adding freeRtos API from different project

components/freeRtosApi/test/test_task.cpp

@@ -0,0 +1,88 @@
+#include "test.hpp"
+
+#include <Task.hpp>
+#include <array>
+
+using namespace fos;
+
+TEST_CASE("Test Delay", "[freeRtos][task]") {
+    TickType_t start = xTaskGetTickCount();
+    Task::delayMs(5 * portTICK_PERIOD_MS);
+    TickType_t end = xTaskGetTickCount();
+    TEST_ASSERT_GREATER_OR_EQUAL(5, (end - start));
+    TEST_ASSERT_LESS_OR_EQUAL(6, (end - start));
+}
+
+static bool taskWasCalled = false;
+static void callableTask() {
+    taskWasCalled = true;
+    while (true) {
+        vTaskDelay(100);
+    }
+}
+
+TEST_CASE("Test creation and deletion", "[freeRtos][task]") {
+    static Task task(callableTask, "task1");
+    Task::delayMs(50);
+    TEST_ASSERT_TRUE(taskWasCalled);
+    task.kill();
+}
+
+static void callableTask2() {
+    taskWasCalled = true;
+    while (true) {
+        vTaskDelay(100);
+    }
+}
+
+TEST_CASE("Test if task can be killed", "[freeRtos][task]") {
+    static Task task(callableTask2, "task2");
+    auto handle = task.getHandle();
+    configASSERT(handle);
+    TEST_ASSERT_TRUE(eTaskState::eReady == task.getState() ||
+                     eTaskState::eBlocked == task.getState());
+    Task::delayMs(50);
+    TEST_ASSERT_TRUE(taskWasCalled);
+    task.kill();
+    TEST_ASSERT_EQUAL(eTaskState::eDeleted, eTaskGetState(handle));
+}
+
+static std::array<int, 2> values;
+
+static void oneOfMultiple(int idx) {
+    static std::array<int, 2> c{1, -1};
+
+    for (size_t i = 0; i < 10; i++) {
+        values.at(idx) += c.at(idx);
+    }
+
+    while (true) {
+        vTaskDelay(100);
+    }
+}
+
+TEST_CASE("Test if tasks do not interfere", "[freeRtos][task]") {
+    // Both tasks are run by starting the same static function body
+    int param1 = 0;
+    TaskT<int> task1(oneOfMultiple, param1, "pTask1");
+    int param2 = 1;
+    TaskT<int> task2(oneOfMultiple, param2, "pTask2");
+
+    Task::delayMs(50);
+
+    TEST_ASSERT_EQUAL(10, values[0]);
+    TEST_ASSERT_EQUAL(-10, values[1]);
+}
+
+TEST_CASE("Test if tasks can be joined correctly", "[freeRtos][task]") {
+    // Both tasks are run by starting the same static function body
+    int param1 = 0;
+    Task task1(oneOfMultiple, param1, "pTask1");
+    int param2 = 1;
+    TaskT<int> task2(oneOfMultiple, param2, "pTask2");
+
+    Task::delayMs(50);
+
+    TEST_ASSERT_EQUAL(10, values[0]);
+    TEST_ASSERT_EQUAL(-10, values[1]);
+}