Fix #2516, propagate stack pointer for child tasks

modules/cfe_testcase/src/es_task_test.c

@@ -90,6 +90,66 @@
     }
 }
 
+#define UT_LOCAL_STACK_SIZE 4096
+static unsigned long UT_LOCAL_STACK[UT_LOCAL_STACK_SIZE];
+
+void TestCheckStackPointer(void)
+{
+    int32   LocalVar;
+    cpuaddr VarAddress;
+    cpuaddr StackAddress;
+
+    OS_TaskDelay(10);
+
+    VarAddress   = (cpuaddr)&LocalVar;
+    StackAddress = (cpuaddr)UT_LOCAL_STACK;
+
+    UtAssert_GT(cpuaddr, VarAddress, StackAddress);
+    UtAssert_LT(cpuaddr, VarAddress, StackAddress + sizeof(UT_LOCAL_STACK));
+
+    CFE_ES_ExitChildTask();
+}
+
+void TestCreateChildWithStack(void)
+{
+    CFE_ES_TaskId_t            TaskId = CFE_ES_TASKID_UNDEFINED;
+    int32                      RetryCount;
+    const char *               TaskName     = "CHILD_W_STACK";
+    CFE_ES_StackPointer_t      StackPointer = UT_LOCAL_STACK;
+    size_t                     StackSize    = sizeof(UT_LOCAL_STACK);
+    CFE_ES_TaskPriority_Atom_t Priority     = CFE_PLATFORM_ES_PERF_CHILD_PRIORITY;
+    uint32                     Flags        = 0;
+    char                       TaskNameBuf[16];
+
+    UtPrintf("Testing: CFE_ES_CreateChildTask with user-specified stack");
+
+    UtAssert_INT32_EQ(
+        CFE_ES_CreateChildTask(&TaskId, TaskName, TestCheckStackPointer, StackPointer, StackSize, Priority, Flags),
+        CFE_SUCCESS);
+
+    /* wait for task to exit itself */
+    RetryCount = 0;
+    while (RetryCount < 10)
+    {
+        /*
+         * poll until CFE_ES_GetTaskName() returns an error, then the task has exited
+         *
+         * NOTE: this intentionally does not Assert the status here, because the child task is
+         * also doing asserts at the time this loop is running.  Once the child task finishes,
+         * it is OK to do asserts from this task again
+         */
+        if (CFE_Assert_STATUS_STORE(CFE_ES_GetTaskName(TaskNameBuf, TaskId, sizeof(TaskNameBuf))) != CFE_SUCCESS)
+        {
+            break;
+        }
+        OS_TaskDelay(100);
+        ++RetryCount;
+    }
+
+    /* Retroactively confirm that the previous call to CFE_ES_GetTaskName() returned RESOURCEID_NOT_VALID */
+    CFE_Assert_STATUS_MUST_BE(CFE_ES_ERR_RESOURCEID_NOT_VALID);
+}
+
 void TestCreateChild(void)
 {
     UtPrintf("Testing: CFE_ES_CreateChildTask");
@@ -114,7 +174,7 @@
     while (CFE_FT_Global.Count != ExpectedCount && Index < 100)
     {
         OS_TaskDelay(10);
-        Index ++;
+        Index++;
     }
 
     UtAssert_INT32_GT(CFE_FT_Global.Count, ExpectedCount - 1);
@@ -292,4 +352,12 @@
     UtTest_Add(TestChildTaskName, NULL, NULL, "Test Child Task Name");
     UtTest_Add(TestChildTaskDelete, NULL, NULL, "Test Child Tasks Delete");
     UtTest_Add(TestExitChild, NULL, NULL, "Test Exit Child");
+
+    /*
+     * NOTE: The custom stack does not work on RTEMS, test is disabled on that platform
+     * for the time being (custom stack may be deprecated in future CFE release).
+     */
+#ifndef _RTEMS_OS_
+    UtTest_Add(TestCreateChildWithStack, NULL, NULL, "Test Child with Custom Stack");
+#endif
 }

modules/core_api/fsw/inc/cfe_version.h

@@ -29,12 +29,12 @@
 #define CFE_BUILD_NUMBER    96 /**< @brief Development: Number of development git commits since CFE_BUILD_BASELINE */
 #define CFE_BUILD_BASELINE  "equuleus-rc1" /**< @brief Development: Reference git tag for build number */
 #define CFE_BUILD_DEV_CYCLE "equuleus-rc2" /**< @brief Development: Release name for current development cycle */
-#define CFE_BUILD_CODENAME  "Equuleus" /**< @brief: Development: Code name for the current build */
+#define CFE_BUILD_CODENAME  "Equuleus"     /**< @brief: Development: Code name for the current build */
 
 /* See \ref cfsversions for definitions */
-#define CFE_MAJOR_VERSION 6  /*!< @brief Major version number */
-#define CFE_MINOR_VERSION 7  /*!< @brief Minor version number */
-#define CFE_REVISION      0  /*!< @brief Revision version number. Value of 0 indicates a development version.*/
+#define CFE_MAJOR_VERSION 6 /*!< @brief Major version number */
+#define CFE_MINOR_VERSION 7 /*!< @brief Minor version number */
+#define CFE_REVISION      0 /*!< @brief Revision version number. Value of 0 indicates a development version.*/
 
 /**
  * @brief Last official release.
@@ -63,7 +63,7 @@
 
 /**
  * @brief Max Version String length.
- * 
+ *
  * Maximum length that a cFE version string can be.
  */
 #define CFE_CFG_MAX_VERSION_STR_LEN 256

modules/es/fsw/src/cfe_es_api.c

@@ -1259,6 +1259,7 @@ CFE_Status_t CFE_ES_CreateChildTask(CFE_ES_TaskId_t *TaskIdPtr, const char *Task
     memset(&Params, 0, sizeof(Params));
     Params.Priority  = Priority;
     Params.StackSize = StackSize;
+    Params.StackPtr  = StackPtr;
 
     /*
     ** Validate some of the arguments

modules/es/fsw/src/cfe_es_apps.c

@@ -585,13 +585,13 @@ int32 CFE_ES_StartAppTask(CFE_ES_TaskId_t *TaskIdPtr, const char *TaskName, CFE_
     /*
      * Create the primary task for the newly loaded task
      */
-    OsStatus = OS_TaskCreate(&OsalTaskId,              /* task id */
-                             TaskName,                 /* task name matches app name for main task */
-                             CFE_ES_TaskEntryPoint,    /* task function pointer */
-                             OSAL_TASK_STACK_ALLOCATE, /* stack pointer (allocate) */
-                             Params->StackSize,        /* stack size */
-                             Params->Priority,         /* task priority */
-                             OS_FP_ENABLED);           /* task options */
+    OsStatus = OS_TaskCreate(&OsalTaskId,           /* task id */
+                             TaskName,              /* task name matches app name for main task */
+                             CFE_ES_TaskEntryPoint, /* task function pointer */
+                             Params->StackPtr,      /* stack pointer (allocate if NULL) */
+                             Params->StackSize,     /* stack size */
+                             Params->Priority,      /* task priority */
+                             OS_FP_ENABLED);        /* task options */
 
     CFE_ES_LockSharedData(__func__, __LINE__);
 

modules/es/fsw/src/cfe_es_apps.h

@@ -99,6 +99,7 @@ typedef struct
 typedef struct
 {
     size_t                     StackSize;
+    CFE_ES_StackPointer_t      StackPtr;
     CFE_ES_TaskPriority_Atom_t Priority;
 } CFE_ES_TaskStartParams_t;