Fixing review comments

Fw/Comp/ActiveComponentBase.cpp

@@ -93,7 +93,9 @@ namespace Fw {
         // cast void* back to active component
         ActiveComponentBase* component = static_cast<ActiveComponentBase*>(component_pointer);
 
-        // Each invocation of this function runs a single stage of the thread lifecycle.
+        // Each invocation of this function runs a single stage of the thread lifecycle. This has moved the thread
+        // while loop to the top level such that it can be replaced by something else (e.g. cooperative thread
+        // dispatcher) and is not intrinsic to this code.
         switch (component->m_stage) {
             // The first stage the active component triggers the "preamble" call before moving into the dispatching
             // stage of the component thread.
@@ -126,6 +128,8 @@ namespace Fw {
     void ActiveComponentBase::s_taskLoop(void* component_pointer) {
         FW_ASSERT(component_pointer != nullptr);
         ActiveComponentBase* component = static_cast<ActiveComponentBase*>(component_pointer);
+        // A non-cooperative task switching implementation is just a while-loop around the active component
+        // state-machine. Here the while loop is at top-level.
         while (component->m_stage != ActiveComponentBase::Lifecycle::DONE) {
             ActiveComponentBase::s_taskStateMachine(component);
         }

Os/CMakeLists.txt

@@ -89,13 +89,11 @@ if (FPRIME_USE_BAREMETAL_SCHEDULER)
             list(REMOVE_ITEM SOURCE_FILES "${ITER_ITEM}")
         endif()
     endforeach()
-    list(APPEND SOURCE_FILES "${CMAKE_CURRENT_LIST_DIR}/Baremetal/File.cpp")
     list(APPEND SOURCE_FILES "${CMAKE_CURRENT_LIST_DIR}/Baremetal/FileSystem.cpp")
     list(APPEND SOURCE_FILES "${CMAKE_CURRENT_LIST_DIR}/Baremetal/IntervalTimer.cpp")
     list(APPEND SOURCE_FILES "${CMAKE_CURRENT_LIST_DIR}/Baremetal/Mutex.cpp")
     list(APPEND SOURCE_FILES "${CMAKE_CURRENT_LIST_DIR}/Baremetal/Queue.cpp")
     list(APPEND SOURCE_FILES "${CMAKE_CURRENT_LIST_DIR}/Baremetal/SystemResources.cpp")
-    list(APPEND SOURCE_FILES "${CMAKE_CURRENT_LIST_DIR}/Baremetal/Task.cpp")
 endif()
 register_fprime_module()
 require_fprime_implementation(Os/File)

Os/Posix/Task.cpp

@@ -25,7 +25,7 @@ namespace Task {
     void* pthread_entry_wrapper(void* wrapper_pointer) {
         FW_ASSERT(wrapper_pointer != nullptr);
         Os::Task::TaskRoutineWrapper& wrapper = *reinterpret_cast<Os::Task::TaskRoutineWrapper*>(wrapper_pointer);
-            wrapper.run(&wrapper);
+        wrapper.run(&wrapper);
         return nullptr;
     }
 

Os/Task.cpp

@@ -168,7 +168,10 @@ TaskHandle* Task::getHandle() {
 }
 
 FwSizeType Task::getNumTasks() {
-    return Task::s_numTasks;
+    Task::s_taskMutex.lock();
+    FwSizeType num_tasks = Task::s_numTasks;
+    Task::s_taskMutex.unlock();
+    return num_tasks;
 }
 
 void Task::registerTaskRegistry(TaskRegistry* registry) {

Os/Task.hpp

@@ -279,6 +279,9 @@ namespace Os {
         void onStart() override;
 
         //! \brief invoke the task's routine
+        //~
+        //! This will invoke the task's routine passing this as the argument to that call. This is used as a helper when
+        //! running this task (e.g. repetitive cooperative calls).
         void invokeRoutine();
 
         //! \brief join calling thread to this thread
@@ -339,7 +342,6 @@ namespace Os {
         Mutex m_lock; //!< Guards state transitions
         TaskRoutineWrapper m_wrapper; //!< Concrete storage for task routine wrapper
 
-        PlatformIntType m_identifier = 0; //!< thread independent identifier
         bool m_registered = false; //!< Was this task registered
 
         // This section is used to store the implementation-defined file handle. To Os::File and fprime, this type is