WIP2

Peripherals/Inc/peripherals_hal_concepts.hpp

@@ -11,15 +11,21 @@
 namespace Peripherals::Hal
 {
 
+enum class Edge
+{
+  Rising,
+  Falling
+};
+
 template<typename T>
-concept Gpio = requires (T t, const T ct) {
+concept Gpio = requires(T t, const T ct) {
   t.set(true);
   t.toggle();
   { ct.read() } -> std::same_as<bool>;
 };
 
 template<typename T>
-concept SerialInterface = requires (T t, std::uint8_t* data, const std::uint32_t len) {
+concept SerialInterface = requires(T t, std::uint8_t* data, const std::uint32_t len) {
   { t.transmit(data, len) } -> std::same_as<bool>;
   { t.transmit(std::array<std::uint8_t, 10>{}) } -> std::same_as<bool>;
   { t.receive(data, len) } -> std::same_as<bool>;
@@ -27,11 +33,11 @@ concept SerialInterface = requires (T t, std::uint8_t* data, const std::uint32_t
 };
 
 template<typename T, typename RegName>
-concept RegisterInterface = requires (T t, RegName reg, std::uint8_t* data, const std::uint32_t len) {
+concept RegisterInterface = requires(T t, RegName reg, std::uint8_t* data, const std::uint32_t len) {
   t.writerRegister(reg, std::uint8_t{});
   t.writeRegisterMultibyte(reg, data, len);
   { t.readRegister(reg, std::uint32_t{}) } -> std::same_as<std::uint8_t>;
   t.readRegisterMultibyte(reg, data, len, std::uint32_t{});
 };
 
-}
+}// namespace Peripherals::Hal

Peripherals/Inc/peripherals_hal_esp.hpp

@@ -20,8 +20,8 @@ struct Gpio
 
   Gpio() = delete;
   explicit Gpio(gpio_num_t gpio, const bool inverted)
-    : gpio(gpio), inverted(inverted)
-  { }
+      : gpio(gpio), inverted(inverted)
+  {}
 
   void set(const bool& state)
   {
@@ -39,13 +39,13 @@ struct Gpio
 static_assert(Peripherals::Hal::Gpio<Gpio>);
 
 #define CREATE_GPIO(name) \
-  Peripherals::Hal::Esp::Gpio{name, false}
+  Peripherals::Hal::Esp::Gpio { name, false }
 
 #define CREATE_INV_GPIO(name) \
-  Peripherals::Hal::Esp::Gpio{name, true}
+  Peripherals::Hal::Esp::Gpio { name, true }
 
-}
+}// namespace Peripherals::Hal::Esp
 
 #else
-# warning "ESP HAL included without SKULLC_USE_HAL_ESP being defined."
+#warning "ESP HAL included without SKULLC_USE_HAL_ESP being defined."
 #endif /* SKULLC_USE_HAL_ESP */

Peripherals/Inc/peripherals_hal_st.hpp

@@ -61,8 +61,7 @@ struct StaticHal
     const std::uint32_t tick_start = DWT->CYCCNT;
     const std::uint32_t ticks_delay = micros * (SystemCoreClock / 1'000'000);
 
-    while (DWT->CYCCNT - tick_start < ticks_delay)
-      ;
+    while (DWT->CYCCNT - tick_start < ticks_delay);
 #else
     (void) micros;
 #endif
@@ -346,7 +345,7 @@ struct ItmSerialInterface
 }// namespace Peripherals
 
 #else
-# warning "ESP HAL included without SKULLC_USE_HAL_ESP being defined."
+#warning "ST HAL included without SKULLC_USE_HAL_ST being defined."
 #endif /* SKULLC_USE_HAL_ST */
 
 #endif /* SKULLC_PERIPHERALS_HAL_ST_HPP_ */

Tests/CMakeLists.txt

@@ -32,6 +32,7 @@ add_executable(tests
     bytes.cpp
     filters.cpp
     coro.cpp
+        this_coro.cpp
 )
 
 target_link_libraries(tests

Tests/coro.cpp

@@ -6,4 +6,230 @@
 
 #include "skullc/coro/task.hpp"
 #include "skullc/coro/scheduler.hpp"
+#include "skullc/coro/this_coro.hpp"
+#include "skullc/coro/sleep.hpp"
+#include "skullc/coro/semaphore.hpp"
 
+#include <semaphore>
+
+namespace
+{
+
+int test_coro_called = 0;
+
+using namespace std::chrono_literals;
+
+skullc::coro::Task<> test_coro(const int expected)
+{
+  REQUIRE(expected == test_coro_called);
+  test_coro_called++;
+  co_return;
+}
+
+skullc::coro::Task<> test_sleepy_coro(const int expected, const std::chrono::duration<uint32_t, std::milli>& duration = 10ms)
+{
+  co_await skullc::coro::sleep(0ms, duration);
+  REQUIRE(expected == test_coro_called);
+  test_coro_called++;
+  co_return;
+}
+
+template<typename T>
+skullc::coro::Task<> test_semaphore_coro(T* semaphore, const int expected)
+{
+  co_await skullc::coro::await_semaphore(*semaphore);
+  REQUIRE(expected == test_coro_called);
+  test_coro_called++;
+  co_return;
+}
+
+}
+
+TEST_CASE("Scheduler runs coroutines.", "[coro]")
+{
+  using namespace skullc::coro;
+
+
+  Scheduler<std::vector> scheduler;
+  skullc::this_coro::scheduler.register_scheduler(scheduler);
+
+  test_coro_called = 0;
+
+  SECTION("With a single coroutine.")
+  {
+    scheduler.start_tasks(test_coro(0));
+    scheduler.loop(0);
+
+    REQUIRE(test_coro_called == 1);
+  }
+
+
+  SECTION("With two coroutines.")
+  {
+    scheduler.start_tasks(test_coro(0), test_coro(1));
+    scheduler.loop(0);
+
+    REQUIRE(test_coro_called == 2);
+  }
+
+  SECTION("With a single sleepy coroutine.")
+  {
+    using namespace std::chrono_literals;
+
+    scheduler.start_tasks(test_sleepy_coro(0));
+    scheduler.loop(0);
+
+    REQUIRE(test_coro_called == 0);
+
+    const std::chrono::duration<uint32_t, std::milli> half_sleep = 5ms;
+    scheduler.loop(half_sleep.count());
+    REQUIRE(test_coro_called == 0);
+
+    const std::chrono::duration<uint32_t, std::milli> full_sleep = 11ms;
+    scheduler.loop(full_sleep.count());
+    REQUIRE(test_coro_called == 1);
+  }
+
+  SECTION("With a semaphore awaiter.")
+  {
+    std::binary_semaphore semaphore{0};
+    std::counting_semaphore<10> counting_semaphore{0};
+
+    scheduler.start_tasks(
+      test_semaphore_coro(&semaphore, 0),
+      test_semaphore_coro(&counting_semaphore, 1)
+    );
+    scheduler.loop(0);
+
+    REQUIRE(test_coro_called == 0);
+
+    semaphore.release(1);
+    scheduler.loop(1);
+    scheduler.loop(2);
+
+    REQUIRE(test_coro_called == 1);
+
+    counting_semaphore.release(1);
+    scheduler.loop(3);
+    scheduler.loop(4);
+
+    REQUIRE(test_coro_called == 2);
+  }
+
+  SECTION("Coros scheduled for the same millisecond get executed with the same time.")
+  {
+    scheduler.start_tasks(
+      test_sleepy_coro(0, std::chrono::milliseconds{2}),
+      test_sleepy_coro(1, std::chrono::milliseconds{2})
+    );
+
+    scheduler.loop(0);
+    scheduler.loop(0);
+    scheduler.loop(0);
+
+    REQUIRE(test_coro_called == 0);
+
+    scheduler.loop(2);
+    scheduler.loop(2);
+
+    REQUIRE(test_coro_called == 2);
+  }
+}
+
+#include "skullc/coro/peripheral_awaiters.hpp"
+
+namespace
+{
+
+struct TestGpio
+{
+  bool is_set = false;
+
+  void set(const bool value)
+  {
+    is_set = value;
+  }
+
+  void toggle()
+  {
+    is_set = !is_set;
+  }
+
+  bool read() const
+  {
+    return is_set;
+  }
+};
+
+skullc::coro::Task<> await_pin_edge(TestGpio* pin, const Peripherals::Hal::Edge edge)
+{
+  co_await skullc::coro::PinEdgeAwaiter(pin, edge);
+  test_coro_called = 1;
+
+  co_return;
+}
+
+}
+
+TEST_CASE("Peripheral awaiters work.", "[coro],[awaiters]")
+{
+  using namespace skullc::coro;
+  Scheduler<std::vector> scheduler;
+  skullc::this_coro::scheduler.register_scheduler(scheduler);
+
+  test_coro_called = 0;
+
+  SECTION("Pin edge awaiter works with rising edge.")
+  {
+    TestGpio gpio{ false };
+    scheduler.start_tasks(await_pin_edge(&gpio, Peripherals::Hal::Edge::Rising));
+    scheduler.loop(0);
+
+    REQUIRE(test_coro_called == 0);
+
+    SECTION("Keeping low generates no edge.")
+    {
+      scheduler.loop(1);
+      scheduler.loop(2);
+      scheduler.loop(3);
+
+      REQUIRE(test_coro_called == 0);
+    }
+
+    SECTION("Raising generated a rising edge.")
+    {
+      gpio.is_set = true;
+      scheduler.loop(1);
+      scheduler.loop(2);
+
+      REQUIRE(test_coro_called == 1);
+    }
+  }
+
+  SECTION("Pin edge awaiter works with falling edge.")
+  {
+    TestGpio gpio{ true };
+    scheduler.start_tasks(await_pin_edge(&gpio, Peripherals::Hal::Edge::Falling));
+    scheduler.loop(0);
+
+    REQUIRE(test_coro_called == 0);
+
+    SECTION("Keeping high generates no edge.")
+    {
+      scheduler.loop(1);
+      scheduler.loop(2);
+      scheduler.loop(3);
+
+      REQUIRE(test_coro_called == 0);
+    }
+
+    SECTION("Falling generated a falling edge.")
+    {
+      gpio.is_set = false;
+      scheduler.loop(1);
+      scheduler.loop(2);
+
+      REQUIRE(test_coro_called == 1);
+    }
+  }
+}

