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Add VeriFast kernel queue proofs (#117)
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Nathan Chong
GitHub
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31 changed files with 3702 additions and 1 deletions
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FreeRTOS/Test/VeriFast/queue/xQueueGenericSendFromISR.c
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FreeRTOS/Test/VeriFast/queue/xQueueGenericSendFromISR.c
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/*
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* FreeRTOS VeriFast Proofs
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* Copyright (C) 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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#include "proof/queue.h"
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#include "proof/queuecontracts.h"
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BaseType_t xQueueGenericSendFromISR( QueueHandle_t xQueue, const void * const pvItemToQueue, BaseType_t * const pxHigherPriorityTaskWoken, const BaseType_t xCopyPosition )
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/*@requires
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[1/2]queuehandle(xQueue, ?N, ?M, ?is_isr) &*& is_isr == true &*&
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chars(pvItemToQueue, M, ?x) &*&
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integer(pxHigherPriorityTaskWoken, _) &*&
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(xCopyPosition == queueSEND_TO_BACK || xCopyPosition == queueSEND_TO_FRONT || (xCopyPosition == queueOVERWRITE && N == 1));@*/
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/*@ensures
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[1/2]queuehandle(xQueue, N, M, is_isr) &*&
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chars(pvItemToQueue, M, x) &*&
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integer(pxHigherPriorityTaskWoken, _);@*/
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{
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BaseType_t xReturn;
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UBaseType_t uxSavedInterruptStatus;
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#ifdef VERIFAST /*< const pointer declaration */
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Queue_t * pxQueue = xQueue;
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#else
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Queue_t * const pxQueue = xQueue;
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configASSERT( pxQueue );
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configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
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configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );
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#endif
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/* RTOS ports that support interrupt nesting have the concept of a maximum
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system call (or maximum API call) interrupt priority. Interrupts that are
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above the maximum system call priority are kept permanently enabled, even
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when the RTOS kernel is in a critical section, but cannot make any calls to
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FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
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then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
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failure if a FreeRTOS API function is called from an interrupt that has been
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assigned a priority above the configured maximum system call priority.
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Only FreeRTOS functions that end in FromISR can be called from interrupts
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that have been assigned a priority at or (logically) below the maximum
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system call interrupt priority. FreeRTOS maintains a separate interrupt
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safe API to ensure interrupt entry is as fast and as simple as possible.
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More information (albeit Cortex-M specific) is provided on the following
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link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
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portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
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/* Similar to xQueueGenericSend, except without blocking if there is no room
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in the queue. Also don't directly wake a task that was blocked on a queue
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read, instead return a flag to say whether a context switch is required or
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not (i.e. has a task with a higher priority than us been woken by this
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post). */
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uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
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/*@assert queue(pxQueue, ?Storage, N, M, ?W, ?R, ?K, ?is_locked, ?abs);@*/
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{
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if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
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{
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const int8_t cTxLock = pxQueue->cTxLock;
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const UBaseType_t uxPreviousMessagesWaiting = pxQueue->uxMessagesWaiting;
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traceQUEUE_SEND_FROM_ISR( pxQueue );
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/* Semaphores use xQueueGiveFromISR(), so pxQueue will not be a
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semaphore or mutex. That means prvCopyDataToQueue() cannot result
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in a task disinheriting a priority and prvCopyDataToQueue() can be
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called here even though the disinherit function does not check if
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the scheduler is suspended before accessing the ready lists. */
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#ifdef VERIFAST /*< void cast of unused return value */
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/*@close queue(pxQueue, Storage, N, M, W, R, K, is_locked, abs);@*/
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prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
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#else
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( void ) prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
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#endif
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/*@open queue(pxQueue, _, N, M, _, _, _, _, _);@*/
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/* The event list is not altered if the queue is locked. This will
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be done when the queue is unlocked later. */
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if( cTxLock == queueUNLOCKED )
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{
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/* VeriFast: we do not verify this configuration option */
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#if ( configUSE_QUEUE_SETS == 1 )
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{
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if( pxQueue->pxQueueSetContainer != NULL )
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{
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if( ( xCopyPosition == queueOVERWRITE ) && ( uxPreviousMessagesWaiting != ( UBaseType_t ) 0 ) )
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{
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/* Do not notify the queue set as an existing item
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was overwritten in the queue so the number of items
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in the queue has not changed. */
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mtCOVERAGE_TEST_MARKER();
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}
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else if( prvNotifyQueueSetContainer( pxQueue ) != pdFALSE )
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{
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/* The queue is a member of a queue set, and posting
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to the queue set caused a higher priority task to
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unblock. A context switch is required. */
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if( pxHigherPriorityTaskWoken != NULL )
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{
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*pxHigherPriorityTaskWoken = pdTRUE;
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}
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else
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{
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mtCOVERAGE_TEST_MARKER();
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}
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}
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else
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{
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mtCOVERAGE_TEST_MARKER();
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}
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}
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else
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{
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if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
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{
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if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
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{
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/* The task waiting has a higher priority so
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record that a context switch is required. */
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if( pxHigherPriorityTaskWoken != NULL )
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{
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*pxHigherPriorityTaskWoken = pdTRUE;
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}
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else
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{
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mtCOVERAGE_TEST_MARKER();
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}
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}
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else
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{
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mtCOVERAGE_TEST_MARKER();
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}
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}
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else
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{
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mtCOVERAGE_TEST_MARKER();
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}
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}
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}
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#else /* configUSE_QUEUE_SETS */
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{
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if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
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{
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if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
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{
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/* The task waiting has a higher priority so record that a
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context switch is required. */
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if( pxHigherPriorityTaskWoken != NULL )
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{
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*pxHigherPriorityTaskWoken = pdTRUE;
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}
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else
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{
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mtCOVERAGE_TEST_MARKER();
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}
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}
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else
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{
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mtCOVERAGE_TEST_MARKER();
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}
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}
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else
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{
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mtCOVERAGE_TEST_MARKER();
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}
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/* Not used in this path. */
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#ifndef VERIFAST /*< void cast of unused var */
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( void ) uxPreviousMessagesWaiting;
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#endif
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}
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#endif /* configUSE_QUEUE_SETS */
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}
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else
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{
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/* Increment the lock count so the task that unlocks the queue
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knows that data was posted while it was locked. */
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configASSERT( cTxLock != queueINT8_MAX);
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pxQueue->cTxLock = ( int8_t ) ( cTxLock + 1 );
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}
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xReturn = pdPASS;
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/*@
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if (xCopyPosition == queueSEND_TO_BACK) {
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close queue(pxQueue, Storage, N, M, (W+1)%N, R, (K+1), is_locked, append(abs, singleton(x)));
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} else if (xCopyPosition == queueSEND_TO_FRONT) {
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if (R == 0) {
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close queue(pxQueue, Storage, N, M, W, (N-1), (K+1), is_locked, cons(x, abs));
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} else {
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close queue(pxQueue, Storage, N, M, W, (R-1), (K+1), is_locked, cons(x, abs));
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}
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} else if (xCopyPosition == queueOVERWRITE) {
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close queue(pxQueue, Storage, N, M, W, R, 1, is_locked, singleton(x));
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}
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@*/
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}
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else
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{
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traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue );
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xReturn = errQUEUE_FULL;
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/*@close queue(pxQueue, Storage, N, M, W, R, K, is_locked, abs);@*/
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}
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}
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portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
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return xReturn;
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}
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