feat: add lab-rv32i-freertos-static-task card

2026-07-21 19:14:20 +02:00
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+# K08 — DynamicTask, StaticTask, deletion and lifetime
+
+## Position
+
+- Series: FreeRTOS C++
+- Lesson: L07, card K08
+- Duration: 30 minutes
+- Real dynamic `heap_4` plus caller TCB/stack in `.bss`
+- Idle task itself and the verifier use static storage to isolate measurement
+
+## Outcome
+
+After 30 minutes the student can calculate stack words and bytes, prove dynamic
+heap cost versus zero-delta static creation, classify TCB/stack addresses, and
+explain why self-deletion and actual dynamic memory reclamation are separated by
+idle-task cleanup.
+
+## Lesson plan
+
+| Time | Mode | Evidence |
+| --- | --- | --- |
+| 0–5 | units/storage | predict 256 words, bytes and locations |
+| 5–10 | dynamic create | measure heap delta and classify TCB/stack |
+| 10–15 | static create | caller TCB/stack addresses; heap delta zero |
+| 15–20 | run/complete | identical result 500500; wrappers completed/null |
+| 20–25 | delete timing | heap still reduced immediately after self-delete |
+| 25–30 | idle cleanup | block verifier; recover exact dynamic delta/baseline |
+
+## Canonical timeline
+
+```text
+baseline
+ -> xTaskCreate(dynamic): heap - dynamic_cost
+ -> xTaskCreateStatic(static): no heap change
+ -> both run and complete
+ -> both call vTaskDelete(nullptr)
+ -> verifier runs before idle: dynamic storage still pending cleanup
+ -> verifier blocks
+ -> idle calls termination cleanup:
+      dynamic TCB/stack -> vPortFree
+      static TCB/stack  -> not freed (caller owned)
+ -> verifier wakes: heap == baseline
+```
+
+## Stable evidence
+
+| Evidence | Required relation |
+| --- | --- |
+| dynamic cost | baseline - after_dynamic > 0 |
+| static delta | after_static == after_dynamic |
+| verifier delta | static verifier creation also leaves heap unchanged |
+| dynamic addresses | TCB and stack base lie in `ucHeap` |
+| static addresses | observed TCB/stack equal caller storage and lie outside heap |
+| before idle | free equals post-create value, despite completed wrappers |
+| after idle | free=baseline; recovered bytes=dynamic cost |
+| units | 256 `StackType_t` words = 1024 B on RV32I |
+
+## Main traps
+
+1. `stack_depth` counts words, not bytes.
+2. `vTaskDelete(nullptr)` removes the current task from scheduling but dynamic
+   memory reclamation is deferred to idle.
+3. Static task deletion does not free caller storage; premature reuse is a
+   lifetime bug.
+4. A wrapper handle becoming null is not proof that idle cleanup already ran.
+5. Forced deletion does not run arbitrary C++ destructors on the victim stack.
+
+## Acceptance
+
+- host test proves both create APIs receive the same stable context and static
+  native handle equals caller TCB;
+- ABI proves static worker storage is `.bss` and no vtable/init runtime exists;
+- static create and verifier create have exactly zero heap delta;
+- dynamic cost is recovered only after the verifier lets idle run;
+- both results are 500500, states completed, handles null and final PASS is 1.
+
@@ -0,0 +1,344 @@
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+      \hspace*{0.54em}\textcolor{blue!70!black}{KW~LOCAL~KW~RTOS.LIFE}\textcolor{black!48}{\pdftooltip[width=\textwidth]{.02}{Wyjaśnia dwa momenty zakończenia i bezpieczny lifetime statycznego storage.}}\par%
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+\begin{document}
+\sloppy
+
+\vspace{1.0em}
+\noindent{\Large\bfseries Cel karty}\par
+\vspace{0.35em}
+Uczeń porównuje identyczne zachowanie taska tworzonego przez xTaskCreate i xTaskCreateStatic, przelicza stack words na bajty oraz mierzy moment odzyskania pamięci dynamicznej.
+
+\vspace{0.8em}
+\noindent\textcolor{black!25}{\rule{\textwidth}{0.35pt}}
+\vspace{0.7em}
+\noindent{\Large\bfseries Zakres karty}\par
+\vspace{0.35em}
+StaticTaskStorage pozostaje własnością callera. Self-delete kończy scheduling, lecz dynamiczny TCB i stack odzyskuje dopiero idle; wymuszone delete nie odwija ramek C++.