Tests/this_coro.cpp

@@ -0,0 +1,16 @@
+//
+// Created by erki on 30/01/25.
+//
+
+#include <catch2/catch.hpp>
+
+#include "skullc/coro/scheduler.hpp"
+#include "skullc/coro/this_coro.hpp"
+
+TEST_CASE("this_coro returns the correct scheduler.", "[coro],[this_coro]")
+{
+  skullc::coro::Scheduler<std::vector> scheduler;
+  skullc::this_coro::scheduler.register_scheduler(scheduler);
+
+  REQUIRE(&skullc::this_coro::scheduler() == &scheduler);
+}

coro/inc/skullc/coro/peripheral_awaiters.hpp

@@ -0,0 +1,86 @@
+//
+// Created by erki on 01/02/25.
+//
+
+#pragma once
+
+#include <coroutine>
+#include <optional>
+
+#include "peripherals_hal_concepts.hpp"
+
+#include "skullc/coro/this_coro.hpp"
+#include "skullc/coro/scheduler.hpp"
+
+namespace skullc::coro
+{
+
+template<Peripherals::Hal::Gpio G>
+struct PinEdgeAwaiter : TaskPoller
+{
+  PinEdgeAwaiter() = delete;
+  explicit PinEdgeAwaiter(G* pin, const Peripherals::Hal::Edge& edge)
+    : pin(pin)
+    , awaited_edge(edge)
+  {
+    if (awaited_edge == Peripherals::Hal::Edge::Rising)
+      previous_is_set = false;
+    else
+      previous_is_set = true;
+  }
+
+  ~PinEdgeAwaiter() override
+  {
+    if (continuation)
+    {
+      this_coro::scheduler().remove(continuation);
+    }
+  }
+
+  bool await_ready() { return false; }
+  void await_suspend(std::coroutine_handle<> h)
+  {
+    continuation = h;
+    stored_coro = continuation;
+    skullc::this_coro::scheduler().add_poller(this);
+  }
+  auto await_resume()
+  {
+    continuation = {};
+  }
+
+  bool isReady(const std::chrono::duration<uint32_t, std::milli>&) override
+  {
+    const bool is_set = pin->read();
+    const auto found_edge = calculateEdge(is_set);
+
+    if (found_edge && *found_edge == awaited_edge)
+    {
+      return true;
+    }
+    else
+    {
+      previous_is_set = is_set;
+      return false;
+    }
+  }
+
+  G* pin;
+  Peripherals::Hal::Edge awaited_edge;
+  std::coroutine_handle<> continuation;
+
+private:
+  bool previous_is_set;
+
+  std::optional<Peripherals::Hal::Edge> calculateEdge(const bool new_is_set) const
+  {
+    if (new_is_set && !previous_is_set)
+      return Peripherals::Hal::Edge::Rising;
+    else if (!new_is_set && previous_is_set)
+      return Peripherals::Hal::Edge::Falling;
+    else
+      return std::nullopt;
+  }
+};
+
+}

