From 0a24a2e42658ec42b7f0217b5e5022877bd0ea0a Mon Sep 17 00:00:00 2001
From: Giovanni Di Sirio <gdisirio@gmail.com>
Date: Wed, 9 Mar 2016 16:06:50 +0000
Subject: git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9059
 35acf78f-673a-0410-8e92-d51de3d6d3f4

---
 os/common/abstractions/nasa_osal/src/osapi.c | 22 ++++++++++++++++++++++
 1 file changed, 22 insertions(+)

(limited to 'os/common/abstractions/nasa_osal/src/osapi.c')

diff --git a/os/common/abstractions/nasa_osal/src/osapi.c b/os/common/abstractions/nasa_osal/src/osapi.c
index 685c936b6..4dc39969d 100644
--- a/os/common/abstractions/nasa_osal/src/osapi.c
+++ b/os/common/abstractions/nasa_osal/src/osapi.c
@@ -1911,6 +1911,28 @@ void OS_TaskExit(void) {
   chThdExit(MSG_OK);
 }
 
+/**
+ * @brief   Wait for task termination.
+ * @note    This is a ChibiOS/RT extension, added for improved testability.
+ *
+ * @param[in] task_id           the task id
+ * @return                      An error code.
+ *
+ * @api
+ */
+int32 OS_TaskWait(uint32 task_id) {
+  thread_t *tp = (thread_t *)task_id;
+
+  /* Check for thread validity, getting a reference.*/
+  if (chRegFindThreadByPointer(tp) == NULL) {
+    return OS_ERR_INVALID_ID;
+  }
+
+  (void) chThdWait(tp);
+
+  return OS_SUCCESS;
+}
+
 /**
  * @brief   Task delay.
  *
-- 
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