+
+\vspace{0.8em}
+\noindent\textcolor{black!25}{\rule{\textwidth}{0.35pt}}
+
+\clearpage
+
+\ESCSectionBlockStart
+\section{Jednostki i dwa źródła storage}
+\reversemarginpar
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+}[-3.1em]
+
+
+\begingroup
+\scriptsize\ttfamily\color{black!60}\sloppy
+\noindent drzewka: \pdftooltip[width=\textwidth]{D1}{K08.WE01.TECH.LOCAL.DBG.TASK.02 | WE 01: Storage taska i cleanup. Porównanie dynamicznej i\textCR statycznej polityki storage taska oraz pełnej osi życia delete. | EK LOCAL DBG.TASK.02:\textCR Mierzy heap delta i śledzi dynamiczne oraz statyczne adresy. | KW LOCAL DBG.TASK.02: Dowodzi\textCR 1136 B kosztu, 0 B static delta, 256 słów równego 1024 B i exact reclaim.}\par
+\vspace{0.10em}%
+\noindent K1: Przelicz 256 StackType\_t words na 1024 B.\quad D1\par
+\ESCTinyStepSeparator
+\noindent K2: Sklasyfikuj dynamiczne adresy w ucHeap i statyczne w .bss.\quad D1\par
+\par\vspace{0.18em}%
+\endgroup
+
+Oblicz stack bytes, a potem porównaj kernel-allocated TCB/stack z osobnym StaticTaskStorage w .bss.
+\ESCSectionBlockEnd
+
+\ESCSectionBlockStart
+\section{Dynamiczny koszt kontra static delta}
+\reversemarginpar
+\marginnote[%
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+}[-3.1em]
+
+
+\begingroup
+\scriptsize\ttfamily\color{black!60}\sloppy
+\noindent drzewka: \pdftooltip[width=\textwidth]{D1}{K08.WE01.TECH.LOCAL.DBG.TASK.02 | WE 01: Storage taska i cleanup. Porównanie dynamicznej i\textCR statycznej polityki storage taska oraz pełnej osi życia delete. | EK LOCAL DBG.TASK.02:\textCR Mierzy heap delta i śledzi dynamiczne oraz statyczne adresy. | KW LOCAL DBG.TASK.02: Dowodzi\textCR 1136 B kosztu, 0 B static delta, 256 słów równego 1024 B i exact reclaim.}\par
+\vspace{0.10em}%
+\noindent K1: Wyznacz dynamic cost 1136 B i static delta 0 B.\quad D1\par
+\ESCTinyStepSeparator
+\noindent K2: Potwierdź identyczny wynik workerów 500500.\quad D1\par
+\par\vspace{0.18em}%
+\endgroup
+
+Zmierz baseline, create dynamic i create static. Wyjaśnij TCB oraz narzut heap_4 ponad 1024 B stacka.
+\ESCSectionBlockEnd
+
+\ESCSectionBlockStart
+\section{Self-delete i cleanup przez idle}
+\reversemarginpar
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+}[-3.1em]
+
+
+\begingroup
+\scriptsize\ttfamily\color{black!60}\sloppy
+\noindent drzewka: \pdftooltip[width=\textwidth]{D1}{K08.WE01.OG.LOCAL.RTOS.LIFE.02 | WE 01: Storage taska i cleanup. Porównanie dynamicznej i\textCR statycznej polityki storage taska oraz pełnej osi życia delete. | EN LOCAL RTOS.LIFE.02:\textCR Analizuje completion, self-delete, idle cleanup i caller ownership. | KW LOCAL RTOS.LIFE.02:\textCR Wyjaśnia dwa momenty zakończenia i bezpieczny lifetime statycznego storage.}\par
+\vspace{0.10em}%
+\noindent K1: Rozdziel completion/null handle od memory reclaim.\quad D1\par
+\ESCTinyStepSeparator
+\noindent K2: Uzasadnij caller ownership i granicę destruktorów C++.\quad D1\par
+\par\vspace{0.18em}%
+\endgroup
+
+Porównaj free przed idle z baseline, pozwól idle wykonać cleanup i potwierdź exact recovery dynamicznego kosztu.
