GTest main for FreeRTOS

gtest_freertos_main.cpp

#include "FreeRTOS.h"

extern "C" {
#include "task.h" 
}

#include <atomic>
#include <cstdint>
#include <gtest/gtest.h>

constexpr uint16_t MAX_STACK_DEPTH = UINT16_MAX;

static pthread_t m_freertos_thread_id;
static int m_result = 0;
static std::atomic_bool m_test_is_done(false);

static void gtest_task(void *param) {
  (void) param;
  m_result = RUN_ALL_TESTS();
  m_test_is_done = true;
  vTaskSuspend(nullptr);
}

static void start_free_rtos() {
  BaseType_t rtos_res = xTaskCreate(gtest_task, "gtest_task", MAX_STACK_DEPTH, nullptr, 0, nullptr);
  if (rtos_res != pdPASS) {
    abort();
  }
}

static void *free_rtos_thread(void *data) {
  (void) data;
  
  pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, NULL);
  pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, NULL);
  
  start_free_rtos();
  
  vTaskStartScheduler();
  return nullptr;
}

static void end_free_rtos() {
  pthread_cancel(m_freertos_thread_id);
  pthread_join(m_freertos_thread_id, nullptr);  
}

int main(int argc, char **argv) {
  testing::InitGoogleTest(&argc, argv);
  
  sigset_t set;
  sigfillset(&set);
  pthread_sigmask(SIG_SETMASK, &set, NULL);
  
  pthread_create(&m_freertos_thread_id, nullptr, &free_rtos_thread, nullptr);
  
  while(!m_test_is_done) {
    usleep(10 * 1000);
  }
  
  end_free_rtos();
  
  return m_result;  
}