diff options
Diffstat (limited to 'applications/message_handler/test')
9 files changed, 0 insertions, 1233 deletions
diff --git a/applications/message_handler/test/CMakeLists.txt b/applications/message_handler/test/CMakeLists.txt deleted file mode 100644 index 3334ff2..0000000 --- a/applications/message_handler/test/CMakeLists.txt +++ /dev/null @@ -1,62 +0,0 @@ -# -# Copyright (c) 2022 Arm Limited. -# -# SPDX-License-Identifier: Apache-2.0 -# -# Licensed under the Apache License, Version 2.0 (the License); you may -# not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an AS IS BASIS, WITHOUT -# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. -# - -add_subdirectory(test_message_handler) - -set(TEST_MESSAGE_HANDLER_MODEL_0 "model.h" CACHE STRING "Path to built in model 0") -set(TEST_MESSAGE_HANDLER_MODEL_1 "" CACHE STRING "Path to built in model 1") -set(TEST_MESSAGE_HANDLER_MODEL_2 "" CACHE STRING "Path to built in model 2") -set(TEST_MESSAGE_HANDLER_MODEL_3 "" CACHE STRING "Path to built in model 3") - -function(ethosu_add_message_handler_test testname) - if(TARGET ethosu_core_driver) - file(GLOB models LIST_DIRECTORIES true "${CMAKE_CURRENT_SOURCE_DIR}/../../baremetal/models/${ETHOSU_TARGET_NPU_CONFIG}/*") - endif() - - foreach(model ${models}) - get_filename_component(modelname ${model} NAME) - ethosu_add_executable_test(mh_${testname}_${modelname} - SOURCES - ${testname}.cpp - message_client.cpp - LIBRARIES - message_handler_lib - freertos_kernel) - - get_target_property(INTERFACE_LINK_LIBRARIES ethosu_target_startup INTERFACE_LINK_LIBRARIES) - if (NOT ethosu_mhu_dummy IN_LIST INTERFACE_LINK_LIBRARIES) - target_link_libraries(mh_${testname}_${modelname} PRIVATE ethosu_mhu_dummy) - endif() - - - target_include_directories(mh_${testname}_${modelname} PRIVATE - ../indexed_networks - ${model} - ${LINUX_DRIVER_STACK_PATH}/kernel) - - target_compile_definitions(mh_${testname}_${modelname} PRIVATE - TENSOR_ARENA_SIZE=${MESSAGE_HANDLER_ARENA_SIZE} - $<$<BOOL:${TEST_MESSAGE_HANDLER_MODEL_0}>:MODEL_0=${TEST_MESSAGE_HANDLER_MODEL_0}> - $<$<BOOL:${TEST_MESSAGE_HANDLER_MODEL_1}>:MODEL_1=${TEST_MESSAGE_HANDLER_MODEL_1}> - $<$<BOOL:${TEST_MESSAGE_HANDLER_MODEL_2}>:MODEL_2=${TEST_MESSAGE_HANDLER_MODEL_2}> - $<$<BOOL:${TEST_MESSAGE_HANDLER_MODEL_3}>:MODEL_3=${TEST_MESSAGE_HANDLER_MODEL_3}>) - endforeach() -endfunction() - -ethosu_add_message_handler_test(run_inference_test) -ethosu_add_message_handler_test(cancel_reject_inference_test) diff --git a/applications/message_handler/test/cancel_reject_inference_test.cpp b/applications/message_handler/test/cancel_reject_inference_test.cpp deleted file mode 100644 index 9f4f9b4..0000000 --- a/applications/message_handler/test/cancel_reject_inference_test.cpp +++ /dev/null @@ -1,255 +0,0 @@ -/* - * Copyright (c) 2022 Arm Limited. - * - * SPDX-License-Identifier: Apache-2.0 - * - * Licensed under the Apache License, Version 2.0 (the License); you may - * not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an AS IS BASIS, WITHOUT - * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -/**************************************************************************** - * Includes - ****************************************************************************/ - -#include "FreeRTOS.h" -#include "queue.h" -#include "semphr.h" -#include "task.h" - -#include <inttypes.h> -#include <stdio.h> - -#include "ethosu_core_interface.h" -#include "indexed_networks.hpp" -#include "message_client.hpp" -#include "message_handler.hpp" -#include "message_queue.hpp" -#include "networks.hpp" -#include "test_assertions.hpp" -#include "test_helpers.hpp" - -#include <mailbox.hpp> -#include <mhu_dummy.hpp> - -/* Disable semihosting */ -__asm(".global __use_no_semihosting\n\t"); - -using namespace EthosU; -using namespace MessageHandler; - -/**************************************************************************** - * Defines - ****************************************************************************/ - -// TensorArena static initialisation -constexpr size_t arenaSize = TENSOR_ARENA_SIZE; - -__attribute__((section(".bss.tensor_arena"), aligned(16))) uint8_t tensorArena[arenaSize]; - -// Message queue from remote host -__attribute__((section("ethosu_core_in_queue"))) MessageQueue::Queue<1000> inputMessageQueue; - -// Message queue to remote host -__attribute__((section("ethosu_core_out_queue"))) MessageQueue::Queue<1000> outputMessageQueue; - -namespace { -Mailbox::MHUDummy mailbox; -} // namespace - -/**************************************************************************** - * Application - ****************************************************************************/ -namespace { - -struct TaskParams { - TaskParams() : - messageNotify(xSemaphoreCreateBinary()), - inferenceInputQueue(std::make_shared<Queue<ethosu_core_inference_req>>()), - inferenceOutputQueue(xQueueCreate(5, sizeof(ethosu_core_inference_rsp))), - networks(std::make_shared<WithIndexedNetworks>()) {} - - SemaphoreHandle_t messageNotify; - // Used to pass inference requests to the inference runner