+\ESCSectionBlockEnd
+
+\end{document}
@@ -0,0 +1,225 @@
+\documentclass[10pt]{article}
+\usepackage[T1]{fontenc}\usepackage[utf8]{inputenc}\usepackage[polish]{babel}
+\usepackage[a4paper,margin=1.55cm]{geometry}
+\usepackage{array,tabularx,booktabs,amsmath,amssymb,xcolor,listings,hyperref,fancyhdr,lastpage,enumitem}
+\definecolor{accent}{HTML}{16324A}\definecolor{accentlight}{HTML}{EEF3F7}\definecolor{rulegray}{HTML}{D7DEE5}
+\hypersetup{colorlinks=true,linkcolor=accent,urlcolor=blue}
+\IfFileExists{build-meta.tex}{\input{build-meta.tex}}{\newcommand{\BuildCommit}{local}}
+\newcommand{\PublisherDomain}{mpabi}
+\newcommand{\CardArea}{inf}
+\newcommand{\CardSeries}{freertos-cpp}
+\newcommand{\CardNumber}{08}
+\newcommand{\CardCount}{16}
+\newcommand{\CardSlug}{static-task}
+\newcommand{\CardVersion}{v00.01}
+\newcommand{\DocumentUUID}{d9e45417-a37f-487c-813f-fc7a44d4b4f3}
+\newcommand{\blank}[1]{\rule{#1}{.2pt}}
+\lstset{language=C++,basicstyle=\ttfamily\scriptsize,columns=fullflexible,keepspaces=true,frame=single,breaklines=true,showstringspaces=false,numbers=none,backgroundcolor=\color{accentlight},rulecolor=\color{rulegray}}
+\pagestyle{fancy}\fancyhf{}
+\lhead{\textbf{K08 · FreeRTOS C++ · storage taska}}\rhead{\small L07 · dynamic/static i delete}
+\lfoot{\scriptsize commit \BuildCommit}\cfoot{\scriptsize \thepage/\pageref{LastPage}}\rfoot{\scriptsize V11.3.0 / \CardVersion}
+\setlength{\headheight}{14pt}\setlength{\footskip}{19pt}
+\setlist[itemize]{nosep,leftmargin=1.45em}\setlist[enumerate]{nosep,leftmargin=1.65em}
+\begin{document}\sloppy
+\begin{center}
+{\LARGE\bfseries \texttt{DynamicTask}, \texttt{StaticTask} i lifetime}\par
+\vspace{.25em}{\large delete logiczny teraz, reclaim dynamiczny przez idle}\par
+\end{center}
+\noindent\begin{tabularx}{\textwidth}{@{}p{1.65cm}Xp{1.55cm}X@{}}
+\toprule
+Karta & K08 / \CardCount & Czas & 30 minut \\
+Platforma & Hazard3 / RV32I & Język & freestanding C++17 \\
+Stack & 256 słów & Polityki & heap kontra caller storage \\
+Wersja & \CardVersion & UUID karty & \texttt{d9e45417-...} \\
+\bottomrule
+\end{tabularx}
+
+\section*{To samo zachowanie, dwa źródła TCB i stacka}
+\begin{center}
+\texttt{xTaskCreate -> TCB + stack from heap\_4}\\[.4em]
+\texttt{xTaskCreateStatic -> caller StaticTask\_t + StackType\_t[]}
+\end{center}
+
+Oba workery liczą 1..1000 i kończą wynikiem 500500. Różni je miejsce,
+właściciel oraz moment odzyskania pamięci.
+
+\noindent\fcolorbox{accent}{accentlight}{\begin{minipage}{.94\textwidth}
+\textbf{Kontrakt K08.} Null handle i stan completed oznaczają zakończenie
+wrappera, lecz nie dowodzą jeszcze zwolnienia dynamicznego TCB/stacka. To robi
+idle. Statyczne bufory nigdy nie stają się własnością kernela.
