Pend a yield in vPortCloseRunningThread

[aggarg]

Description

When a task deletes itself, vTaskDelete calls portPRE_TASK_DELETE_HOOK which translates to vPortCloseRunningThread on the Windows port. vPortCloseRunningThread never returns and as a result, taskYIELD_WITHIN_API in vTaskDelete does not get called. As a result, the next task is not scheduled when configUSE_PREEMPTION is set to 0.

This change records that a yield is pending in vPortCloseRunningThread so that the next tick interrupt schedules the next task regardless of the value of configUSE_PREEMPTION.

Test Steps

static void lowPrioTask(void* pvParam)
{
    (void)pvParam;

    for (;;)
    {
        printf("Low prio Task\r\n");
        vTaskDelay(pdMS_TO_TICKS(1000));
    }
}

static void highPrioTask(void* pvParam)
{
    (void)pvParam;

    vTaskDelete(NULL);
}

void app_main(void)
{
    xTaskCreate(lowPrioTask, "low", 512, NULL, 0, NULL);
    xTaskCreate(highPrioTask, "high", 512, NULL, 1, NULL);

    vTaskStartScheduler();
}

Before the change - No output.
After the change -

Low prio Task
Low prio Task
Low prio Task
Low prio Task
.
.

Checklist:

• I have tested my changes. No regression in existing tests.
• I have modified and/or added unit-tests to cover the code changes in this Pull Request.

Related Issue

#1091

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[sonarcloud]

Quality Gate passed

Issues
0 New issues
0 Accepted issues

Measures
0 Security Hotspots
0.0% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarCloud