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Add comprehensive unit tests for prepare pipeline PR zephyrproject-rtos#79444
Co-authored-by: cvinayak <6350656+cvinayak@users.noreply.github.com>
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‎tests/bluetooth/controller/ctrl_prepare_pipeline/CMakeLists.txt‎

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# SPDX-License-Identifier: Apache-2.0
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cmake_minimum_required(VERSION 3.20.0)
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find_package(Zephyr COMPONENTS unittest REQUIRED HINTS $ENV{ZEPHYR_BASE})
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project(bluetooth_ull_prepare_pipeline)
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add_subdirectory(${ZEPHYR_BASE}/tests/bluetooth/controller/common common)
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add_subdirectory(${ZEPHYR_BASE}/tests/bluetooth/controller/mock_ctrl mock_ctrl)
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target_link_libraries(testbinary PRIVATE common mock_ctrl)
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target_sources(testbinary
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PRIVATE
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src/main.c
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src/test_ull_prepare_basic.c
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src/test_ull_prepare_ordering.c
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src/test_ull_prepare_iterator.c
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src/test_ull_prepare_edge_cases.c
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)
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# Include paths for controller sources
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target_include_directories(testbinary PRIVATE
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${ZEPHYR_BASE}/subsys/bluetooth/controller
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${ZEPHYR_BASE}/subsys/bluetooth/controller/ll_sw
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${ZEPHYR_BASE}/subsys/bluetooth/controller/ll_sw/nordic
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${ZEPHYR_BASE}/subsys/bluetooth/controller/include
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${ZEPHYR_BASE}/subsys/bluetooth/controller/util
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)

‎tests/bluetooth/controller/ctrl_prepare_pipeline/Kconfig‎

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# Copyright (c) 2024 Nordic Semiconductor ASA
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# SPDX-License-Identifier: Apache-2.0
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config SOC_COMPATIBLE_NRF
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default y
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config BT_CTLR_DATA_LEN_UPDATE_SUPPORT
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default y
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config BT_CTLR_PHY_UPDATE_SUPPORT
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default y
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config BT_CTLR_PHY_CODED_SUPPORT
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default y
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config BT_CTLR_PHY_2M_SUPPORT
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default y
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config ENTROPY_NRF_FORCE_ALT
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default n
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config ENTROPY_NRF5_RNG
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default n
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source "tests/bluetooth/controller/common/Kconfig"
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# Include Zephyr's Kconfig
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source "Kconfig"