coro/inc/skullc/coro/scheduler.hpp

@@ -5,138 +5,119 @@
 #pragma once
 
 #include <algorithm>
-#include <array>
 #include <coroutine>
 #include <cstdint>
 #include <utility>
-#include <vector>
 
 #include "skullc/coro/task.hpp"
+#include "skullc/coro/scheduler_base.hpp"
 
 namespace skullc::coro
 {
 
-template <typename T>
-concept Task = requires(T task)
-{
-   {
-       task.get_handle().resume()
-   };
+template<typename T>
+concept TaskType = requires(T task) {
+  {
+    task.get_handle().resume()
+  };
 };
 
-struct TaskPoller {
-	virtual ~TaskPoller() = default;
-
-	virtual bool isReady() = 0;
-	std::coroutine_handle<> stored_coro;
-};
-
-class Scheduler
+template<template<typename X> typename C>
+class Scheduler final : public SchedulerBase
 {
-	constexpr static auto cmp = [](const auto &a, const auto &b) {
-		return a.first > b.first;
-	};
+  constexpr static auto cmp = [](const auto& a, const auto& b) {
+    return a.first > b.first;
+  };
 
 public:
-	Scheduler()
-		: Scheduler(16)
-	{ }
+  using Container = C<std::pair<uint32_t, std::coroutine_handle<>>>;
+  using PollerContainer = C<TaskPoller*>;
 
-	Scheduler(const Scheduler&) = delete;
-	Scheduler(Scheduler&&) = delete;
-	Scheduler &operator=(const Scheduler&) = delete;
-	Scheduler &operator=(Scheduler&&) = delete;
+  Scheduler() = default;
 
-	explicit Scheduler(uint num_tasks)
-	{
-		scheduled.reserve(num_tasks);
-	}
+  Scheduler(const Scheduler&) = delete;
+  Scheduler(Scheduler&&) = delete;
+  Scheduler& operator=(const Scheduler&) = delete;
+  Scheduler& operator=(Scheduler&&) = delete;
 
-	/** \brief Start a new task. The task can terminate by calling co_return; . */
-	void start_task(task<> task, uint64_t when = 0)
-	{
-		schedule(task.get_handle(), when);
-	}
-
-	template <Task... T>
-	void start_tasks(T... tasks) {
-		start(tasks...);
-	}
-
-	/** \brief Schedule a coroutine for future restart.
-	 * \details This routine should only be called on the same core and from
-	 * regular execution code. Do not call this from an interrupt.
-	 * @param handle
-	 * @param when
-	 */
-	void schedule(std::coroutine_handle<> handle, uint64_t when)
-	{
-		scheduled.push_back({when, handle});
-		std::push_heap(scheduled.begin(), scheduled.end(), cmp);
-	}
-
-	void loop(const uint64_t& current_time)
-	{
-		if (!scheduled.empty())
-    {
-			auto min_time = scheduled.front();
-			if (min_time.first < current_time)
-      {
-				std::pop_heap(scheduled.begin(), scheduled.end(), cmp);
-				scheduled.pop_back();
-				if (min_time.second)
-					min_time.second.resume();
-			}
-		}
-
-		bool pollers_need_updating = false;
-		for (auto* poller : pollers)
-    {
-			if (poller->isReady())
-      {
-				schedule(poller->stored_coro, current_time);
-				poller->stored_coro = nullptr;
-				pollers_need_updating = true;
-			}
-		}
-
-		if (pollers_need_updating)
-			pollers.erase(std::remove_if(pollers.begin(), pollers.end(),
-				[](const auto* poller) { return poller->stored_coro == nullptr; }));
-	}
-
-	void add_poller(TaskPoller* poller)
+  template<TaskType... T>
+  void start_tasks(T... tasks)
   {
-		pollers.push_back(poller);
-	}
+    start(tasks...);
+  }
 
