re-add system daemon

Author: liam-teale

src/competition.cpp

@@ -57,7 +57,7 @@ void initialize() {
 
             // if the competition state changed, or the control task has been notified,
             // the competition task should be changed
-            if (mode != prev_mode || pros::Task::notify_take(true, 0)) {
+            if (mode != prev_mode) {
                 prev_mode = mode;
 
                 switch (mode) {

src/system/startup.cpp

@@ -35,7 +35,7 @@ void __libc_init_array();
 // only the first 16 bytes of this chunk is used however
 // see the vcodesig definition in the SDK for more details
 [[gnu::section(".boot_data")]]
-vcodesig vexCodeSig = {
+vcodesig boot_data = {
     .magic = V5_SIG_MAGIC,
     .type = V5_SIG_TYPE_USER,
     .owner = V5_SIG_OWNER_PARTNER,
@@ -72,15 +72,15 @@ void _start() {
     // call global constructors
     __libc_init_array();
 
-// start main task
-// these pragmas are needed to silence the same warning on clang and gcc
-// normally you aren't supposed to reference the main function
+    // start main task
+    // these pragmas are needed to silence the same warning on clang and gcc
+    // normally you aren't supposed to reference the main function
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wpedantic"
 #pragma GCC diagnostic ignored "-Wunknown-pragmas"
 #pragma clang diagnostic push
 #pragma clang diagnostic ignored "-Wmain"
-    pros::Task task([]() {
+    pros::Task main_task([]() {
         // run the main function
         main();
         // initialize the competition control task

src/system/system_daemon.cpp

@@ -0,0 +1,34 @@
+#include "kapi.h"
+#include "pros/devices/brain.hpp"
+#include "pros/rtos.hpp"
+
+extern "C" {
+void vexTasksRun();
+void ser_output_flush();
+}
+
+namespace zest {
+
+// This task runs for the lifetime of the program.
+// It periodically calls vexTasksRun, which copies shared memory to/from vexOS.
+static pros::Task system_daemon([]() {
+    while (true) {
+        // lock all smart port mutexes
+        Brain::smart_port_mutex_lock_all();
+        // flush serial output
+        ser_output_flush();
+        // suspend all tasks
+        rtos_suspend_all();
+        // copy shared memory
+        vexTasksRun();
+        // resume all tasks
+        rtos_resume_all();
+        // unlock all smart port mutexes
+        zest::Brain::smart_port_mutex_unlock_all();
+
+        // delay to save resources
+        pros::delay(2);
+    }
+}, TASK_PRIORITY_MAX);
+
+} // namespace zest