‎tests/bluetooth/controller/ctrl_prepare_pipeline/README.md‎

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# Prepare Pipeline Unit Tests
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## Overview
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This test suite provides comprehensive unit tests for PR #79444, which replaces the Bluetooth controller's prepare pipeline implementation from a FIFO-based approach to an ordered linked list.
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## Test Organization
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The test suite is organized into four main test modules:
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### 1. test_ull_prepare_basic.c - Basic Pipeline Operations
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Tests fundamental enqueue/dequeue operations:
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- **test_enqueue_empty_pipeline**: Validates enqueuing to empty pipeline
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- **test_enqueue_multiple_events**: Tests multiple event enqueuing
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- **test_dequeue_get**: Tests peeking at head without removal
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- **test_dequeue_empty_pipeline**: Tests dequeue on empty pipeline
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- **test_resume_event_marking**: Validates resume event marking
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- **test_aborted_event_marking**: Tests aborted event marking
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- **test_callback_assignments**: Verifies callback assignments
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### 2. test_ull_prepare_ordering.c - Ordering Behavior
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Tests the ordered insertion behavior based on `ticks_at_expire`:
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- **test_ascending_order_insertion**: Events enqueued in ascending order
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- **test_descending_order_insertion**: Events enqueued in descending order (should be reordered)
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- **test_mixed_order_insertion**: Random order insertion and verification
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- **test_resume_events_at_tail**: Critical test - resume events always at tail regardless of time
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- **test_ordering_with_aborted_events**: Tests ordering with aborted events
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- **test_interleaved_resume_and_normal**: Complex scenario with mixed event types
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### 3. test_ull_prepare_iterator.c - Iterator Functionality
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Tests the new `void**` iterator interface (changed from `uint8_t*`):
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- **test_iterator_init_null**: Iterator initialization with NULL starts at head
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- **test_complete_iteration**: Tests iteration through entire list
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- **test_iterator_termination**: Validates iterator returns NULL at end
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- **test_iterator_empty_pipeline**: Iterator on empty pipeline
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- **test_iterator_single_event**: Edge case with single event
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- **test_iterator_mixed_event_types**: Iteration through normal, resume, and aborted events
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- **test_iterator_break_condition**: Tests safe break when !idx
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- **test_iterator_parameter_update**: Validates idx parameter updates
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### 4. test_ull_prepare_edge_cases.c - Edge Cases and Boundary Conditions
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Tests edge cases and error handling:
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- **test_empty_pipeline_operations**: All operations on empty pipeline
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- **test_single_element_pipeline**: Operations with single element
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- **test_pipeline_full_condition**: Behavior when pipeline reaches max capacity (EVENT_PIPELINE_MAX)
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- **test_tick_wraparound**: Tick counter wraparound scenarios
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- **test_multiple_dequeue_get_calls**: Validates dequeue_get is non-destructive
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- **test_alternating_enqueue_iterate**: Interleaved operations
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- **test_same_tick_values**: Multiple events with identical ticks_at_expire
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- **test_zero_tick_values**: Edge case with tick value of 0
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- **test_max_tick_value**: Edge case with UINT32_MAX tick value
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## Key Changes Tested (PR #79444)
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### 1. Data Structure Change
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- **From**: MFIFO (Multi-producer FIFO)
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- **To**: Ordered linked list
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- **Impact**: Events now maintain order based on `ticks_at_expire` instead of simple FIFO
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### 2. Iterator Interface Change
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- **From**: `void *ull_prepare_dequeue_iter(uint8_t *idx)`
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- **To**: `void *ull_prepare_dequeue_iter(void **idx)`
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- **Impact**: More flexible iterator that can handle pointer-based traversal
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### 3. Ordered Insertion
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- Non-resume events are inserted in order based on `ticks_at_expire`
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- Resume events always placed at tail
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- Aborted events can be anywhere but don't affect ordering logic
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### 4. Simplified Logic
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- Eliminated O(n) loop for finding short prepare events
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- Cleaner preemption handling
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- More efficient event management
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## Correctness Invariants Verified
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### Ordering Invariants
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1. Non-resume events maintain ascending `ticks_at_expire` order
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2. Resume events always placed at tail of list
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3. Aborted events preserved but don't affect ordering
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### Iterator Contract
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1. Starting with `idx = NULL` begins at head
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2. Each call advances to next element
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3. `idx = NULL` return signals end of list
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4. Breaking when `!idx` is safe and correct
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### Memory Management
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1. Events properly allocated/deallocated
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2. No memory leaks in dequeue operations
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3. Graceful handling of pool exhaustion
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## Building and Running Tests
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### Build
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```bash
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west build -p auto -b native_sim tests/bluetooth/controller/ctrl_prepare_pipeline
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```
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### Run
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```bash
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west build -t run
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```
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### Run with Ztest Options
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```bash
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west build -t run -- -v # Verbose output
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```
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## Test Coverage Goals
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- **Target**: >90% coverage of prepare pipeline code paths
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- **Focus Areas**:
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- Core enqueue/dequeue operations
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- Ordering logic
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- Iterator functionality
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- Edge cases and error conditions
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- Platform-specific changes (Nordic and OpenISA)
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## Implementation Notes
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### Mock Requirements
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Tests use simple mock callbacks that return success. Real testing may require:
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- Mock ticker implementation
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- Mock radio hardware
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- Mock mayfly scheduler
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### Platform-Specific Tests
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While basic pipeline tests are platform-agnostic, full testing should include:
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- Nordic LLL tests (`lll_disable`, `lll_prepare_resolve`, `preempt`)
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- OpenISA LLL tests (similar functions)
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These are not included in the current test suite as they require platform-specific mocking infrastructure.
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### Test Limitations
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1. **No actual dequeue removal**: Current tests focus on enqueue and iteration. Full dequeue testing with `ull_prepare_dequeue(caller_id)` would require:
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- Mayfly scheduler mocking
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- Ticker system mocking
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- More complex setup
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2. **No concurrent access testing**: Tests are single-threaded. Real-world testing should verify:
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- Thread safety
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- Interrupt safety
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- Race conditions
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3. **No performance testing**: Tests verify correctness but not performance improvements claimed in PR #79444.
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## Future Enhancements
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1. Add platform-specific tests for Nordic and OpenISA
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2. Add memory leak detection tests
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3. Add performance benchmarks comparing MFIFO vs ordered list
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4. Add stress tests with rapid enqueue/dequeue cycles
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5. Add tests for actual radio event handling
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6. Add tests under CONFIG_BT_CTLR_LOW_LAT_ULL_DONE
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## References
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- **PR #79444**: [Bluetooth: Controller: Replace prepare pipeline with ordered list](https://github.com/zephyrproject-rtos/zephyr/pull/79444)
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- **Modified Files**:
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- `subsys/bluetooth/controller/ll_sw/lll.h`
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- `subsys/bluetooth/controller/ll_sw/ull.c`
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- `subsys/bluetooth/controller/ll_sw/nordic/lll/lll.c`
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- `subsys/bluetooth/controller/ll_sw/openisa/lll/lll.c`
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## Contributing
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When adding new tests:
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1. Follow existing test naming conventions
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2. Include clear documentation of what is being tested
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3. Add test to appropriate test module
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4. Update this README with new test descriptions
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5. Ensure tests are deterministic and don't depend on timing