+\end{minipage}}
+
+\section*{Plan 30 minut}
+\noindent\begin{tabularx}{\textwidth}{@{}p{1.35cm}p{3.1cm}X@{}}
+\toprule
+Czas & Tryb & Dowód \\
+\midrule
+0--5 & jednostki & 256 słów, liczba bajtów i lokalizacje \\
+5--10 & dynamic & heap delta, TCB i stack w ucHeap \\
+10--15 & static & caller TCB/stack w .bss, heap delta 0 \\
+15--20 & wykonanie & oba wyniki 500500, completed/null \\
+20--25 & delete & dynamic heap nadal zmniejszony przed idle \\
+25--30 & cleanup & verifier blokuje; idle odzyskuje dokładny delta \\
+\bottomrule
+\end{tabularx}
+
+\section*{Predykcja}
+256 słów RV32I $\times$ \blank{1cm} B/słowo = \blank{2cm} B. Czy
+\texttt{vTaskDelete(nullptr)} samo natychmiast wywoła dwa free dynamicznego
+taska? \blank{3cm}
+
+\newpage
+\section{Słowa, bajty i właściciel storage}
+
+\noindent\begin{tabularx}{\textwidth}{@{}p{4.1cm}p{5.0cm}X@{}}
+\toprule
+Właściwość & DynamicTask & StaticTask \\
+\midrule
+API & \texttt{xTaskCreate} & \texttt{xTaskCreateStatic} \\
+TCB & przydziela kernel z heapu & caller przekazuje \texttt{StaticTask\_t} \\
+stack & kernel: depth w słowach & caller: \texttt{StackType\_t[N]} \\
+heap delta przy create & \blank{3cm} & \blank{3cm} \\
+adres TCB & \blank{3cm} & \blank{3cm} \\
+adres stack base & \blank{3cm} & \blank{3cm} \\
+właściciel po delete & idle odzyskuje dynamiczny & caller nadal posiada statyczny \\
+\bottomrule
+\end{tabularx}
+
+\section*{Oblicz przed kompilacją}
+\begin{align*}
+\text{stack bytes} &= \text{stack words}\times\texttt{sizeof(StackType\_t)}\\
+&=256\times\blank{1cm}=\blank{2cm}\ \text{B}
+\end{align*}
+
+Dynamiczny koszt będzie większy od samych stack bytes, bo obejmuje także TCB
+oraz narzut bloków allocatora. Predykcja kosztu: \blank{3cm} B. Pomiar:
+\blank{3cm} B. Różnica: \blank{3cm} B.
+
+\section{Caller-supplied storage musi naprawdę być osobne}
+
+\begin{lstlisting}
+StaticTaskStorage<256> worker_storage; // .bss
+StaticWorker worker{worker_storage};
+
+xTaskCreateStatic(entry, "static", 256, &worker, priority,
+                  worker_storage.stack, &worker_storage.tcb);
+\end{lstlisting}
+
+W ELF symbol \texttt{g\_static\_worker\_storage} ma typ sekcji
+\blank{2cm}. Odczyty muszą spełnić:
+
+\begin{center}
+\texttt{observed TCB == \&worker\_storage.tcb}\\
+\texttt{observed stack base == worker\_storage.stack}
+\end{center}
+
+\section*{Dlaczego storage jest oddzielone od handle?}
+Handle może zostać wyzerowany po completion. Bufor statyczny nadal istnieje i
+ma własny czas życia. Nie wolno go jednak ponownie użyć, dopóki usunięcie taska
+nie jest ustalone; sam „request stop” nie wystarcza.
+
+\newpage
+\section{Oś czasu delete i idle cleanup}
+
+\begin{center}
+\texttt{baseline}\\
+$\downarrow$ \texttt{xTaskCreate(dynamic): free -= cost}\\
+$\downarrow$ \texttt{xTaskCreateStatic(static): delta 0}\\
+$\downarrow$ \texttt{workers run -> completed -> handle=null -> self-delete}\\
+$\downarrow$ \texttt{verifier runs before idle: dynamic cost still absent}\\
+$\downarrow$ \texttt{verifier vTaskDelay(2): idle cleans termination list}\\
+$\downarrow$ \texttt{verifier wakes: free == baseline}
+\end{center}
+
+\noindent\begin{tabularx}{\textwidth}{@{}p{5.7cm}p{4cm}X@{}}
+\toprule
+Pomiar & Predykcja & Odczyt \\
+\midrule
+baseline free & \blank{3cm} & \blank{3cm} \\
+free po dynamic start & mniejsze & \blank{3cm} \\
+free po static start & bez zmiany & \blank{3cm} \\
+free po static verifier create & bez zmiany & \blank{3cm} \\
+free przed idle cleanup & nadal zmniejszone & \blank{3cm} \\
+free po idle cleanup & baseline & \blank{3cm} \\
+recovered by idle & dynamic cost & \blank{3cm} \\
+\bottomrule
+\end{tabularx}
+
+\section*{Co robi idle?}
+Self-delete nie może zwolnić własnego stosu, gdy kod nadal na nim wykonuje
+instrukcje. Kernel odkłada dynamiczny TCB na listę terminacji. Idle działa już
+na innym stosie i może bezpiecznie wywołać cleanup/free. Dla statycznego taska
+rozpoznaje caller-owned storage i go nie zwalnia.