task - std::shared_ptr<Queue<ethosu_core_inference_req>> inferenceInputQueue; - // Queue for message responses to the remote host - QueueHandle_t inferenceOutputQueue; - // Networks provider - std::shared_ptr<Networks> networks; -}; - -void messageTask(void *pvParameters) { - printf("Starting message task\n"); - TaskParams *params = reinterpret_cast<TaskParams *>(pvParameters); - - IncomingMessageHandler process(*inputMessageQueue.toQueue(), - *outputMessageQueue.toQueue(), - mailbox, - params->inferenceInputQueue, - params->inferenceOutputQueue, - params->messageNotify, - params->networks); - process.run(); -} - -void testCancelInference(MessageClient client) { - const uint64_t fake_inference_user_arg = 42; - const uint32_t network_index = 0; - ethosu_core_inference_req inference_req = - inferenceIndexedRequest(fake_inference_user_arg, network_index, nullptr, 0, nullptr, 0); - - const uint64_t fake_cancel_inference_user_arg = 55; - ethosu_core_cancel_inference_req cancel_req = {fake_cancel_inference_user_arg, fake_inference_user_arg}; - - ethosu_core_inference_rsp inference_rsp; - ethosu_core_cancel_inference_rsp cancel_rsp; - - TEST_ASSERT(client.sendInputMessage(ETHOSU_CORE_MSG_INFERENCE_REQ, inference_req)); - TEST_ASSERT(client.sendInputMessage(ETHOSU_CORE_MSG_CANCEL_INFERENCE_REQ, cancel_req)); - - TEST_ASSERT(client.waitAndReadOutputMessage(ETHOSU_CORE_MSG_INFERENCE_RSP, inference_rsp)); - TEST_ASSERT(client.waitAndReadOutputMessage(ETHOSU_CORE_MSG_CANCEL_INFERENCE_RSP, cancel_rsp)); - - TEST_ASSERT(inference_req.user_arg == inference_rsp.user_arg); - TEST_ASSERT(inference_rsp.status == ETHOSU_CORE_STATUS_ABORTED); - - TEST_ASSERT(cancel_req.user_arg == cancel_rsp.user_arg); - TEST_ASSERT(cancel_rsp.status == ETHOSU_CORE_STATUS_OK); -} - -void testCancelNonExistentInference(MessageClient client) { - const uint64_t fake_inference_user_arg = 42; - const uint64_t fake_cancel_inference_user_arg = 55; - ethosu_core_cancel_inference_req cancel_req = {fake_cancel_inference_user_arg, fake_inference_user_arg}; - ethosu_core_cancel_inference_rsp cancel_rsp; - - TEST_ASSERT(client.sendInputMessage(ETHOSU_CORE_MSG_CANCEL_INFERENCE_REQ, cancel_req)); - TEST_ASSERT(client.waitAndReadOutputMessage(ETHOSU_CORE_MSG_CANCEL_INFERENCE_RSP, cancel_rsp)); - - TEST_ASSERT(cancel_req.user_arg == cancel_rsp.user_arg); - TEST_ASSERT(cancel_rsp.status == ETHOSU_CORE_STATUS_ERROR); -} - -void testCannotCancelRunningInference(MessageClient client, - std::shared_ptr<Queue<ethosu_core_inference_req>> inferenceInputQueue) { - const uint64_t fake_inference_user_arg = 42; - const uint32_t network_index = 0; - ethosu_core_inference_req inference_req = - inferenceIndexedRequest(fake_inference_user_arg, network_index, nullptr, 0, nullptr, 0); - - const uint64_t fake_cancel_inference_user_arg = 55; - ethosu_core_cancel_inference_req cancel_req = {fake_cancel_inference_user_arg, fake_inference_user_arg}; - ethosu_core_cancel_inference_rsp cancel_rsp; - - TEST_ASSERT(client.sendInputMessage(ETHOSU_CORE_MSG_INFERENCE_REQ, inference_req)); - - // fake start of the inference by removing the inference from the queue - ethosu_core_inference_req start_req; - inferenceInputQueue->pop(start_req); - TEST_ASSERT(inference_req.user_arg == start_req.user_arg); - - TEST_ASSERT(client.sendInputMessage(ETHOSU_CORE_MSG_CANCEL_INFERENCE_REQ, cancel_req)); - TEST_ASSERT(client.waitAndReadOutputMessage(ETHOSU_CORE_MSG_CANCEL_INFERENCE_RSP, cancel_rsp)); - - TEST_ASSERT(cancel_req.user_arg == cancel_rsp.user_arg); - TEST_ASSERT(cancel_rsp.status == ETHOSU_CORE_STATUS_ERROR); -} - -void testRejectInference(MessageClient client) { - int runs = 6; - const uint64_t fake_inference_user_arg = 42; - const uint32_t network_index = 0; - const uint64_t fake_cancel_inference_user_arg = 55; - ethosu_core_inference_req req; - ethosu_core_inference_rsp rsp; - - for (int i = 0; i < runs; i++) { - - req = inferenceIndexedRequest(fake_inference_user_arg + i, network_index, nullptr, 0, nullptr, 0); - TEST_ASSERT(client.sendInputMessage(ETHOSU_CORE_MSG_INFERENCE_REQ, req)); - vTaskDelay(150); - } - - TEST_ASSERT(client.waitAndReadOutputMessage(ETHOSU_CORE_MSG_INFERENCE_RSP, rsp)); - TEST_ASSERT(uint64_t(fake_inference_user_arg + runs - 1) == rsp.user_arg); - TEST_ASSERT(rsp.status == ETHOSU_CORE_STATUS_REJECTED); - - // let's cleanup the queue - ethosu_core_cancel_inference_req cancel_req = {0, 0}; - ethosu_core_cancel_inference_rsp cancel_rsp; - ethosu_core_inference_rsp inference_rsp; - - for (int i = 0; i < runs - 1; i++) { - cancel_req.user_arg = fake_cancel_inference_user_arg + i; - cancel_req.inference_handle = fake_inference_user_arg + i; - TEST_ASSERT(client.sendInputMessage(ETHOSU_CORE_MSG_CANCEL_INFERENCE_REQ, cancel_req)); - - TEST_ASSERT(client.waitAndReadOutputMessage(ETHOSU_CORE_MSG_INFERENCE_RSP, inference_rsp)); - TEST_ASSERT(inference_rsp.user_arg = cancel_req.inference_handle); - - TEST_ASSERT(client.waitAndReadOutputMessage(ETHOSU_CORE_MSG_CANCEL_INFERENCE_RSP, cancel_rsp)); - TEST_ASSERT(cancel_req.user_arg == cancel_rsp.user_arg); - TEST_ASSERT(cancel_rsp.status == ETHOSU_CORE_STATUS_OK); - } -} - -void clientTask(void *pvParameters) { - printf("Starting client task\n"); - TaskParams *params = reinterpret_cast<TaskParams *>(pvParameters); - - MessageClient client(*inputMessageQueue.toQueue(), *outputMessageQueue.toQueue(), mailbox); - - vTaskDelay(50); - - testCancelInference(client); - testCancelNonExistentInference(client); - testCannotCancelRunningInference(client, params->inferenceInputQueue); - testRejectInference(client); - - exit(0); -} - -/* - * Keep task parameters as global data as FreeRTOS resets the stack when the - * scheduler is started. - */ -TaskParams taskParams; - -} // namespace - -// FreeRTOS application. NOTE: Additional tasks may require increased heap size. -int main() { - BaseType_t ret; - - if (!mailbox.verifyHardware()) { - printf("Failed to verify mailbox hardware\n"); - return 1; - } - - // Task for handling incoming /outgoing messages from the remote host - ret = xTaskCreate(messageTask, "messageTask", 1024, &taskParams, 2, nullptr); - if (ret != pdPASS) { - printf("Failed to create 'messageTask'\n"); - return ret; - } - - // Task for handling incoming /outgoing messages from the remote host - ret = xTaskCreate(clientTask, "clientTask", 1024, &taskParams, 2, nullptr); - if (ret != pdPASS) { - printf("Failed to create 'messageTask'\n"); - return ret; - } - - // Start Scheduler - vTaskStartScheduler(); - - return 1; -} diff --git a/applications/message_handler/test/message_client.cpp b/applications/message_handler/test/message_client.cpp deleted file mode 100644 index 39d1392..0000000 --- a/applications/message_handler/test/message_client.cpp +++ /dev/null @@ -1,91 +0,0 @@ -/* - * Copyright (c) 2022 Arm Limited. - * - * SPDX-License-Identifier: Apache-2.0 - * - * Licensed under the Apache License, Version 2.0 (the License); you may - * not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an AS IS BASIS, WITHOUT - * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#include "FreeRTOS.h" -#include "task.h" - -#include "ethosu_core_interface.h" -#include "message_client.hpp" - -using namespace EthosU; - -namespace MessageHandler { - -MessageClient::MessageClient(EthosU::ethosu_core_queue &_inputMessageQueue, - EthosU::ethosu_core_queue &_outputMessageQueue, - Mailbox::Mailbox &_mailbox) : - input(_inputMessageQueue), - output(_outputMessageQueue), mailbox(_mailbox) {} - -bool MessageClient::sendInputMessage(const uint32_t type, const void *src, uint32_t length) { - if (!input.write(type, src, length)) { - printf("ERROR: Msg: Failed to write message request. No mailbox message sent\n"); - return false; - } - - mailbox.sendMessage(); - mailbox.handleMessage(); - return true; -} - -bool MessageClient::waitAndReadOutputMessage(const uint32_t expected_type, uint8_t *dst, uint32_t length) { - constexpr TickType_t delay = pdMS_TO_TICKS(5); - constexpr TickType_t deadline = pdMS_TO_TICKS(/* 1 minute */ 60 * 1000 * 1000); - struct ethosu_core_msg msg; - - TickType_t totalDelay = 0; - while (output.available() == 0) { - vTaskDelay(delay); - totalDelay += delay; - if (totalDelay >= deadline) { - return false; - } - } - - if (!output.read(msg)) { - printf("ERROR: Failed to read msg header\n"); - return false; - } - - if (msg.magic != ETHOSU_CORE_MSG_MAGIC) { - printf("ERROR: Invalid Magic\n"); - return false; - } - - if (msg.type != expected_type) { - printf("ERROR: Wrong message type. Got %" PRIu32 " expected %" PRIu32 "\n", msg.type, expected_type); - return false; - } - - if (msg.length != length) { - printf("ERROR: Wrong message size\n"); - return false; - } - - if (length == 0) { - return true; - } - - if (!output.read(dst, length)) { - printf("ERROR: Failed to read msg payload\n"); - return false; - } - - return true; -} -} // namespace MessageHandler diff --git a/applications/message_handler/test/message_client.hpp b/applications/message_handler/test/message_client.hpp deleted file mode 100644 index e90843b..0000000 --- a/applications/message_handler/test/message_client.hpp +++ /dev/null @@ -1,54 +0,0 @@ -/* - * Copyright (c) 2022 Arm Limited. - * - * SPDX-License-Identifier: Apache-2.0 - * - * Licensed under the Apache License, Version 2.0 (the License); you may - * not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an AS IS BASIS, WITHOUT - * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#ifndef MESSAGE_CLIENT_H -#define MESSAGE_CLIENT_H - -#include <inttypes.h> -#include <stdio.h> - -#include "message_queue.hpp" -#include <mailbox.hpp> - -namespace MessageHandler { - -class MessageClient { -public: - MessageClient(EthosU::ethosu_core_queue &inputMessageQueue, - EthosU::ethosu_core_queue &outputMessageQueue, - Mailbox::Mailbox &mailbox); - - template <typename T> - bool sendInputMessage(const uint32_t type, const T &src) { - return sendInputMessage(type, reinterpret_cast<const uint8_t *>(&src), sizeof(src)); - } - bool sendInputMessage(const uint32_t type, const void *src = nullptr, uint32_t length = 0); - template <typename T> - bool waitAndReadOutputMessage(const uint32_t