Add task terminate hook

Add an RTX hook which gets called when a thread terminates. Add
the function Thread::attach_terminate_hook() to allow users to attach
a hook to this event at runtime.

rtos/rtos/Thread.cpp

@@ -30,6 +30,15 @@
 
 extern "C" P_TCB rt_tid2ptcb(osThreadId thread_id);
 
+
+static void (*terminate_hook)(osThreadId id) = 0;
+extern "C" void thread_terminate_hook(osThreadId id)
+{
+    if (terminate_hook != (void (*)(osThreadId))NULL) {
+        terminate_hook(id);
+    }
+}
+
 namespace rtos {
 
 void Thread::constructor(osPriority priority,
@@ -336,6 +345,10 @@ void Thread::attach_idle_hook(void (*fptr)(void)) {
     rtos_attach_idle_hook(fptr);
 }
 
+void Thread::attach_terminate_hook(void (*fptr)(osThreadId id)) {
+    terminate_hook = fptr;
+}
+
 Thread::~Thread() {
     // terminate is thread safe
     terminate();

rtos/rtos/Thread.h

@@ -320,6 +320,11 @@ public:
     */
     static void attach_idle_hook(void (*fptr)(void));
 
+    /** Attach a function to be called when a task is killed
+      @param   fptr  pointer to the function to be called
+    */
+    static void attach_terminate_hook(void (*fptr)(osThreadId id));
+
     virtual ~Thread();
 
 private:

rtos/rtx/TARGET_CORTEX_A/RTX_Conf_CA.c

@@ -320,6 +320,14 @@ void os_error (uint32_t err_code) {
   for (;;);
 }
 
+/*----------------------------------------------------------------------------
+ *      RTX Hooks
+ *---------------------------------------------------------------------------*/
+extern void thread_terminate_hook(osThreadId id);
+
+void sysThreadTerminate(osThreadId id) {
+    thread_terminate_hook(id);
+}
 
 /*----------------------------------------------------------------------------
  *      RTX Configuration Functions

rtos/rtx/TARGET_CORTEX_A/rt_CMSIS.c

@@ -479,9 +479,10 @@ extern       osMessageQId    osMessageQId_osTimerMessageQ;
 
 extern U32 IRQNestLevel; /* Indicates whether inside an ISR, and the depth of nesting.  0 = not in ISR. */
 
-// Thread creation and destruction mutex
+// Thread creation and destruction
 osMutexDef(osThreadMutex);
 osMutexId osMutexId_osThreadMutex;
+void sysThreadTerminate(osThreadId id);
 
 // ==== Helper Functions ====
 
@@ -956,6 +957,7 @@ osStatus osThreadTerminate (osThreadId thread_id) {
   osStatus status;
   if (__exceptional_mode()) return osErrorISR;     // Not allowed in ISR
   osMutexWait(osMutexId_osThreadMutex, osWaitForever);
+  sysThreadTerminate(thread_id);
   // Thread mutex must be held when a thread is created or terminated
   status = __svcThreadTerminate(thread_id);
   osMutexRelease(osMutexId_osThreadMutex);
@@ -983,11 +985,14 @@ osPriority osThreadGetPriority (osThreadId thread_id) {
 /// INTERNAL - Not Public
 /// Auto Terminate Thread on exit (used implicitly when thread exists)
 __NO_RETURN void osThreadExit (void) {
+  osThreadId id;
   // Thread mutex must be held when a thread is created or terminated
   // Note - the mutex will be released automatically by the os when
   //        the thread is terminated
   osMutexWait(osMutexId_osThreadMutex, osWaitForever);
-  __svcThreadTerminate(__svcThreadGetId());
+  id = __svcThreadGetId();
+  sysThreadTerminate(id);
+  __svcThreadTerminate(id);
   for (;;);                                     // Should never come here
 }
 

rtos/rtx/TARGET_CORTEX_M/RTX_Conf_CM.c

@@ -407,6 +407,15 @@ void sysThreadError(osStatus status) {
     }
 }
 
+/*----------------------------------------------------------------------------
+ *      RTX Hooks
+ *---------------------------------------------------------------------------*/
+extern void thread_terminate_hook(osThreadId id);
+
+void sysThreadTerminate(osThreadId id) {
+    thread_terminate_hook(id);
+}
+
 /*----------------------------------------------------------------------------
  *      RTX Configuration Functions
  *---------------------------------------------------------------------------*/

rtos/rtx/TARGET_CORTEX_M/rt_CMSIS.c

@@ -392,9 +392,10 @@ extern       osThreadId      osThreadId_osTimerThread;
 extern const osMessageQDef_t os_messageQ_def_osTimerMessageQ;
 extern       osMessageQId    osMessageQId_osTimerMessageQ;
 
-// Thread creation and destruction mutex
+// Thread creation and destruction
 osMutexDef(osThreadMutex);
 osMutexId osMutexId_osThreadMutex;
+void sysThreadTerminate(osThreadId id);
 
 // ==== Helper Functions ====
 
@@ -897,6 +898,7 @@ osStatus osThreadTerminate (osThreadId thread_id) {
     return osErrorISR;                          // Not allowed in ISR
   }
   osMutexWait(osMutexId_osThreadMutex, osWaitForever);
+  sysThreadTerminate(thread_id);
   // Thread mutex must be held when a thread is created or terminated
   status = __svcThreadTerminate(thread_id);
   osMutexRelease(osMutexId_osThreadMutex);
@@ -930,11 +932,14 @@ osPriority osThreadGetPriority (osThreadId thread_id) {
 /// INTERNAL - Not Public
 /// Auto Terminate Thread on exit (used implicitly when thread exists)
 __NO_RETURN void osThreadExit (void) {
+  osThreadId id;
   // Thread mutex must be held when a thread is created or terminated
   // Note - the mutex will be released automatically by the os when
   //        the thread is terminated
   osMutexWait(osMutexId_osThreadMutex, osWaitForever);
-  __svcThreadTerminate(__svcThreadGetId());
+  id = __svcThreadGetId();
+  sysThreadTerminate(id);
+  __svcThreadTerminate(id);
   for (;;);                                     // Should never come here
 }