+
+\section*{Dwa różne zdania o zakończeniu}
+\begin{enumerate}
+  \item \textbf{Logiczne}: task nie jest schedulowany, wrapper ma completed/null.
+  \item \textbf{Pamięciowe}: idle odzyskał dynamiczny TCB/stack; current free
+  wróciło o dokładny koszt.
+\end{enumerate}
+
+Czy verifier o priorytecie 1 może sprawdzić reclaim bez blokowania się?
+\blank{3cm}. Dlaczego? \blank{11cm}\\[1em]\blank{16cm}
+
+\section*{Granica destruktorów aplikacyjnych}
+Wymuszone usunięcie innego taska nie odwija automatycznie jego ramek C++.
+Workery K08 kończą member body normalnie, a dopiero trampoline self-delete.
+
+\newpage
+\section{Hazard3/GDB i zaliczenie}
+\begin{lstlisting}[language=bash]
+make check
+riscv64-unknown-elf-gdb build/task01_static_task/prog.elf
+b task_storage_debug_checkpoint
+\end{lstlisting}
+\begin{lstlisting}
+p g_heap_baseline
+p g_heap_after_dynamic_start
+p g_heap_after_static_start
+p g_heap_before_idle_cleanup
+p g_heap_after_idle_cleanup
+p/x g_dynamic_tcb
+p/x g_dynamic_stack_low
+p/x g_static_tcb
+p/x g_static_tcb_storage
+p/x g_static_stack_low
+p/x g_static_stack_storage
+p g_static_stack_words
+p g_static_stack_bytes
+p g_task_storage_pass
+\end{lstlisting}
+
+\noindent\begin{tabularx}{\textwidth}{@{}p{1cm}p{4.1cm}X@{}}
+\toprule
+STOP & Stan & Dowód \\
+\midrule
+1 & baseline & current free zapisane \\
+2 & dynamic created & heap spada; handle/TCB i stack w ucHeap \\
+3--4 & static created & caller addresses; heap bez zmiany \\
+5--8 & workers & oba wyniki 500500; completion/self-delete \\
+9 & before idle & handles null, lecz dynamic cost nadal zajęty \\
+10 & after idle & odzyskany dokładny cost; free=baseline \\
+11 & final & static storage zachowane; pass=1 \\
+\bottomrule
+\end{tabularx}
+
+\section*{Zaliczenie}
+\begin{itemize}
+  \item $\square$ przeliczam 256 słów na 1024 B;
+  \item $\square$ pokazuję dodatni dynamic cost i zerowy static delta;
+  \item $\square$ klasyfikuję dynamic addresses w heapie i static w .bss;
+  \item $\square$ rozróżniam completion/null od idle memory reclaim;
+  \item $\square$ pokazuję before-idle, after-idle i exact recovered cost;
+  \item $\square$ nie przypisuję kernelowi własności static storage.
+\end{itemize}
+
+\section*{Wyjście}
+Dlaczego self-delete nie może od razu zwolnić własnego stacka?\\[.5em]
+\blank{16cm}\\[1em]
+Kiedy wolno ponownie użyć statycznego TCB/stacka?\\[.5em]
+\blank{16cm}
+
+\vfill
+\noindent\textbf{Następna karta K09:} statyczna fasada schedulera,
+\texttt{this\_task}, critical section i guard zawieszenia z poprawnym restore.
+\end{document}