Wrap raw task routine with an platform specific wrapper

[Joshua-Anderson]

Originating Project/Creator
Affected Component	Os/Tasks
Affected Architectures(s)
Related Issue(s)	fixes #661
Has Unit Tests (y/n)	n
Builds Without Errors (y/n)	y
Unit Tests Pass (y/n)	y
Documentation Included (y/n)	n

---

Change Description

Instead of calling a user provided task routine directly, call the routine from a platform specific task wrapper function.

Rationale

Different platforms have different function definitions for task routines.

• Pthreads are void * task(void *)
• VxWorks is int task(int arg1, ..., int arg10)

F' provides a generic task definition: void task(void *). Right now we're force casting this function to the OS specific function definition. However, casting a function with a void return value to functions with non-void return values is undefined behavior that should be avoided (and is also triggering static analysis warnings). A platform-specific wrapper is used as the task entrypoint, which then calls the F' task entrypoint.

Future Work

The VxWorks task implmentation should be updated to use this new pattern.
For consistency, we may want to update the bare metal schedule to use the execRoutine function.

[Joshua-Anderson]

@LeStarch updated with feedback from our discussion yesterday.

[LeStarch]

Need some safety asserts, otherwise I like this approach.

@timcanham do you have thoughts on this implementation?

[LeStarch]

Looks ok to me!