Hal refactored (#99)

Boards/Simulator/Source/Main.cpp

@@ -0,0 +1,62 @@
+#include "Main.h"
+#include "TactilityCore.h"
+#include "Thread.h"
+
+#include "FreeRTOS.h"
+#include "task.h"
+
+#define TAG "freertos"
+
+namespace simulator {
+
+MainFunction mainFunction = nullptr;
+
+void setMain(MainFunction newMainFunction) {
+    mainFunction = newMainFunction;
+}
+
+static void freertosMainTask(TT_UNUSED void* parameter) {
+    TT_LOG_I(TAG, "starting app_main()");
+    assert(simulator::mainFunction);
+    mainFunction();
+    TT_LOG_I(TAG, "returned from app_main()");
+    vTaskDelete(nullptr);
+}
+
+void freertosMain() {
+    BaseType_t task_result = xTaskCreate(
+        freertosMainTask,
+        "main",
+        8192,
+        nullptr,
+        tt::Thread::PriorityNormal,
+        nullptr
+    );
+
+    tt_assert(task_result == pdTRUE);
+
+    // Blocks forever
+    vTaskStartScheduler();
+}
+
+} // namespace
+
+/**
+ * Assert implementation as defined in the FreeRTOSConfig.h
+ * It allows you to set breakpoints and debug asserts.
+ */
+void vAssertCalled(unsigned long line, const char* const file) {
+    static portBASE_TYPE xPrinted = pdFALSE;
+    volatile uint32_t set_to_nonzero_in_debugger_to_continue = 0;
+
+    TT_LOG_E(TAG, "assert triggered at %s:%d", file, line);
+    taskENTER_CRITICAL();
+    {
+        // Step out by attaching a debugger and setting set_to_nonzero_in_debugger_to_continue
+        while (set_to_nonzero_in_debugger_to_continue == 0) {
+            // NO-OP
+        }
+    }
+    taskEXIT_CRITICAL();
+}
+