Adding isCooperative method - WIP

Os/Posix/Task.cpp

@@ -279,4 +279,12 @@ namespace Os {
         }
         return status;
     }
+
+    bool PosixTask::isCooperative() {
+        return false;
+    }
+
+    TaskHandle* PosixTask::getHandle() {
+        return &this->m_handle;
+    }
 }

Os/Posix/Task.hpp

@@ -78,6 +78,12 @@ namespace Os {
         //!
         void resume() override;
 
+        //! \brief determine that the task is not cooperative
+        //!
+        //! Posix tasks are not cooperative and as-such the function returns false
+        //! \return false
+        bool isCooperative() override;
+
         //! \brief return the underlying task handle (implementation specific)
         //! \return internal task handle representation
         TaskHandle* getHandle() override;

Os/Task.cpp

@@ -121,6 +121,11 @@ void Task::resume() {
     this->m_delegate.resume();
 }
 
+bool Task::isCooperative() {
+    FW_ASSERT(&this->m_delegate == reinterpret_cast<TaskInterface*>(&this->m_handle_storage[0]));
+    return this->m_delegate.isCooperative();
+}
+
 TaskHandle* Task::getHandle() {
     FW_ASSERT(&this->m_delegate == reinterpret_cast<TaskInterface*>(&this->m_handle_storage[0]));
     return this->m_delegate.getHandle();

Os/Task.hpp

@@ -180,7 +180,7 @@ namespace Os {
             //!
             //! This function indicates if the task requires cooperative support.
             //! \return true when the task expects cooperation, false otherwise
-            virtual bool isCooperative();
+            virtual bool isCooperative() = 0;
 
             //! \brief return the underlying task handle (implementation specific)
             //! \return internal task handle representation
@@ -284,6 +284,10 @@ namespace Os {
         //!
         void resume() override;
 
+        //! \brief determine if the task is cooperative multitasking (implementation specific)
+        //! \return true if cooperative, false otherwise
+        bool isCooperative() override;
+
         //! \brief return the underlying task handle (implementation specific)
         //! \return internal task handle representation
         TaskHandle* getHandle() override;