Unit Test Strategy

Libraries
8

If anyone is interested, this is the contents of my “main_gtest.cpp” which is executed by the Google Test (one can use gdb to debug the executable in Linux):


#include "FreeRTOSConfig.h"
#include "FreeRTOS.h"
extern "C"
{
#include "task.h"
}
#include "gtest/gtest.h"
/**
 * Handle to the FreeRTOS scheduler thread id.
 */
static pthread_t m_freertos_thread_id;
static int m_result = 0;
static bool m_test_is_done = false;
/**
 * FreeRTOS task which runs all my unit tests.
 */
static void gtest_task(void *param)
{
    (void)param;
    // Run Google Test from here!
    m_result = RUN_ALL_TESTS();
    m_test_is_done = true;
    vTaskSuspend(nullptr);
}
/**
 * Creates the unit test FreeRTOS task.
 */
static void start_free_rtos()
{
    BaseType_t rtos_res = xTaskCreate(gtest_task,
                                      "gtest_task",
                                      TASK_STACK_SIZE_DEFAULT * 10U,
                                      nullptr,
                                      TASK_PRIO_DEFAULT,
                                      nullptr);
    if (rtos_res != pdPASS)
    {
        abort();
    }
}
/**
 * FreeRTOS scheduler thread.
 */
static void* free_rtos_thread(void* data)
{
    (void)data;

    // Make this thread cancellable
    pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, NULL);
    pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, NULL);
    // Start tests
    start_free_rtos();
    // Start FreeRTOS scheduler (it never returns)
    vTaskStartScheduler();
    return nullptr;
}

static void end_free_rtos()
{
    pthread_cancel(m_freertos_thread_id);
    pthread_join(m_freertos_thread_id, nullptr);
    // Note: A call to vTaskEndScheduler() never returns.
}

int main(int argc, char **argv)
{
    testing::InitGoogleTest(&argc, argv);
    // Create the FreeRTOS scheduler thread and wait until tests are done
    pthread_create(&m_freertos_thread_id, nullptr, &free_rtos_thread, nullptr);
    while (!m_test_is_done)
    {
        sleep(1);
    }
    end_free_rtos();
    return m_result;
}