-	bool remove(std::coroutine_handle<> handle)
-	{
-		for (auto &p : scheduled)
-			if (p.second == handle)
+  void schedule(std::coroutine_handle<> handle, uint32_t when) override
+  {
+    scheduled_.push_back({when, handle});
+    std::push_heap(scheduled_.begin(), scheduled_.end(), cmp);
+  }
+
+  void loop(const uint32_t& current_time_ms)
+  {
+    loop(std::chrono::duration<uint32_t, std::milli>(current_time_ms));
+  }
+
+  void loop(const std::chrono::duration<uint32_t, std::milli>& current_time)
+  {
+    if (!scheduled_.empty())
+    {
+      auto min_time = scheduled_.front();
+      if (min_time.first <= current_time.count())
       {
-				std::swap(p, scheduled.back());
-				scheduled.pop_back();
-				std::make_heap(scheduled.begin(), scheduled.end(), cmp);
-				return true;
-			}
-		return false;
-	}
+        std::pop_heap(scheduled_.begin(), scheduled_.end(), cmp);
+        scheduled_.pop_back();
+        if (min_time.second)
+          min_time.second.resume();
+      }
+    }
+
+    bool pollers_need_updating = false;
+    for (auto* poller : pollers_)
+    {
+      if (poller->isReady(current_time))
+      {
+        schedule(poller->stored_coro, current_time.count());
+        poller->stored_coro = nullptr;
+        pollers_need_updating = true;
+      }
+    }
+
+    if (pollers_need_updating)
+      pollers_.erase(std::remove_if(pollers_.begin(), pollers_.end(),
+                                   [](const auto* poller) { return poller->stored_coro == nullptr; }));
+  }
+
+  void add_poller(TaskPoller* poller) override
+  {
+    pollers_.push_back(poller);
+  }
+
+  bool remove(std::coroutine_handle<> handle) override
+  {
+    for (auto& p : scheduled_)
+      if (p.second == handle)
+      {
+        std::swap(p, scheduled_.back());
+        scheduled_.pop_back();
+        std::make_heap(scheduled_.begin(), scheduled_.end(), cmp);
+        return true;
+      }
+    return false;
+  }
 
 private:
-	/// \brief Heap of scheduled coroutines. Top of the heap is earliest time
-	std::vector<std::pair<uint64_t, std::coroutine_handle<>>> scheduled;
-	std::vector<TaskPoller*> pollers;
+  Container scheduled_;
+  PollerContainer pollers_;
 
-	template <typename T0, typename... R>
-	void start(T0 &t0, R &...r)
-	{
-		/// Start the first task. As soon as it co_await anything, it will re-queue itself.
-		t0.get_handle().resume();
-		if constexpr (sizeof...(r) > 0) {
-			start(r...);
-		}
-	}
+  template<typename T0, typename... R>
+  void start(T0& t0, R&... r)
+  {
+    t0.get_handle().resume();
+    if constexpr (sizeof...(r) > 0)
+    {
+      start(r...);
+    }
+  }
 };
 
-}
+}// namespace skullc::coro

coro/inc/skullc/coro/scheduler_base.hpp

@@ -0,0 +1,31 @@
+//
+// Created by erki on 02/02/25.
+//
+
+#pragma once
+
+#include <coroutine>
+#include <cstdint>
+
+namespace skullc::coro
+{
+
+struct TaskPoller
+{
+  virtual ~TaskPoller() = default;
+
+  virtual bool isReady(const std::chrono::duration<uint32_t, std::milli>& current_time) = 0;
+  std::coroutine_handle<> stored_coro;
+};
+
+class SchedulerBase
+{
+public:
+  virtual ~SchedulerBase() = default;
+
+  virtual void schedule(std::coroutine_handle<> handle, uint32_t when_ms) = 0;
+  virtual bool remove(std::coroutine_handle<> handle) = 0;
+  virtual void add_poller(TaskPoller* poller) = 0;
+};
+
+}

