From 658ce96ddb728ae9128a01928036b012aa5017ee Mon Sep 17 00:00:00 2001
From: Giovanni Di Sirio <gdisirio@gmail.com>
Date: Wed, 24 Feb 2016 15:45:33 +0000
Subject: Implemented delete handler.

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@8943 35acf78f-673a-0410-8e92-d51de3d6d3f4
---
 demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/chconf.h |  4 +++-
 os/common/abstractions/nasa_osal/src/osapi.c       | 28 +++++++++++++++-------
 2 files changed, 23 insertions(+), 9 deletions(-)

diff --git a/demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/chconf.h b/demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/chconf.h
index 2ddded71e..731b07adb 100644
--- a/demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/chconf.h
+++ b/demos/STM32/NASA-OSAL-STM32F407-DISCOVERY/chconf.h
@@ -420,7 +420,8 @@
  * @details User fields added to the end of the @p thread_t structure.
  */
 #define CH_CFG_THREAD_EXTRA_FIELDS                                          \
-  /* Add threads custom fields here.*/
+  /* Add threads custom fields here.*/                                      \
+  void *osal_delete_handler;
 
 /**
  * @brief   Threads initialization hook.
@@ -431,6 +432,7 @@
  */
 #define CH_CFG_THREAD_INIT_HOOK(tp) {                                       \
   /* Add threads initialization code here.*/                                \
+  tp->osal_delete_handler = NULL;                                           \
 }
 
 /**
diff --git a/os/common/abstractions/nasa_osal/src/osapi.c b/os/common/abstractions/nasa_osal/src/osapi.c
index 9d02cd05e..775dffe26 100644
--- a/os/common/abstractions/nasa_osal/src/osapi.c
+++ b/os/common/abstractions/nasa_osal/src/osapi.c
@@ -80,6 +80,11 @@
 /* Module local types.                                                       */
 /*===========================================================================*/
 
+/**
+ * @brief   Generic function pointer type.
+ */
+typedef void (*funcptr_t)(void);
+
 /**
  * @brief   Type of OSAL timer.
  */
@@ -1301,7 +1306,7 @@ int32 OS_TaskCreate(uint32 *task_id,
 
 /**
  * @brief   Installs a deletion handler.
- * @note    It is not currently implemented.
+ * @note    It is implemented as hooks in chconf.h.
  *
  * @param[in] function_pointer  the handler function
  * @return                      An error code.
@@ -1310,14 +1315,16 @@ int32 OS_TaskCreate(uint32 *task_id,
  */
 int32 OS_TaskInstallDeleteHandler(void *function_pointer) {
 
-  (void)function_pointer;
+  chThdGetSelfX()->osal_delete_handler = function_pointer;
 
-  return OS_ERR_NOT_IMPLEMENTED;
+  return OS_SUCCESS;
 }
 
 /**
  * @brief   Task delete.
- * @note    It is not currently implemented.
+ * @note    Limitation, it does not actually kill the thread, it just sets a
+ *          flag in the thread that has then to terminate volountarly. The
+ *          flag can be checked using @p chThdShouldTerminateX().
  *
  * @param[in] task_id           the task id
  * @return                      An error code.
@@ -1335,13 +1342,18 @@ int32 OS_TaskDelete(uint32 task_id) {
   /* Asking for thread termination.*/
   chThdTerminate(tp);
 
-  /* Releasing the thread reference.*/
-  chThdRelease(tp);
-
   /* Waiting for termination.*/
   chThdWait(tp);
 
-  return OS_ERR_NOT_IMPLEMENTED;
+  /* Calling the delete handler, if defined.*/
+  if (tp->osal_delete_handler != NULL) {
+    ((funcptr_t)(tp->osal_delete_handler))();
+  }
+
+  /* Releasing the thread reference.*/
+  chThdRelease(tp);
+
+  return OS_SUCCESS;
 }
 
 /**
-- 
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