added code from gh

Firmware/src/task.h

@@ -0,0 +1,54 @@
+/*
+   Copyright 2020 Scott Bezek and the splitflap contributors
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.
+*/
+#pragma once
+
+#include<Arduino.h>
+
+// Static polymorphic abstract base class for a FreeRTOS task using CRTP pattern. Concrete implementations
+// should implement a run() method.
+// Inspired by https://fjrg76.wordpress.com/2018/05/23/objectifying-task-creation-in-freertos-ii/
+template<class T>
+class Task {
+    public:
+        Task(const char* name, uint32_t stackDepth, UBaseType_t priority, const BaseType_t coreId = tskNO_AFFINITY) : 
+                name { name },
+                stackDepth {stackDepth},
+                priority { priority },
+                coreId { coreId }
+        {}
+        virtual ~Task() {};
+
+        TaskHandle_t getHandle() {
+            return taskHandle;
+        }
+
+        void begin() {
+            BaseType_t result = xTaskCreatePinnedToCore(taskFunction, name, stackDepth, this, priority, &taskHandle, coreId);
+            assert("Failed to create task" && result == pdPASS);
+        }
+
+    private:
+        static void taskFunction(void* params) {
+            T* t = static_cast<T*>(params);
+            t->run();
+        }
+
+        const char* name;
+        uint32_t stackDepth;
+        UBaseType_t priority;
+        TaskHandle_t taskHandle;
+        const BaseType_t coreId;
+};