From f829d063cee5383abfdc9dc951a4f82cbea7d36f Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Fri, 29 May 2020 13:31:55 +0200
Subject: [PATCH] added task management functions

required for freeRTOS
---
 osal/FreeRTOS/TaskManagement.cpp | 23 ++++++++++++
 osal/FreeRTOS/TaskManagement.h   | 63 ++++++++++++++++++++++++++++++++
 2 files changed, 86 insertions(+)
 create mode 100644 osal/FreeRTOS/TaskManagement.cpp
 create mode 100644 osal/FreeRTOS/TaskManagement.h

diff --git a/osal/FreeRTOS/TaskManagement.cpp b/osal/FreeRTOS/TaskManagement.cpp
new file mode 100644
index 000000000..7871ab2ec
--- /dev/null
+++ b/osal/FreeRTOS/TaskManagement.cpp
@@ -0,0 +1,23 @@
+#include <framework/osal/FreeRTOS/TaskManagement.h>
+
+void TaskManagement::requestContextSwitchFromTask() {
+	vTaskDelay(0);
+}
+
+void TaskManagement::requestContextSwitch(
+		CallContext callContext = CallContext::TASK) {
+	if(callContext == CallContext::ISR) {
+		// This function depends on the partmacro.h definition for the specific device
+		requestContextSwitchFromISR();
+	} else {
+		requestContextSwitchFromTask();
+	}
+}
+
+TaskHandle_t TaskManagement::getCurrentTaskHandle() {
+	return xTaskGetCurrentTaskHandle();
+}
+
+configSTACK_DEPTH_TYPE TaskManagement::getTaskStackHighWatermark() {
+	return uxTaskGetStackHighWaterMark(TaskManagement::getCurrentTaskHandle());
+}
diff --git a/osal/FreeRTOS/TaskManagement.h b/osal/FreeRTOS/TaskManagement.h
new file mode 100644
index 000000000..39c24377b
--- /dev/null
+++ b/osal/FreeRTOS/TaskManagement.h
@@ -0,0 +1,63 @@
+#ifndef FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
+#define FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
+
+#include <framework/returnvalues/HasReturnvaluesIF.h>
+
+extern "C" {
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+}
+#include <cstdint>
+
+/**
+ * Architecture dependant portmacro.h function call.
+ * Should be implemented in bsp.
+ */
+extern "C" void requestContextSwitchFromISR();
+
+/*!
+ * Used by functions to tell if they are being called from
+ * within an ISR or from a regular task. This is required because FreeRTOS
+ * has different functions for handling semaphores and messages from within
+ * an ISR and task.
+ */
+enum class CallContext {
+	TASK = 0x00,//!< task_context
+	ISR = 0xFF  //!< isr_context
+};
+
+
+class TaskManagement {
+public:
+	/**
+	 * @brief	In this function, a function dependant on the portmacro.h header
+	 * 			function calls to request a context switch can be specified.
+	 * This can be used if sending to the queue from an ISR caused a task
+	 * to unblock and a context switch is required.
+	 */
+	static void requestContextSwitch(CallContext callContext);
+
+	/**
+	 * If task preemption in FreeRTOS is disabled, a context switch
+	 * can be requested manually by calling this function.
+	 */
+	static void requestContextSwitchFromTask(void);
+
+	/**
+	 * @return The current task handle
+	 */
+	static TaskHandle_t getCurrentTaskHandle();
+
+	/**
+	 * Get returns the minimum amount of remaining stack space in words
+	 * that was a available to the task since the task started executing.
+	 * Please note that the actual value in bytes depends
+	 * on the stack depth type.
+	 * E.g. on a 32 bit machine, a value of 200 means 800 bytes.
+	 * @return Smallest value of stack remaining since the task was started in
+	 * 		   words.
+	 */
+	static configSTACK_DEPTH_TYPE getTaskStackHighWatermark();
+};
+
+#endif /* FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_ */