Start test works

Os/Posix/CMakeLists.txt

@@ -54,3 +54,14 @@ register_fprime_module(Os_Task_Posix)
 register_fprime_implementation(Os/Task Os_Task_Posix "${CMAKE_CURRENT_LIST_DIR}/DefaultTask.cpp")
 
 #### Os/Task/Posix Unit Tests ####
+set(UT_SOURCE_FILES
+        "${CMAKE_CURRENT_LIST_DIR}/../test/ut/task/CommonTests.cpp"
+        "${CMAKE_CURRENT_LIST_DIR}/../test/ut/task/TaskRules.cpp"
+        "${CMAKE_CURRENT_LIST_DIR}/test/ut/PosixTaskTests.cpp"
+)
+set(UT_MOD_DEPS
+        Os
+        STest
+)
+choose_fprime_implementation(Os/Task Os_Task_Posix)
+register_fprime_ut(PosixTaskTest)

Os/Posix/test/ut/PosixTaskTests.cpp

@@ -0,0 +1,8 @@
+#include <gtest/gtest.h>
+#include "STest/Scenario/Scenario.hpp"
+
+int main(int argc, char** argv) {
+    STest::Random::seed();
+    ::testing::InitGoogleTest(&argc, argv);
+    return RUN_ALL_TESTS();
+}

Os/Task.hpp

@@ -25,7 +25,7 @@ namespace Os {
 
     class TaskInterface {
         public:
-            static const FwSizeType TASK_DEFAULT;
+        static constexpr FwSizeType TASK_DEFAULT = std::numeric_limits<FwSizeType>::max();
             enum Status {
                 OP_OK, //!< message sent/received okay
                 INVALID_HANDLE, //!< Task handle invalid
@@ -203,7 +203,6 @@ namespace Os {
     //! behaviour.
     class Task final : public TaskInterface {
       public:
-        static constexpr FwSizeType TASK_DEFAULT = std::numeric_limits<FwSizeType>::max();
         //! Wrapper for task routine that ensures `onStart()` is called once the task actually begins
         // TODO: does this belong here or in the parent class
         class TaskRoutineWrapper {

Os/test/ut/file/CommonTests.cpp

@@ -1,5 +1,5 @@
 // ======================================================================
-// \title Os/test/ut/file/CommonFileTests.cpp
+// \title Os/test/ut/file/CommonTests.cpp
 // \brief common test implementations
 // ======================================================================
 #include "Os/test/ut/file/CommonTests.hpp"

Os/test/ut/file/CommonTests.hpp

@@ -1,5 +1,5 @@
 // ======================================================================
-// \title Os/test/ut/file/CommonFileTests.hpp
+// \title Os/test/ut/file/CommonTests.hpp
 // \brief definitions used in common file testing
 // ======================================================================
 #include <Os/File.hpp>

Os/test/ut/task/CommonTests.cpp

@@ -0,0 +1,29 @@
+// ======================================================================
+// \title Os/test/ut/task/CommonTests.cpp
+// \brief common test implementations
+// ======================================================================
+#include <gtest/gtest.h>
+#include "Os/Task.hpp"
+#include "Os/test/ut/task/RulesHeaders.hpp"
+
+namespace Os {
+namespace Test {
+namespace Task {
+    void run_test(void *argument) {
+        RunNotification &run_notification = *reinterpret_cast<RunNotification *>(argument);
+        run_notification.m_lock.lock();
+        run_notification.m_notification = true;
+        run_notification.m_lock.unlock();
+    }
+}
+}
+}
+
+// Ensure that open mode changes work reliably
+TEST(Functionality, StartTask) {
+    Os::Test::Task::Tester tester;
+    Os::Test::Task::Tester::Start rule;
+    rule.apply(tester);
+}
+
+

Os/test/ut/task/RulesHeaders.hpp

@@ -3,11 +3,10 @@
 #ifndef __RULES_HEADERS__
 #define __RULES_HEADERS__
 
-#include "STest/STest/Rule/Rule.hpp"
+#include "STest/Rule/Rule.hpp"
 #include "STest/Scenario/BoundedScenario.hpp"
 #include "STest/Scenario/RandomScenario.hpp"
 #include "STest/Scenario/Scenario.hpp"
-#include "TaskRules.hpp"
 #include "Os/Task.hpp"
 #include "Os/Mutex.hpp"
 
@@ -20,24 +19,15 @@ struct RunNotification {
     bool m_notification = false;
 };
 
-void run_test(void* argument) {
-    RunNotification& run_notification = *reinterpret_cast<RunNotification*>(argument);
-    run_notification.m_lock.lock();
-    run_notification.m_notification = true;
-    run_notification.m_lock.unlock();
-}
-
+void run_test(void* argument);
 
 struct Tester {
-    Tester() : m_arguments("MyTask", &run_test, &m_notification) {}
-
   private:
-    Os::Task::Arguments m_arguments;
     Os::Task::State m_state = Os::Task::State::NOT_STARTED;
     Os::Task m_task;
     RunNotification m_notification;
 
-
+  public:
 #include "TaskRules.hpp"
 };
 

Os/test/ut/task/TaskRules.cpp

@@ -23,10 +23,24 @@ bool Os::Test::Task::Tester::Start::precondition(
 void Os::Test::Task::Tester::Start::action(
         Os::Test::Task::Tester &state //!< The test state
 ) {
-    printf("--> Rule: %s \n", this->name);
-    state.m_task.start(state.m_arguments);
-    do {
+    printf("--> Rule: Start \n");
+    TaskString name("StartRuleTask");
+    Os::Task::Arguments arguments(name, &run_test, &state.m_notification);
+    state.m_task.start(arguments);
+
+    bool done = false;
+    FwSizeType i = 0;
+    for (i = 0; i < 100 and not done; i++) {
+        Os::Task::delay(Fw::Time(0, 1000));
+        state.m_notification.m_lock.lock();
+        done = state.m_notification.m_notification;
+        state.m_notification.m_lock.unlock();
+
+        if (state.m_task.isCooperative()) {
+            // TODO: run
+        }
+    }
+    ASSERT_LT(i, 100) << "Task did not run within 100ms";
 
-    } while ();
 }