feat: adding suspend, resume, delay & fixing 'create_static'

#68

Test needs a little more work, and haven't run it on device yet

src/estd/port/freertos/wrapper/task.h

@@ -70,6 +70,21 @@ class task
         return pcTaskGetName(t);
     }
 
+    void delay(const TickType_t xTicksToDelay) const
+    {
+        vTaskDelay(xTicksToDelay);
+    }
+
+    void resume() const
+    {
+        vTaskResume(t);
+    }
+
+    void suspend() const
+    {
+        vTaskSuspend(t);
+    }
+
 #if configUSE_APPLICATION_TASK_TAG 
     TaskHookFunction_t tag() const
     {
@@ -120,15 +135,21 @@ class task
 #endif
 
 #if configSUPPORT_STATIC_ALLOCATION
-    BaseType_t create_static(TaskFunction_t pvTaskCode,
-        const char * const pcName,
+    using static_type = StaticTask_t;
+
+    static task create_static(TaskFunction_t pvTaskCode,
+        const char* const pcName,
         const configSTACK_DEPTH_TYPE uxStackDepth,
-        void *pvParameters,
+        void* pvParameters,
         UBaseType_t uxPriority,
         StackType_t* const puxStackBuffer,
-        StaticTask_t* const pxTaskBuffer)
+        static_type* const pxTaskBuffer)
     {
-        return xTaskCreate(pvTaskCode, pcName, uxStackDepth, pvParameters, uxPriority, &t);
+        return task(xTaskCreateStatic(pvTaskCode,
+            pcName, uxStackDepth,
+            pvParameters, uxPriority,
+            puxStackBuffer,
+            pxTaskBuffer));
     }
 #endif
 

test/unity/freertos.cpp

@@ -6,10 +6,30 @@
 
 #include <estd/port/freertos/wrapper/task.h>
 
+using namespace estd::freertos::wrapper;
+
+static void test_task1(void* p)
+{
+
+}
+
+static void test_static_task_wrapper()
+{
+    // DEBT: Do a malloc for these in SPIRAM for ESP32
+    static task::static_type storage;
+    static unsigned char stack[2048];
+
+    task t = task::create_static(test_task1, "unity:freertos1",
+        sizeof stack / 4, nullptr, 3, stack, &storage);
+
+    t.suspend();
+    t.resume();
+}
+
 #ifdef ESP_IDF_TESTING
 TEST_CASE("freertos tests", "[freertos]")
 {
-
+    RUN_TEST(test_static_task_wrapper);
 }
 #endif
 

test/unity/thread.cpp

@@ -324,6 +324,7 @@ static void test_event_groups()
 
 }
 
+// DEBT: Move some of this out to 'freertos.cpp' test area
 static void test_freertos()
 {
     freertos::sync_sem.create_binary();