FreeRTOS unittests building (but not running)

CMakeLists.txt

@@ -181,16 +181,19 @@ if(FSFW_BUILD_TESTS)
     )
     include(FetchContent)
 
+    set(FreeRTOS_PORT posix)
+
     FetchContent_Declare(
       FreeRTOS
       GIT_REPOSITORY https://egit.irs.uni-stuttgart.de/fsfw/FreeRTOS-LTS
       GIT_TAG develop
       GIT_SUBMODULES FreeRTOS/FreeRTOS-Kernel)
 
-    list(APPEND FSFW_FETCH_CONTENT_TARGETS FreeRTOS)
+    FetchContent_MakeAvailable(FreeRTOS)
 
     set(LIB_OS_NAME FreeRTOS)
-    target_include_directories(FreeRTOS PRIVATE unittests/FreeRTOS-Config)
+    target_include_directories(FreeRTOS PUBLIC unittests/testcfg/freertos)
+
   endif()
 
   project(${FSFW_TEST_TGT} CXX C)

src/fsfw/osal/freertos/BinSemaphUsingTask.h

@@ -40,7 +40,7 @@ class BinarySemaphoreUsingTask : public SemaphoreIF {
   void refreshTaskHandle();
 
   ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
-                        uint32_t timeoutMs = portMAX_DELAY) override;
+                        uint32_t timeoutMs = 0) override;
   ReturnValue_t release() override;
   uint8_t getSemaphoreCounter() const override;
   static uint8_t getSemaphoreCounter(TaskHandle_t taskHandle);
@@ -54,7 +54,7 @@ class BinarySemaphoreUsingTask : public SemaphoreIF {
    *         - @c returnvalue::FAILED on failure
    */
   ReturnValue_t acquireWithTickTimeout(TimeoutType timeoutType = TimeoutType::BLOCKING,
-                                       TickType_t timeoutTicks = portMAX_DELAY);
+                                        TickType_t timeoutTicks = portMAX_DELAY);
 
   /**
    * Get handle to the task related to the semaphore.

src/fsfw/osal/freertos/BinarySemaphore.h

@@ -51,7 +51,7 @@ class BinarySemaphore : public SemaphoreIF {
    *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
    */
   ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
-                        uint32_t timeoutMs = portMAX_DELAY) override;
+                        uint32_t timeoutMs = 0) override;
 
   /**
    * Same as lockBinarySemaphore() with timeout in FreeRTOS ticks.

src/fsfw/osal/freertos/CountingSemaphUsingTask.h

@@ -34,7 +34,7 @@ class CountingSemaphoreUsingTask : public SemaphoreIF {
    *         -@c SemaphoreIF::SEMAPHORE_TIMEOUT on timeout
    */
   ReturnValue_t acquire(TimeoutType timeoutType = TimeoutType::BLOCKING,
-                        uint32_t timeoutMs = portMAX_DELAY) override;
+                        uint32_t timeoutMs = 0) override;
 
   /**
    * Release a semaphore, increasing the number of available counting

src/fsfw/osal/freertos/FixedTimeslotTask.cpp

@@ -56,7 +56,9 @@ ReturnValue_t FixedTimeslotTask::startTask() {
   // start time for the first entry.
   auto slotListIter = pollingSeqTable.current;
 
-  pollingSeqTable.intializeSequenceAfterTaskCreation();
+  ReturnValue_t result = pollingSeqTable.intializeSequenceAfterTaskCreation();
+  // Ignore returnvalue for now
+  static_cast<void>(result);
 
   // The start time for the first entry is read.
   uint32_t intervalMs = slotListIter->pollingTimeMs;

src/fsfw/osal/freertos/Mutex.cpp

@@ -22,7 +22,7 @@ ReturnValue_t Mutex::lockMutex(TimeoutType timeoutType, uint32_t timeoutMs) {
     return MutexIF::MUTEX_NOT_FOUND;
   }
   // If the timeout type is BLOCKING, this will be the correct value.
-  uint32_t timeout = portMAX_DELAY;
+  TickType_t timeout = portMAX_DELAY;
   if (timeoutType == TimeoutType::POLLING) {
     timeout = 0;
   } else if (timeoutType == TimeoutType::WAITING) {

src/fsfw/osal/freertos/TaskManagement.cpp

@@ -3,16 +3,16 @@
 void TaskManagement::vRequestContextSwitchFromTask() { vTaskDelay(0); }
 
 void TaskManagement::requestContextSwitch(CallContext callContext = CallContext::TASK) {
-  if (callContext == CallContext::ISR) {
+//   if (callContext == CallContext::ISR) {
-    // This function depends on the partmacro.h definition for the specific device
+//     // This function depends on the partmacro.h definition for the specific device
-    vRequestContextSwitchFromISR();
+//     vRequestContextSwitchFromISR();
-  } else {
+//   } else {
     vRequestContextSwitchFromTask();
-  }
+//   }
 }
 
 TaskHandle_t TaskManagement::getCurrentTaskHandle() { return xTaskGetCurrentTaskHandle(); }
 
-size_t TaskManagement::getTaskStackHighWatermark(TaskHandle_t task) {
+// size_t TaskManagement::getTaskStackHighWatermark(TaskHandle_t task) {
-  return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t);
+//   return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t);
-}
+// }

src/fsfw/osal/freertos/TaskManagement.h

@@ -11,7 +11,7 @@
  * Architecture dependant portmacro.h function call.
  * Should be implemented in bsp.
  */
-extern "C" void vRequestContextSwitchFromISR();
+//extern "C" void vRequestContextSwitchFromISR();
 