expected_type, T &dst) { - return waitAndReadOutputMessage(expected_type, reinterpret_cast<uint8_t *>(&dst), sizeof(dst)); - } - bool waitAndReadOutputMessage(const uint32_t expected_type, uint8_t *dst = nullptr, uint32_t length = 0); - -private: - MessageQueue::QueueImpl input; - MessageQueue::QueueImpl output; - Mailbox::Mailbox &mailbox; -}; -} // namespace MessageHandler - -#endif diff --git a/applications/message_handler/test/run_inference_test.cpp b/applications/message_handler/test/run_inference_test.cpp deleted file mode 100644 index d05224f..0000000 --- a/applications/message_handler/test/run_inference_test.cpp +++ /dev/null @@ -1,418 +0,0 @@ -/* - * Copyright (c) 2022 Arm Limited. - * - * SPDX-License-Identifier: Apache-2.0 - * - * Licensed under the Apache License, Version 2.0 (the License); you may - * not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an AS IS BASIS, WITHOUT - * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -/**************************************************************************** - * Includes - ****************************************************************************/ - -#include "FreeRTOS.h" -#include "queue.h" -#include "semphr.h" -#include "task.h" - -#include <inttypes.h> -#include <stdio.h> - -#include "ethosu_core_interface.h" -#include "indexed_networks.hpp" -#include "input.h" -#include "message_client.hpp" -#include "message_handler.hpp" -#include "message_queue.hpp" -#include "networks.hpp" -#include "output.h" -#include "test_assertions.hpp" -#include "test_helpers.hpp" - -#include <mailbox.hpp> -#include <mhu_dummy.hpp> - -/* Disable semihosting */ -__asm(".global __use_no_semihosting\n\t"); - -using namespace EthosU; -using namespace MessageHandler; - -/**************************************************************************** - * Defines - ****************************************************************************/ - -// TensorArena static initialisation -constexpr size_t arenaSize = TENSOR_ARENA_SIZE; - -__attribute__((section(".bss.tensor_arena"), aligned(16))) uint8_t tensorArena[arenaSize]; - -// Message queue from remote host -__attribute__((section("ethosu_core_in_queue"))) MessageQueue::Queue<1000> inputMessageQueue; - -// Message queue to remote host -__attribute__((section("ethosu_core_out_queue"))) MessageQueue::Queue<1000> outputMessageQueue; - -namespace { -Mailbox::MHUDummy mailbox; -} // namespace - -/**************************************************************************** - * Application - ****************************************************************************/ -namespace { - -struct TaskParams { - TaskParams() : - messageNotify(xSemaphoreCreateBinary()), - inferenceInputQueue(std::make_shared<Queue<ethosu_core_inference_req>>()), - inferenceOutputQueue(xQueueCreate(5, sizeof(ethosu_core_inference_rsp))), - networks(std::make_shared<WithIndexedNetworks>()) {} - - SemaphoreHandle_t messageNotify; - // Used to pass inference requests to the inference runner task - std::shared_ptr<Queue<ethosu_core_inference_req>> inferenceInputQueue; - // Queue for message responses to the remote host - QueueHandle_t inferenceOutputQueue; - // Networks provider - std::shared_ptr<Networks> networks; -}; - -void inferenceTask(void *pvParameters) { - printf("Starting inference task\n"); - TaskParams *params = reinterpret_cast<TaskParams *>(pvParameters); - - InferenceHandler process(tensorArena, - arenaSize, - params->inferenceInputQueue, - params->inferenceOutputQueue, - params->messageNotify, - params->networks); - - process.run(); -} - -void messageTask(void *pvParameters) { - printf("Starting message task\n"); - TaskParams *params = reinterpret_cast<TaskParams *>(pvParameters); - - IncomingMessageHandler process(*inputMessageQueue.toQueue(), - *outputMessageQueue.toQueue(), - mailbox, - params->inferenceInputQueue, - params->inferenceOutputQueue, - params->messageNotify, - params->networks); - process.run(); -} - -void testPing(MessageClient client) { - TEST_ASSERT(client.sendInputMessage(ETHOSU_CORE_MSG_PING)); - TEST_ASSERT(client.waitAndReadOutputMessage(ETHOSU_CORE_MSG_PONG)); -} - -void testVersion(MessageClient client) { - ethosu_core_msg_version ver; - TEST_ASSERT(client.sendInputMessage(ETHOSU_CORE_MSG_VERSION_REQ)); - TEST_ASSERT(client.waitAndReadOutputMessage(ETHOSU_CORE_MSG_VERSION_RSP, ver)); - - TEST_ASSERT(ver.major == ETHOSU_CORE_MSG_VERSION_MAJOR); - TEST_ASSERT(ver.minor == ETHOSU_CORE_MSG_VERSION_MINOR); - TEST_ASSERT(ver.patch == ETHOSU_CORE_MSG_VERSION_PATCH); -} - -void readCapabilities(ethosu_core_msg_capabilities_rsp &rsp) { -#ifdef ETHOSU - struct ethosu_driver_version version; - ethosu_get_driver_version(&version); - - struct ethosu_hw_info info; - struct ethosu_driver *drv = ethosu_reserve_driver(); - ethosu_get_hw_info(drv, &info); - ethosu_release_driver(drv); - - rsp.version_status = info.version.version_status; - rsp.version_minor = info.version.version_minor; - rsp.version_major = info.version.version_major; - rsp.product_major = info.version.product_major; - rsp.arch_patch_rev = info.version.arch_patch_rev; - rsp.arch_minor_rev = info.version.arch_minor_rev; - rsp.arch_major_rev = info.version.arch_major_rev; - rsp.driver_patch_rev = version.patch; - rsp.driver_minor_rev = version.minor; - rsp.driver_major_rev = version.major; - rsp.macs_per_cc = info.cfg.macs_per_cc; - rsp.cmd_stream_version = info.cfg.cmd_stream_version; - rsp.custom_dma = info.cfg.custom_dma; -#endif -} - -void testCapabilities(MessageClient client) { - const uint64_t fake_user_arg = 42; - ethosu_core_capabilities_req req = {fake_user_arg}; - ethosu_core_msg_capabilities_rsp expected_rsp; - ethosu_core_msg_capabilities_rsp rsp; - - readCapabilities(expected_rsp); - expected_rsp.user_arg = req.user_arg; - - TEST_ASSERT(client.sendInputMessage(ETHOSU_CORE_MSG_CAPABILITIES_REQ, req)); - TEST_ASSERT(client.waitAndReadOutputMessage(ETHOSU_CORE_MSG_CAPABILITIES_RSP, rsp)); - - TEST_ASSERT(expected_rsp.version_status == rsp.version_status); - TEST_ASSERT(expected_rsp.version_minor == rsp.version_minor); - TEST_ASSERT(expected_rsp.version_major == rsp.version_major); - TEST_ASSERT(expected_rsp.product_major == rsp.product_major); - TEST_ASSERT(expected_rsp.arch_patch_rev == rsp.arch_patch_rev); - TEST_ASSERT(expected_rsp.arch_minor_rev == rsp.arch_minor_rev); - TEST_ASSERT(expected_rsp.arch_major_rev == rsp.arch_major_rev); - TEST_ASSERT(expected_rsp.driver_patch_rev == rsp.driver_patch_rev); - TEST_ASSERT(expected_rsp.driver_minor_rev == rsp.driver_minor_rev); - TEST_ASSERT(expected_rsp.driver_major_rev == rsp.driver_major_rev); - TEST_ASSERT(expected_rsp.macs_per_cc == rsp.macs_per_cc); - TEST_ASSERT(expected_rsp.cmd_stream_version == rsp.cmd_stream_version); - TEST_ASSERT(expected_rsp.custom_dma == rsp.custom_dma); - -#ifdef ETHOSU - TEST_ASSERT(rsp.version_status > 0); - TEST_ASSERT(rsp.product_major > 0); - TEST_ASSERT(rsp.arch_major_rev > 0 || rsp.arch_minor_rev > 0 || rsp.arch_patch_rev > 0); - TEST_ASSERT(rsp.driver_major_rev > 0 || rsp.driver_minor_rev > 0 || rsp.driver_patch_rev > 0); - TEST_ASSERT(rsp.macs_per_cc > 0); -#endif -} - -void testNetworkInfoIndex(MessageClient client) { - const uint64_t fake_user_arg = 42; - const uint32_t network_index = 0; - ethosu_core_network_info_req req = networkInfoIndexedRequest(fake_user_arg, network_index); - ethosu_core_network_info_rsp rsp; - ethosu_core_network_info_rsp expected_rsp = networkInfoResponse(fake_user_arg); - - TEST_ASSERT(client.sendInputMessage(ETHOSU_CORE_MSG_NETWORK_INFO_REQ, req)); - TEST_ASSERT(client.waitAndReadOutputMessage(ETHOSU_CORE_MSG_NETWORK_INFO_RSP, rsp)); - - TEST_ASSERT(expected_rsp.user_arg == rsp.user_arg); - TEST_ASSERT(std::strncmp(expected_rsp.desc, rsp.desc, sizeof(rsp.desc)) == 0); - TEST_ASSERT(expected_rsp.ifm_count == rsp.ifm_count); - TEST_ASSERT(expected_rsp.ofm_count == rsp.ofm_count); - TEST_ASSERT(expected_rsp.status == rsp.status); -} - -void testNetworkInfoNonExistantIndex(MessageClient client) { - const uint64_t fake_user_arg = 42; - const uint32_t network_index = 1; - ethosu_core_network_info_req req = networkInfoIndexedRequest(fake_user_arg, network_index); - ethosu_core_network_info_rsp rsp; - - TEST_ASSERT(client.sendInputMessage(ETHOSU_CORE_MSG_NETWORK_INFO_REQ, req)); - TEST_ASSERT(client.waitAndReadOutputMessage(ETHOSU_CORE_MSG_NETWORK_INFO_RSP, rsp)); - - TEST_ASSERT(fake_user_arg == rsp.user_arg); - TEST_ASSERT(ETHOSU_CORE_STATUS_ERROR == rsp.status); -} - -void testNetworkInfoBuffer(MessageClient client) { - const uint64_t fake_user_arg = 42; - uint32_t size = sizeof(Model0::networkModelData); - unsigned char *ptr = Model0::networkModelData; - ethosu_core_network_info_req req = networkInfoBufferRequest(fake_user_arg, ptr, size); - ethosu_core_network_info_rsp rsp; - ethosu_core_network_info_rsp expected_rsp = networkInfoResponse(fake_user_arg); - - TEST_ASSERT(client.sendInputMessage(ETHOSU_CORE_MSG_NETWORK_INFO_REQ, req)); - TEST_ASSERT(client.waitAndReadOutputMessage(ETHOSU_CORE_MSG_NETWORK_INFO_RSP, rsp)); - - TEST_ASSERT(expected_rsp.user_arg == rsp.user_arg); - TEST_ASSERT(std::strncmp(expected_rsp.desc, rsp.desc, sizeof(rsp.desc)) == 0); - TEST_ASSERT(expected_rsp.ifm_count == rsp.ifm_count); - TEST_ASSERT(expected_rsp.ofm_count == rsp.ofm_count); - TEST_ASSERT(expected_rsp.status == rsp.status); -} - -void testNetworkInfoUnparsableBuffer(MessageClient client) { - const uint64_t fake_user_arg = 42; - uint32_t size = sizeof(Model0::networkModelData) / 4; - unsigned char *ptr = Model0::networkModelData + size; - ethosu_core_network_info_req req = networkInfoBufferRequest(fake_user_arg, ptr, size); - ethosu_core_network_info_rsp rsp; - - TEST_ASSERT(client.sendInputMessage(ETHOSU_CORE_MSG_NETWORK_INFO_REQ, req)); - TEST_ASSERT(client.waitAndReadOutputMessage(ETHOSU_CORE_MSG_NETWORK_INFO_RSP, rsp)); - - TEST_ASSERT(42 == rsp.user_arg); - TEST_ASSERT(ETHOSU_CORE_STATUS_ERROR == rsp.status); -} - -void testInferenceRunIndex(MessageClient client) { - const uint64_t fake_user_arg = 42; - const uint32_t network_index = 0; - uint8_t data[sizeof(expectedOutputData)]; - ethosu_core_inference_req