‎tests/bluetooth/controller/ctrl_prepare_pipeline/prj.conf‎

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CONFIG_ZTEST=y
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CONFIG_ZTEST_NEW_API=y
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CONFIG_ASSERT=y
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CONFIG_ASSERT_LEVEL=2
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CONFIG_ASSERT_VERBOSE=y
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CONFIG_BT=y
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CONFIG_BT_HCI=y
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CONFIG_BT_LLL_VENDOR_NORDIC=y
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CONFIG_BT_CENTRAL=y
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CONFIG_BT_PERIPHERAL=y
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CONFIG_BT_BROADCASTER=y
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CONFIG_BT_OBSERVER=y
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CONFIG_BT_CTLR=y
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CONFIG_BT_CTLR_ASSERT_HANDLER=y
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CONFIG_BT_BUF_ACL_TX_SIZE=251
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CONFIG_BT_BUF_ACL_RX_SIZE=251
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CONFIG_BT_DATA_LEN_UPDATE=y
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CONFIG_BT_CTLR_DATA_LENGTH_MAX=251
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CONFIG_BT_PHY_UPDATE=y
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CONFIG_BT_CTLR_PHY_2M=y
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CONFIG_BT_CTLR_PHY_CODED=y

‎tests/bluetooth/controller/ctrl_prepare_pipeline/src/main.c‎

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/*
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* Copyright (c) 2024 Nordic Semiconductor ASA
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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/**
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* @file
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* @brief Comprehensive unit tests for ULL prepare pipeline (PR #79444)
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*
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* This test suite validates the ordered linked list implementation that
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* replaces the FIFO-based prepare pipeline in PR #79444.
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*
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* Key changes tested:
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* - Data structure change from MFIFO to ordered linked list
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* - Iterator interface change from uint8_t* to void**
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* - Ordered insertion based on ticks_at_expire
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* - Resume events always placed at tail
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*/
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#include <string.h>
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#include <zephyr/types.h>
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#include <zephyr/ztest.h>
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#include <zephyr/kernel.h>
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#include "util/util.h"
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#include "util/mem.h"
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#include "util/memq.h"
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#include "util/mayfly.h"
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#include "lll.h"
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#include "ull_internal.h"
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/* External test suite declarations */
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extern struct ztest_suite_node test_ull_prepare_basic_suite_node;
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extern struct ztest_suite_node test_ull_prepare_ordering_suite_node;
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extern struct ztest_suite_node test_ull_prepare_iterator_suite_node;
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extern struct ztest_suite_node test_ull_prepare_edge_cases_suite_node;
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void main(void)
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{
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ztest_run_all(NULL, false, 1, 1);
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}

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