 /*!
  * Used by functions to tell if they are being called from
@@ -53,7 +53,7 @@ TaskHandle_t getCurrentTaskHandle();
  * @return Smallest value of stack remaining since the task was started in
  * 		   words.
  */
-size_t getTaskStackHighWatermark(TaskHandle_t task = nullptr);
+//size_t getTaskStackHighWatermark(TaskHandle_t task = nullptr);
 
 };  // namespace TaskManagement
 

unittests/testcfg/freertos/FreeRTOSConfig.h

@@ -0,0 +1,104 @@
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+
+#define configUSE_PREEMPTION                    1
+#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
+#define configUSE_TICKLESS_IDLE                 0
+#define configCPU_CLOCK_HZ                      60000000
+#define configSYSTICK_CLOCK_HZ                  1000000
+#define configTICK_RATE_HZ                      250
+#define configMAX_PRIORITIES                    5
+#define configMINIMAL_STACK_SIZE                128
+#define configMAX_TASK_NAME_LEN                 16
+#define configUSE_16_BIT_TICKS                  0
+#define configIDLE_SHOULD_YIELD                 1
+#define configUSE_TASK_NOTIFICATIONS            1
+#define configTASK_NOTIFICATION_ARRAY_ENTRIES   3
+#define configUSE_MUTEXES                       1
+#define configUSE_RECURSIVE_MUTEXES             0
+#define configUSE_COUNTING_SEMAPHORES           0
+#define configUSE_ALTERNATIVE_API               0 /* Deprecated! */
+#define configQUEUE_REGISTRY_SIZE               10
+#define configUSE_QUEUE_SETS                    0
+#define configUSE_TIME_SLICING                  0
+#define configUSE_NEWLIB_REENTRANT              0
+#define configENABLE_BACKWARD_COMPATIBILITY     1
+#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5
+#define configUSE_MINI_LIST_ITEM                1
+#define configSTACK_DEPTH_TYPE                  uint16_t
+#define configMESSAGE_BUFFER_LENGTH_TYPE        size_t
+#define configHEAP_CLEAR_MEMORY_ON_FREE         1
+
+/* Memory allocation related definitions. */
+#define configSUPPORT_STATIC_ALLOCATION             0
+#define configSUPPORT_DYNAMIC_ALLOCATION            1
+#define configTOTAL_HEAP_SIZE                       10240
+#define configAPPLICATION_ALLOCATED_HEAP            1
+#define configSTACK_ALLOCATION_FROM_SEPARATE_HEAP   0
+
+/* Hook function related definitions. */
+#define configUSE_IDLE_HOOK                     0
+#define configUSE_TICK_HOOK                     0
+#define configCHECK_FOR_STACK_OVERFLOW          0
+#define configUSE_MALLOC_FAILED_HOOK            0
+#define configUSE_DAEMON_TASK_STARTUP_HOOK      0
+#define configUSE_SB_COMPLETED_CALLBACK         0
+
+/* Run time and task stats gathering related definitions. */
+#define configGENERATE_RUN_TIME_STATS           0
+#define configUSE_TRACE_FACILITY                0
+#define configUSE_STATS_FORMATTING_FUNCTIONS    0
+
+/* Co-routine related definitions. */
+#define configUSE_CO_ROUTINES                   0
+#define configMAX_CO_ROUTINE_PRIORITIES         1
+
+/* Software timer related definitions. */
+#define configUSE_TIMERS                        1
+#define configTIMER_TASK_PRIORITY               3
+#define configTIMER_QUEUE_LENGTH                10
+#define configTIMER_TASK_STACK_DEPTH            configMINIMAL_STACK_SIZE
+
+/* Interrupt nesting behaviour configuration. */
+#define configKERNEL_INTERRUPT_PRIORITY         [dependent of processor]
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY    [dependent on processor and application]
+#define configMAX_API_CALL_INTERRUPT_PRIORITY   [dependent on processor and application]
+
+/* Define to trap errors during development. */
+//#define configASSERT( ( x ) ) if( ( x ) == 0 ) vAssertCalled( __FILE__, __LINE__ )
+
+/* FreeRTOS MPU specific definitions. */
+#define configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS 0
+#define configTOTAL_MPU_REGIONS                                8 /* Default value. */
+#define configTEX_S_C_B_FLASH                                  0x07UL /* Default value. */
+#define configTEX_S_C_B_SRAM                                   0x07UL /* Default value. */
+#define configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY            1
+#define configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS             1
+#define configENABLE_ERRATA_837070_WORKAROUND   1
+
+/* ARMv8-M secure side port related definitions. */
+#define secureconfigMAX_SECURE_CONTEXTS         5
+
+/* Optional functions - most linkers will remove unused functions anyway. */
+#define INCLUDE_vTaskPrioritySet                1
+#define INCLUDE_uxTaskPriorityGet               1
+#define INCLUDE_vTaskDelete                     1
+#define INCLUDE_vTaskSuspend                    1
+#define INCLUDE_xResumeFromISR                  1
+#define INCLUDE_vTaskDelayUntil                 1
+#define INCLUDE_vTaskDelay                      1
+#define INCLUDE_xTaskGetSchedulerState          1
+#define INCLUDE_xTaskGetCurrentTaskHandle       1
+#define INCLUDE_uxTaskGetStackHighWaterMark     0
+#define INCLUDE_uxTaskGetStackHighWaterMark2    0
+#define INCLUDE_xTaskGetIdleTaskHandle          0
+#define INCLUDE_eTaskGetState                   0
+#define INCLUDE_xEventGroupSetBitFromISR        1
+#define INCLUDE_xTimerPendFunctionCall          0
+#define INCLUDE_xTaskAbortDelay                 0
+#define INCLUDE_xTaskGetHandle                  0
+#define INCLUDE_xTaskResumeFromISR              1
+
+/* A header file that defines trace macro can be included here. */
+
+#endif /* FREERTOS_CONFIG_H */