unittests running but failing

CMakeLists.txt

@@ -174,7 +174,7 @@ if(FSFW_BUILD_TESTS)
   configure_file(unittests/testcfg/FSFWConfig.h.in FSFWConfig.h)
   configure_file(unittests/testcfg/TestsConfig.h.in tests/TestsConfig.h)
 
-  if(FSFW_OSAL MATCHES "freertos") 
+  if(FSFW_OSAL MATCHES "freertos")
     message(
       STATUS
         "${MSG_PREFIX} Downloading FreeRTOS with FetchContent"
@@ -193,7 +193,6 @@ if(FSFW_BUILD_TESTS)
 
     set(LIB_OS_NAME FreeRTOS)
     target_include_directories(FreeRTOS PUBLIC unittests/testcfg/freertos)
-
   endif()
 
   project(${FSFW_TEST_TGT} CXX C)
@@ -385,6 +384,9 @@ if(FSFW_BUILD_TESTS)
   endif()
   target_link_libraries(${FSFW_TEST_TGT} PRIVATE Catch2::Catch2
                                                  ${LIB_FSFW_NAME})
+  if(FSFW_OSAL MATCHES "freertos")
+    target_link_libraries(${FSFW_TEST_TGT} PRIVATE FreeRTOS)
+  endif()
 endif()
 
 # The project CMakeLists file has to set the FSFW_CONFIG_PATH and add it. If

unittests/CatchRunner.cpp

@@ -11,15 +11,55 @@
 #define CATCH_CONFIG_COLOUR_WINDOWS
 
 #include <catch2/catch_session.hpp>
+#include <fsfw/osal/osal.h>
+
+#ifdef FSFW_OSAL_FREERTOS
+  #include <FreeRTOS.h>
+  #include "task.h"
+#endif
 
 extern int customSetup();
 extern int customTeardown();
 
+
+#ifdef FSFW_OSAL_FREERTOS
+struct Taskparameters {
+  int argc; char** argv;
+} taskParameters;
+
+void unittestTaskFunction( void *pvParameters ) {
+  puts("go");
+  Taskparameters* parameters = (Taskparameters*)pvParameters;
+  int result = Catch::Session().run(parameters->argc, parameters->argv);
+  puts("gone");
+  vTaskDelete( NULL );
+}
+#endif
+
+
 int main(int argc, char* argv[]) {
   customSetup();
 
+  int result = 0;
+
+  puts("pre");
+
+  #ifdef FSFW_OSAL_FREERTOS
+  puts("task");
+  xTaskCreate( unittestTaskFunction,                  /* The function that implements the task. */
+                    "Unittests",                            /* The text name assigned to the task - for debug only as it is not used by the kernel. */
+                    configMINIMAL_STACK_SIZE,        /* The size of the stack to allocate to the task. */
+                    &taskParameters,                            /* The parameter passed to the task - not used in this simple case. */
+                    1, /* The priority assigned to the task. */
+                    NULL );                          /* The task handle is not required, so NULL is passed. */
+  taskParameters.argc = argc;
+  taskParameters.argv = argv;
+  vTaskStartScheduler();
+  #else
+  puts("nom");
   // Catch internal function call
-  int result = Catch::Session().run(argc, argv);
+  result = Catch::Session().run(argc, argv);
+  #endif
 
   // global clean-up
   customTeardown();

unittests/CatchSetup.cpp

@@ -6,6 +6,8 @@
 #include <gcov.h>
 #endif
 
+
+
 #include "fsfw/objectmanager/ObjectManager.h"
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/storagemanager/StorageManagerIF.h"

unittests/osal/TestSemaphore.cpp

@@ -5,7 +5,7 @@
 #include <catch2/catch_test_macros.hpp>
 
 // binary semaphores currently only supported on linux
-#ifdef FSFW_OSAL_LINUX
+#if defined(FSFW_OSAL_LINUX) || defined(FSFW_OSAL_FREERTOS)
 
 TEST_CASE("Binary Semaphore Test", "[BinSemaphore]") {
   // perform set-up here

unittests/testcfg/freertos/FreeRTOSConfig.h

@@ -16,7 +16,7 @@
 #define configTASK_NOTIFICATION_ARRAY_ENTRIES   3
 #define configUSE_MUTEXES                       1
 #define configUSE_RECURSIVE_MUTEXES             0
-#define configUSE_COUNTING_SEMAPHORES           0
+#define configUSE_COUNTING_SEMAPHORES           1
 #define configUSE_ALTERNATIVE_API               0 /* Deprecated! */
 #define configQUEUE_REGISTRY_SIZE               10
 #define configUSE_QUEUE_SETS                    0