req = - inferenceIndexedRequest(fake_user_arg, network_index, inputData, sizeof(inputData), data, sizeof(data)); - ethosu_core_inference_rsp rsp; - - TEST_ASSERT(client.sendInputMessage(ETHOSU_CORE_MSG_INFERENCE_REQ, req)); - TEST_ASSERT(client.waitAndReadOutputMessage(ETHOSU_CORE_MSG_INFERENCE_RSP, rsp)); - - TEST_ASSERT(req.user_arg == rsp.user_arg); - TEST_ASSERT(rsp.ofm_count == 1); - TEST_ASSERT(std::memcmp(expectedOutputData, data, sizeof(expectedOutputData)) == 0); - TEST_ASSERT(rsp.status == ETHOSU_CORE_STATUS_OK); - TEST_ASSERT(rsp.pmu_cycle_counter_enable == req.pmu_cycle_counter_enable); - TEST_ASSERT(std::memcmp(rsp.pmu_event_config, req.pmu_event_config, sizeof(req.pmu_event_config)) == 0); -} - -void testInferenceRunNonExistingIndex(MessageClient client) { - const uint64_t fake_user_arg = 42; - const uint32_t network_index = 1; - uint8_t data[sizeof(expectedOutputData)]; - ethosu_core_inference_req req = - inferenceIndexedRequest(fake_user_arg, network_index, inputData, sizeof(inputData), data, sizeof(data)); - ethosu_core_inference_rsp rsp; - - TEST_ASSERT(client.sendInputMessage(ETHOSU_CORE_MSG_INFERENCE_REQ, req)); - TEST_ASSERT(client.waitAndReadOutputMessage(ETHOSU_CORE_MSG_INFERENCE_RSP, rsp)); - - TEST_ASSERT(req.user_arg == rsp.user_arg); - TEST_ASSERT(rsp.status == ETHOSU_CORE_STATUS_ERROR); -} - -void testInferenceRunBuffer(MessageClient client) { - const uint64_t fake_user_arg = 42; - uint32_t network_size = sizeof(Model0::networkModelData); - unsigned char *network_ptr = Model0::networkModelData; - uint8_t data[sizeof(expectedOutputData)]; - ethosu_core_inference_req req = inferenceBufferRequest( - fake_user_arg, network_ptr, network_size, inputData, sizeof(inputData), data, sizeof(data)); - ethosu_core_inference_rsp rsp; - - TEST_ASSERT(client.sendInputMessage(ETHOSU_CORE_MSG_INFERENCE_REQ, req)); - TEST_ASSERT(client.waitAndReadOutputMessage(ETHOSU_CORE_MSG_INFERENCE_RSP, rsp)); - - TEST_ASSERT(req.user_arg == rsp.user_arg); - TEST_ASSERT(rsp.ofm_count == 1); - TEST_ASSERT(std::memcmp(expectedOutputData, data, sizeof(expectedOutputData)) == 0); - TEST_ASSERT(rsp.status == ETHOSU_CORE_STATUS_OK); - TEST_ASSERT(rsp.pmu_cycle_counter_enable == req.pmu_cycle_counter_enable); - TEST_ASSERT(std::memcmp(rsp.pmu_event_config, req.pmu_event_config, sizeof(req.pmu_event_config)) == 0); -} - -void testInferenceRunUnparsableBuffer(MessageClient client) { - const uint64_t fake_user_arg = 42; - uint32_t network_size = sizeof(Model0::networkModelData) / 4; - unsigned char *network_ptr = Model0::networkModelData + network_size; - uint8_t data[sizeof(expectedOutputData)]; - ethosu_core_inference_req req = inferenceBufferRequest( - fake_user_arg, network_ptr, network_size, inputData, sizeof(inputData), data, sizeof(data)); - ethosu_core_inference_rsp rsp; - - TEST_ASSERT(client.sendInputMessage(ETHOSU_CORE_MSG_INFERENCE_REQ, req)); - TEST_ASSERT(client.waitAndReadOutputMessage(ETHOSU_CORE_MSG_INFERENCE_RSP, rsp)); - - TEST_ASSERT(req.user_arg == rsp.user_arg); - TEST_ASSERT(rsp.status == ETHOSU_CORE_STATUS_ERROR); -} - -void testSequentiallyQueuedInferenceRuns(MessageClient client) { - int runs = 5; - uint8_t data[runs][sizeof(expectedOutputData)]; - const uint64_t fake_user_arg = 42; - const uint32_t network_index = 0; - ethosu_core_inference_req req; - ethosu_core_inference_rsp rsp[runs]; - - for (int i = 0; i < runs; i++) { - vTaskDelay(150); - - req = inferenceIndexedRequest( - fake_user_arg + i, network_index, inputData, sizeof(inputData), data[i], sizeof(data[i])); - TEST_ASSERT(client.sendInputMessage(ETHOSU_CORE_MSG_INFERENCE_REQ, req)); - } - - for (int i = 0; i < runs; i++) { - TEST_ASSERT(client.waitAndReadOutputMessage(ETHOSU_CORE_MSG_INFERENCE_RSP, rsp[i])); - TEST_ASSERT(uint64_t(fake_user_arg + i) == rsp[i].user_arg); - TEST_ASSERT(rsp[i].ofm_count == 1); - TEST_ASSERT(std::memcmp(expectedOutputData, data[i], sizeof(expectedOutputData)) == 0); - TEST_ASSERT(rsp[i].status == ETHOSU_CORE_STATUS_OK); - TEST_ASSERT(rsp[i].pmu_cycle_counter_enable == req.pmu_cycle_counter_enable); - TEST_ASSERT(std::memcmp(rsp[i].pmu_event_config, req.pmu_event_config, sizeof(req.pmu_event_config)) == 0); - } -} - -void clientTask(void *) { - printf("Starting client task\n"); - - MessageClient client(*inputMessageQueue.toQueue(), *outputMessageQueue.toQueue(), mailbox); - - vTaskDelay(50); - - testPing(client); - testVersion(client); - testCapabilities(client); - testNetworkInfoIndex(client); - testNetworkInfoNonExistantIndex(client); - testNetworkInfoBuffer(client); - testNetworkInfoUnparsableBuffer(client); - testInferenceRunIndex(client); - testInferenceRunNonExistingIndex(client); - testInferenceRunBuffer(client); - testInferenceRunUnparsableBuffer(client); - testSequentiallyQueuedInferenceRuns(client); - - exit(0); -} - -/* - * Keep task parameters as global data as FreeRTOS resets the stack when the - * scheduler is started. - */ -TaskParams taskParams; - -} // namespace - -// FreeRTOS application. NOTE: Additional tasks may require increased heap size. -int