From 8bba968d021a31f26d266dfb2e51453d19284532 Mon Sep 17 00:00:00 2001
From: Ulrich Mohr <mohr@irs.uni-stuttgart.de>
Date: Mon, 17 Nov 2025 22:41:04 +0100
Subject: [PATCH] panic-stubbing FreeRTOS calls for tests

---
 mission_rust/src/fsrc/osal/ffi.rs | 141 ++++++++++++++++++++++++++++++
 1 file changed, 141 insertions(+)

diff --git a/mission_rust/src/fsrc/osal/ffi.rs b/mission_rust/src/fsrc/osal/ffi.rs
index 3c54ef4..1182aa1 100644
--- a/mission_rust/src/fsrc/osal/ffi.rs
+++ b/mission_rust/src/fsrc/osal/ffi.rs
@@ -23,6 +23,9 @@ impl Sizes {
     pub const TASK_MINIMAL_STACK_SIZE: usize = 10240;
 }
 
+
+
+#[cfg(not(test))]
 extern "C" {
     ////////////////////////
     /// FreeRTOS API
@@ -101,6 +104,144 @@ extern "C" {
     //int hw_device_open(const char * path, size_t path_len);
     pub fn hw_device_open(path: *const core::ffi::c_char, path_len: core::ffi::c_size_t) -> core::ffi::c_int;
 }
+
+#[cfg(test)]
+pub use test_api::*;
+
+#[cfg(test)]
+mod test_api{
+    use core::ptr;
+
+    use super::*;
+
+    ////////////////////////
+    /// FreeRTOS API
+    /// shimmed in mission/freeRTOS_rust_helper.c
+    //void *create_task_static(TaskFunction_t taskFunction, void *parameter,
+    //  char *task_data, uint32_t task_data_len, char *stack, uint32_t stack_size)
+    pub fn freertos_create_task_static(
+        taskFunction: TaskFunction,
+        parameter: *const core::ffi::c_void,
+        priority: u32,
+        task_data: *mut core::ffi::c_char,
+        task_data_len: u32,
+        stack: *mut core::ffi::c_char,
+        stack_size: u32,
+    ) -> *const core::ffi::c_void{
+        panic!("freeRTOS APIs are not implemented for tests");
+        ptr::null()
+    }
+
+    // pub fn stop_it();
+
+    pub fn freertos_task_suspend(handle: *const core::ffi::c_void){
+        panic!("freeRTOS APIs are not implemented for tests");
+    }
+
+    pub fn freertos_task_delete(handle: *const core::ffi::c_void) -> !{
+        panic!("freeRTOS APIs are not implemented for tests");
+        loop{}
+    }
+
+    pub fn freertos_task_storage_set(
+        handle: *const core::ffi::c_void,
+        data: *const core::ffi::c_void,
+    ){
+        panic!("freeRTOS APIs are not implemented for tests");
+    }
+
+    pub fn freertos_task_storage_get(handle: *const core::ffi::c_void) -> *const core::ffi::c_void{
+        panic!("freeRTOS APIs are not implemented for tests");
+        ptr::null()
+    }
+
+    pub fn freertos_task_delay(milliseconds: u32){
+        panic!("freeRTOS APIs are not implemented for tests");
+    }
+
+    pub fn freertos_task_stack_watermark() -> u32{
+        panic!("freeRTOS APIs are not implemented for tests");
+        1
+    }
+
+    pub fn freertos_task_current() -> *const core::ffi::c_void{
+        panic!("freeRTOS APIs are not implemented for tests");
+        ptr::null()
+    }
+
+    // TODO this should be passed by compile time value
+    pub fn freertos_task_priority_max() -> u32{
+        panic!("freeRTOS APIs are not implemented for tests");
+        u32::MAX
+    }
+
+    //void *freertos_queue_create_static(uint32_t depth, uint32_t element_size,
+    //    char *queue_data, uint32_t queue_data_len,
+    //    uint8_t *queue, uint32_t queue_len) {
+    pub fn freertos_queue_create_static(
+        depth: u32,
+        element_size: u32,
+        queue_data: *mut core::ffi::c_char,
+        queue_data_len: u32,
+        queue: *mut u8,
+    ) -> *const core::ffi::c_void{
+        panic!("freeRTOS APIs are not implemented for tests");
+        ptr::null()
+    }
+
+    pub fn freertos_queue_receive(
+        queue: *const core::ffi::c_void,
+        message: *const core::ffi::c_void,
+    ) -> u8{
+        panic!("freeRTOS APIs are not implemented for tests");
+        1
+    }
+    pub fn freertos_queue_send(
+        queue: *const core::ffi::c_void,
+        message: *const core::ffi::c_void,
+    ) -> u8{
+        panic!("freeRTOS APIs are not implemented for tests");
+        1
+    }
+
+    pub fn freertos_mutex_create_static(
+        mutex_data: *const core::ffi::c_char,
+        mutex_data_len: u32,
+    ) -> *const core::ffi::c_void{
+        panic!("freeRTOS APIs are not implemented for tests");
+        ptr::null()
+    }
+
+    pub fn freertos_mutex_take(mutex: *const core::ffi::c_void) -> u8{
+        panic!("freeRTOS APIs are not implemented for tests");
+        1
+    }
+    pub fn freertos_mutex_give(mutex: *const core::ffi::c_void) -> u8{
+        panic!("freeRTOS APIs are not implemented for tests");
+        1
+    }
+
+    //uint8_t freertos_simple_once(uint8_t *once_data)
+    pub fn freertos_simple_once(once_data: *const u8) -> u8{
+        panic!("freeRTOS APIs are not implemented for tests");
+        1
+    }
+
+    //int freertos_get_sys_error()
+    pub fn freertos_get_sys_error() -> core::ffi::c_int{
+        panic!("freeRTOS APIs are not implemented for tests");
+        1
+    }
+
+    ////////////////////////
+    /// Harware Abstraction API in common/include/interfaces.h
+    /// Used for access to peripherals to make switching between linux and embedded easier
+    //int hw_device_open(const char * path, size_t path_len);
+    pub fn hw_device_open(path: *const core::ffi::c_char, path_len: core::ffi::c_size_t) -> core::ffi::c_int{
+        panic!("freeRTOS APIs are not implemented for tests");
+        1
+    }
+}
 ////////////////////////
 /// libc API (read/write/etc)
 #[cfg(target_env = "gnu")]