
+    puts("cancled");
     pthread_join( pxThreadToCancel->pthread, NULL );
+    puts("joined");
     event_delete( pxThreadToCancel->ev );
+    puts("event deleted");
 }
 /*-----------------------------------------------------------*/
 

FreeRTOS/Source/portable/ThirdParty/GCC/Posix/utils/wait_for_event.c

@@ -51,9 +51,13 @@ struct event * event_create()
 
 void event_delete( struct event * ev )
 {
+    puts("inside event delete");
     pthread_mutex_destroy( &ev->mutex );
+    puts("mutex destroyed");
     pthread_cond_destroy( &ev->cond );
+    puts("cond destroyed");
     free( ev );
+    puts("freed");
 }
 
 bool event_wait( struct event * ev )