TactilityKernel improvements (#464)

* **New Features** * Thread API with lifecycle, priority, affinity and state monitoring * Timer subsystem: one-shot/periodic timers, reset, pending callbacks, expiry queries * Expanded I²C: register-level ops, bulk writes, presence checks, ESP32 integration and new config properties * GPIO controller: pin level and options APIs * Error utilities: new error code, error-to-string, timeout helper and common macros * Device construction helpers (construct+start) * **Tests** * New unit tests for thread and timer behavior * **Documentation** * Expanded coding style guide (files/folders, C conventions)
2026-01-28 23:58:11 +01:00
parent f6ddb14ec1
commit 71f8369377
36 changed files with 1771 additions and 339 deletions
@@ -0,0 +1,112 @@
+#include "doctest.h"
+
+#include <tactility/delay.h>
+#include <tactility/concurrent/thread.h>
+
+TEST_CASE("when a thread is started then its callback should be called") {
+    bool has_called = false;
+    auto* thread = thread_alloc_full(
+        "immediate return task",
+        4096,
+        [](void* context) {
+            auto* has_called_ptr = static_cast<bool*>(context);
+            *has_called_ptr = true;
+            return 0;
+        },
+        &has_called,
+        -1
+    );
+
+    CHECK(!has_called);
+    CHECK_EQ(thread_start(thread), ERROR_NONE);
+    CHECK_EQ(thread_join(thread, 2, 1), ERROR_NONE);
+    thread_free(thread);
+    CHECK(has_called);
+}
+
+TEST_CASE("a thread can be started and stopped") {
+    bool interrupted = false;
+    auto* thread = thread_alloc_full(
+        "interruptable thread",
+        4096,
+        [](void* context) {
+            auto* interrupted_ptr = static_cast<bool*>(context);
+            while (!*interrupted_ptr) {
+                delay_millis(1);
+            }
+            return 0;
+        },
+        &interrupted,
+        -1
+    );
+
+    CHECK(thread);
+    CHECK_EQ(thread_start(thread), ERROR_NONE);
+    interrupted = true;
+    CHECK_EQ(thread_join(thread, 2, 1), ERROR_NONE);
+    thread_free(thread);
+}
+
+TEST_CASE("thread id should only be set at when thread is started") {
+    bool interrupted = false;
+    auto* thread = thread_alloc_full(
+        "interruptable thread",
+        4096,
+        [](void* context) {
+          auto* interrupted_ptr = static_cast<bool*>(context);
+          while (!*interrupted_ptr) {
+              delay_millis(1);
+          }
+          return 0;
+        },
+        &interrupted,
+        -1
+    );
+    CHECK_EQ(thread_get_task_handle(thread), nullptr);
+    CHECK_EQ(thread_start(thread), ERROR_NONE);
+    CHECK_NE(thread_get_task_handle(thread), nullptr);
+    interrupted = true;
+    CHECK_EQ(thread_join(thread, 2, 1), ERROR_NONE);
+    CHECK_EQ(thread_get_task_handle(thread), nullptr);
+    thread_free(thread);
+}
+
+TEST_CASE("thread state should be correct") {
+    bool interrupted = false;
+    auto* thread = thread_alloc_full(
+        "interruptable thread",
+        4096,
+        [](void* context) {
+          auto* interrupted_ptr = static_cast<bool*>(context);
+          while (!*interrupted_ptr) {
+              delay_millis(1);
+          }
+          return 0;
+        },
+        &interrupted,
+        -1
+
+    );
+    CHECK_EQ(thread_get_state(thread), THREAD_STATE_STOPPED);
+    thread_start(thread);
+    auto state = thread_get_state(thread);
+    CHECK((state == THREAD_STATE_STARTING || state == THREAD_STATE_RUNNING));
+    interrupted = true;
+    CHECK_EQ(thread_join(thread, 10, 1), ERROR_NONE);
+    CHECK_EQ(thread_get_state(thread), THREAD_STATE_STOPPED);
+    thread_free(thread);
+}
+
+TEST_CASE("thread id should only be set at when thread is started") {
+    auto* thread = thread_alloc_full(
+        "return code",
+        4096,
+        [](void* context) { return 123; },
+        nullptr,
+        -1
+    );
+    CHECK_EQ(thread_start(thread), ERROR_NONE);
+    CHECK_EQ(thread_join(thread, 1, 1), ERROR_NONE);
+    CHECK_EQ(thread_get_return_code(thread), 123);
+    thread_free(thread);
+}