text: #include <stdio.h>
  #include <stdlib.h>
  #include <assert.h>
  
  #include "test/test.h"
  #include "greatest/greatest.h"
  
  SUITE(suit_robin);
  
  static const k_timeslice_t test_robin_timeslice_00 = 10;
  static const k_timeslice_t test_robin_timeslice_01 = 20;
  
  static uint64_t test_robin_counter_00 = 1;
  static uint64_t test_robin_counter_01 = 1;
  
  static void test_robin_task_00_entry(void *arg)
  {
      while (K_TRUE) {
          ++test_robin_counter_00;
      }
  }
  
  static void test_robin_task_01_entry(void *arg)
  {
      while (K_TRUE) {
          ++test_robin_counter_01;
      }
  }
  
  TEST test_robin(void)
  {
      k_err_t err;
      double r_c, r_t;
      int test_count = 0;
      const double deviation = 0.1;
  
      tos_robin_config(TOS_ROBIN_STATE_ENABLED, (k_timeslice_t)500u);
      err = tos_task_create(&test_task_00, "test_task_00", test_robin_task_00_entry,
                              NULL, k_curr_task->prio + 1,
                              test_task_stack_00, sizeof(test_task_stack_00),
                              test_robin_timeslice_00);
      ASSERT_EQ(err, K_ERR_NONE);
  
      err = tos_task_create(&test_task_01, "test_task_01", test_robin_task_01_entry,
                              NULL, k_curr_task->prio + 1,
                              test_task_stack_01, sizeof(test_task_stack_01),
                              test_robin_timeslice_01);
      ASSERT_EQ(err, K_ERR_NONE);
  
      r_t = test_robin_timeslice_01 / test_robin_timeslice_00;
      while (test_count++ < 5) {
          tos_task_delay(1000);
          r_c = (double)test_robin_counter_01 / test_robin_counter_00;
          if (r_t > r_c) {
              ASSERT(r_t - r_c <= deviation);
          } else {
              ASSERT(r_c - r_t <= deviation);
          }
      }
  
      err = tos_task_destroy(&test_task_00);
      ASSERT_EQ(err, K_ERR_NONE);
  
      err = tos_task_destroy(&test_task_01);
      ASSERT_EQ(err, K_ERR_NONE);
  
      PASS();
  }
  
  SUITE(suit_robin)
  {
      RUN_TEST(test_robin);
  }
  
  