main() { - BaseType_t ret; - - if (!mailbox.verifyHardware()) { - printf("Failed to verify mailbox hardware\n"); - return 1; - } - - // Task for handling incoming /outgoing messages from the remote host - ret = xTaskCreate(messageTask, "messageTask", 1024, &taskParams, 2, nullptr); - if (ret != pdPASS) { - printf("Failed to create 'messageTask'\n"); - return ret; - } - - ret = xTaskCreate(inferenceTask, "inferenceTask", 8 * 1024, &taskParams, 3, nullptr); - if (ret != pdPASS) { - printf("Failed to create 'inferenceTask'\n"); - return ret; - } - - // Task for handling incoming /outgoing messages from the remote host - ret = xTaskCreate(clientTask, "clientTask", 1024, nullptr, 2, nullptr); - if (ret != pdPASS) { - printf("Failed to create 'messageTask'\n"); - return ret; - } - - // Start Scheduler - vTaskStartScheduler(); - - return 1; -} diff --git a/applications/message_handler/test/test_assertions.hpp b/applications/message_handler/test/test_assertions.hpp deleted file mode 100644 index 7c4cb5c..0000000 --- a/applications/message_handler/test/test_assertions.hpp +++ /dev/null @@ -1,33 +0,0 @@ -/* - * Copyright (c) 2022 Arm Limited. - * - * SPDX-License-Identifier: Apache-2.0 - * - * Licensed under the Apache License, Version 2.0 (the License); you may - * not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an AS IS BASIS, WITHOUT - * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#ifndef TEST_ASSERTIONS_H -#define TEST_ASSERTIONS_H - -#include <stddef.h> -#include <stdio.h> - -#define TEST_ASSERT(v) \ - do { \ - if (!(v)) { \ - fprintf(stderr, "%s:%d ERROR test failed: '%s'\n", __FILE__, __LINE__, #v); \ - exit(1); \ - } \ - } while (0) - -#endif diff --git a/applications/message_handler/test/test_helpers.hpp b/applications/message_handler/test/test_helpers.hpp deleted file mode 100644 index 0440b58..0000000 --- a/applications/message_handler/test/test_helpers.hpp +++ /dev/null @@ -1,131 +0,0 @@ - -/* - * Copyright (c) 2022 Arm Limited. - * - * SPDX-License-Identifier: Apache-2.0 - * - * Licensed under the Apache License, Version 2.0 (the License); you may - * not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an AS IS BASIS, WITHOUT - * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#ifndef TEST_HELPERS_H -#define TEST_HELPERS_H - -#include <inttypes.h> -#include <stdio.h> - -#include "ethosu_core_interface.h" - -namespace MessageHandler { - -ethosu_core_network_info_req networkInfoIndexedRequest(uint64_t user_arg, uint32_t index) { - ethosu_core_network_info_req req = {user_arg, // user_arg - { // network - ETHOSU_CORE_NETWORK_INDEX, // type - {{ - index, // index - 0 // ignored padding of union - }}}}; - return req; -} - -ethosu_core_network_info_req networkInfoBufferRequest(uint64_t user_arg, unsigned char *ptr, uint32_t ptr_size) { - ethosu_core_network_info_req req = {user_arg, // user_arg - { // network - ETHOSU_CORE_NETWORK_BUFFER, // type - {{ - reinterpret_cast<uint32_t>(ptr), // ptr - ptr_size // size - }}}}; - return req; -} - -ethosu_core_network_info_rsp networkInfoResponse(uint64_t user_arg) { - ethosu_core_network_info_rsp rsp = { - user_arg, // user_arg - "Vela Optimised", // description - 1, // ifm_count - {/* not comparable */}, // ifm_sizes - 1, // ofm_count - {/* not comparable */}, // ofm_sizes - ETHOSU_CORE_STATUS_OK // status - }; - return rsp; -} - -ethosu_core_inference_req inferenceIndexedRequest(uint64_t user_arg, - uint32_t index, - unsigned char *input_data, - uint32_t input_data_size, - uint8_t *output_data, - uint32_t output_data_size) { - ethosu_core_inference_req req = { - user_arg, // user_arg - 1, // ifm_count - { // ifm - { - reinterpret_cast<uint32_t>(input_data), // ptr - input_data_size // size - }}, - 1, // ofm_count - { // ofm - { - reinterpret_cast<uint32_t>(output_data), // ptr - output_data_size // size - }}, - { // network - ETHOSU_CORE_NETWORK_INDEX, // type - {{ - index, // index - 0 // ignored padding of union - }}}, - {0, 0, 0, 0, 0, 0, 0, 0}, // pmu_event_config - 0 // pmu_cycle_counter_enable - }; - return req; -} - -ethosu_core_inference_req inferenceBufferRequest(uint64_t user_arg, - unsigned char *ptr, - uint32_t ptr_size, - unsigned char *input_data, - uint32_t input_data_size, - uint8_t *output_data, - uint32_t output_data_size) { - ethosu_core_inference_req req = { - user_arg, // user_arg - 1, // ifm_count - { // ifm - { - reinterpret_cast<uint32_t>(input_data), // ptr - input_data_size // size - }}, - 1, // ofm_count - { // ofm - { - reinterpret_cast<uint32_t>(output_data), // ptr - output_data_size // size - }}, - { // network - ETHOSU_CORE_NETWORK_BUFFER, // type - {{ - reinterpret_cast<uint32_t>(ptr), // ptr - ptr_size // size - }}}, - {0, 0, 0, 0, 0, 0, 0, 0}, // pmu_event_config - 0 // pmu_cycle_counter_enable - }; - return req; -} -} // namespace MessageHandler - -#endif diff --git a/applications/message_handler/test/test_message_handler/CMakeLists.txt b/applications/message_handler/test/test_message_handler/CMakeLists.txt deleted file mode 100644 index bdccf54..0000000 --- a/applications/message_handler/test/test_message_handler/CMakeLists.txt +++ /dev/null @@ -1,38 +0,0 @@ -# -# Copyright (c) 2020-2022 Arm Limited. -# -# SPDX-License-Identifier: Apache-2.0 -# -# Licensed under the Apache License, Version 2.0 (the License); you may -# not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an AS IS BASIS, WITHOUT -# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. -# - -if(NOT BUILD_TEST_MESSAGE_HANDLER OR NOT TARGET freertos_kernel) - message("Skipping test message handler") - return() -endif() - -ethosu_add_executable(test_message_handler - SOURCES - main.cpp - LIBRARIES - message_handler_lib - freertos_kernel) - -target_include_directories(test_message_handler PRIVATE - ../../indexed_networks - ${LINUX_DRIVER_STACK_PATH}/kernel) - -install(FILES $<TARGET_FILE:test_message_handler> - DESTINATION "lib/firmware" - RENAME "arm-test-${ETHOSU_TARGET_NPU_CONFIG}.fw" -) diff --git a/applications/message_handler/test/test_message_handler/main.cpp b/applications/message_handler/test/test_message_handler/main.cpp deleted file mode 100644 index 0a83a56..0000000 --- a/applications/message_handler/test/test_message_handler/main.cpp +++ /dev/null @@ -1,151 +0,0 @@ -/* - * Copyright (c) 2019-2022 Arm Limited. - * - * SPDX-License-Identifier: Apache-2.0 - * - * Licensed under the Apache License, Version 2.0 (the License); you may - * not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an AS IS BASIS, WITHOUT - * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -/**************************************************************************** - * Includes - ****************************************************************************/ - -#include "FreeRTOS.h" -#include "queue.h" -#include "semphr.h" -#include "task.h" - -#include <inttypes.h> -#include <stdio.h> - -#include "ethosu_core_interface.h" -#include "indexed_networks.hpp" -#include "message_handler.hpp" -#include "message_queue.hpp" -#include "networks.hpp" - -#include <mailbox.hpp> -#if defined(MHU_V2) -#include <mhu_v2.hpp> -#elif defined(MHU_JUNO) -#include <mhu_juno.hpp> -#else -#include <mhu_dummy.hpp> -#endif - -/* Disable semihosting */ -__asm(".global __use_no_semihosting\n\t"); - -using namespace EthosU; -using namespace MessageHandler; - -/**************************************************************************** - * Defines - ****************************************************************************/ - -// Message queue from remote host -__attribute__((section("ethosu_core_in_queue"))) MessageQueue::Queue<1000> inputMessageQueue; - -// Message queue to remote host -__attribute__((section("ethosu_core_out_queue"))) MessageQueue::Queue<1000> outputMessageQueue; - -namespace { - -// Mailbox driver -#ifdef MHU_V2 -Mailbox::MHUv2 mailbox(MHU_TX_BASE_ADDRESS, MHU_RX_BASE_ADDRESS); // txBase, rxBase -#elif defined(MHU_JUNO) -Mailbox::MHUJuno mailbox(MHU_BASE_ADDRESS); -#else -Mailbox::MHUDummy mailbox; -#endif - -} // namespace - -/**************************************************************************** - * Application - ****************************************************************************/ -namespace { - -struct TaskParams { - TaskParams() : - messageNotify(xSemaphoreCreateBinary()), - inferenceInputQueue(std::make_shared<Queue<ethosu_core_inference_req>>()), - inferenceOutputQueue(xQueueCreate(10, sizeof(ethosu_core_inference_rsp))), - networks(std::make_shared<WithIndexedNetworks>()) {} - - SemaphoreHandle_t messageNotify; - // Used to pass inference requests to the inference runner task - std::shared_ptr<Queue<ethosu_core_inference_req>> inferenceInputQueue; - // Queue for message responses to the remote host - QueueHandle_t inferenceOutputQueue; - // Networks provider - std::shared_ptr<Networks> networks; -}; - -#ifdef MHU_IRQ -void mailboxIrqHandler() { - mailbox.handleMessage(); -} -#endif - -void messageTask(void *pvParameters) { - printf("Starting message task\n"); - TaskParams *params = reinterpret_cast<TaskParams *>(pvParameters); - - IncomingMessageHandler process(*inputMessageQueue.toQueue(), - *outputMessageQueue.toQueue(), - mailbox, - params->inferenceInputQueue, - params->inferenceOutputQueue, - params->messageNotify, - params->networks); - -#ifdef MHU_IRQ - // Register mailbox interrupt handler - NVIC_SetVector((IRQn_Type)MHU_IRQ, (uint32_t)&mailboxIrqHandler); - NVIC_EnableIRQ((IRQn_Type)MHU_IRQ); -#endif - - process.run(); -} - -/* - * Keep task parameters as global data as FreeRTOS resets the stack when the - * scheduler is started. - */ -TaskParams taskParams; - -} // namespace - -// FreeRTOS application. NOTE: Additional tasks may require increased heap size. -int main() { - BaseType_t ret; - - if (!mailbox.verifyHardware()) { - printf("Failed to verify mailbox hardware\n"); - return 1; - } - - // Task for handling incoming /outgoing messages from the remote host - ret = xTaskCreate(messageTask, "messageTask", 1024, &taskParams, 2, nullptr); - if (ret != pdPASS) { - printf("Failed to create 'messageTask'\n"); - return ret; - } - - // Start Scheduler - vTaskStartScheduler(); - - return 1; -} |