Create TactilityFreertos subproject (#440)

Tests/TactilityFreeRtos/ThreadTest.cpp

@@ -0,0 +1,99 @@
+#include "doctest.h"
+#include <Tactility/Thread.h>
+
+using namespace tt;
+
+TEST_CASE("when a thread is started then its callback should be called") {
+    bool has_called = false;
+    auto* thread = new Thread(
+        "immediate return task",
+        4096,
+        [&has_called]() {
+          has_called = true;
+          return 0;
+        }
+    );
+
+    CHECK(!has_called);
+    thread->start();
+    thread->join();
+    delete thread;
+    CHECK(has_called);
+}
+
+TEST_CASE("a thread can be started and stopped") {
+    bool interrupted = false;
+    auto* thread = new Thread(
+        "interruptable thread",
+        4096,
+        [&interrupted]() {
+            while (!interrupted) {
+                kernel::delayMillis(5);
+            }
+            return 0;
+        }
+    );
+
+    CHECK(thread);
+    thread->start();
+    interrupted = true;
+    thread->join();
+    delete thread;
+}
+
+TEST_CASE("thread id should only be set at when thread is started") {
+    bool interrupted = false;
+    auto* thread = new Thread(
+        "interruptable thread",
+        4096,
+        [&interrupted]() {
+          while (!interrupted) {
+              kernel::delayMillis(5);
+          }
+          return 0;
+        }
+    );
+    CHECK_EQ(thread->getTaskHandle(), nullptr);
+    thread->start();
+    CHECK_NE(thread->getTaskHandle(), nullptr);
+    interrupted = true;
+    thread->join();
+    CHECK_EQ(thread->getTaskHandle(), nullptr);
+    delete thread;
+}
+
+TEST_CASE("thread state should be correct") {
+    bool interrupted = false;
+    auto* thread = new Thread(
+        "interruptable thread",
+        4096,
+        [&interrupted]() {
+          while (!interrupted) {
+              kernel::delayMillis(5);
+          }
+          return 0;
+        }
+
+    );
+    CHECK_EQ(thread->getState(), Thread::State::Stopped);
+    thread->start();
+    Thread::State state = thread->getState();
+    CHECK((state == Thread::State::Starting || state == Thread::State::Running));
+    interrupted = true;
+    thread->join();
+    CHECK_EQ(thread->getState(), Thread::State::Stopped);
+    delete thread;
+}
+
+TEST_CASE("thread id should only be set at when thread is started") {
+    int code = 123;
+    auto* thread = new Thread(
+        "return code",
+        4096,
+        [&code]() { return code; }
+    );
+    thread->start();
+    thread->join();
+    CHECK_EQ(thread->getReturnCode(), code);
+    delete thread;
+}