coro/inc/skullc/coro/semaphore.hpp

@@ -0,0 +1,59 @@
+//
+// Created by erki on 01/02/25.
+//
+
+#pragma once
+
+#include <concepts>
+#include <coroutine>
+
+#include "skullc/coro/scheduler.hpp"
+#include "skullc/coro/this_coro.hpp"
+
+namespace skullc::coro
+{
+
+template<typename T>
+  requires requires (T t) { { t.try_acquire() } -> std::same_as<bool>; }
+auto await_semaphore(T& semaphore)
+{
+  struct Awaitable : TaskPoller
+  {
+    Awaitable() = delete;
+    explicit Awaitable(T* semaphore)
+      : semaphore{semaphore}
+    {}
+
+    ~Awaitable() override
+    {
+      if (continuation)
+      {
+        this_coro::scheduler().remove(continuation);
+      }
+    }
+
+    bool await_ready() { return false; }
+    void await_suspend(std::coroutine_handle<> h)
+    {
+      continuation = h;
+      stored_coro = continuation;
+      this_coro::scheduler().add_poller(this);
+    }
+    auto await_resume()
+    {
+      continuation = {};
+    }
+
+    bool isReady(const std::chrono::duration<uint32_t, std::milli>&) override
+    {
+      return semaphore->try_acquire();
+    }
+
+    T* semaphore;
+    std::coroutine_handle<> continuation;
+  };
+
+  return Awaitable{&semaphore};
+}
+
+}

coro/inc/skullc/coro/sleep.hpp

@@ -0,0 +1,51 @@
+//
+// Created by erki on 01/02/25.
+//
+
+#pragma once
+
+#include "skullc/coro/scheduler.hpp"
+#include "skullc/coro/this_coro.hpp"
+
+namespace skullc::coro
+{
+
+namespace detail
+{
+
+struct TimeAwaitable
+{
+  ~TimeAwaitable()
+  {
+    if (continuation)
+    {
+      this_coro::scheduler().remove(continuation);
+    }
+  }
+
+  bool await_ready() { return false; }
+
+  void await_suspend(std::coroutine_handle<> h)
+  {
+    continuation = h;
+    this_coro::scheduler().schedule(h, resume_time);
+  }
+
+  auto await_resume()
+  {
+    continuation = {};
+    return resume_time;
+  }
+
+  uint32_t resume_time;
+  std::coroutine_handle<> continuation{};
+};
+
+}// namespace detail
+
+inline auto sleep(const std::chrono::duration<uint32_t, std::milli>& time_now, const std::chrono::duration<uint32_t, std::milli>& duration)
+{
+  return detail::TimeAwaitable{time_now.count() + duration.count()};
+}
+
+}// namespace skullc::coro

coro/inc/skullc/coro/task.hpp

@@ -12,25 +12,25 @@ namespace skullc::coro
 {
 
 template<typename T = void, bool lazy = true>
-struct [[nodiscard]] task
+struct [[nodiscard]] Task
 {
   using value_type = T;
   struct task_promise;
   using promise_type = task_promise;
 
-  task() = delete;
+  Task() = delete;
 
-  explicit task(std::coroutine_handle<promise_type> handle)
+  explicit Task(std::coroutine_handle<promise_type> handle)
       : my_handle(handle)
   {
   }
 
-  task(task&& t) noexcept : my_handle(t.my_handle) { t.my_handle = nullptr; }
+  Task(Task&& t) noexcept : my_handle(t.my_handle) { t.my_handle = nullptr; }
 
-  task(const task&) = delete;
-  task& operator=(const task&) = delete;
+  Task(const Task&) = delete;
+  Task& operator=(const Task&) = delete;
 
-  ~task()
+  ~Task()
   {
     if constexpr (!std::is_same_v<T, void>)
     {
@@ -42,7 +42,7 @@ struct [[nodiscard]] task
   auto get_handle() const { return my_handle; }
   void detach() { my_handle = nullptr; }
 
-  task& operator=(task&& other) noexcept
+  Task& operator=(Task&& other) noexcept
   {
     if (std::addressof(other) != this)
     {
@@ -109,12 +109,12 @@ struct promise_setter<void>
 
 
 template<typename T, bool lazy>
-struct task<T, lazy>::task_promise : public promise_setter<T>
+struct Task<T, lazy>::task_promise : public promise_setter<T>
 {
 
-  task get_return_object() noexcept
+  Task get_return_object() noexcept
   {
-    return task{std::coroutine_handle<task_promise>::from_promise(*this)};
+    return Task{std::coroutine_handle<task_promise>::from_promise(*this)};
   };
 
   auto initial_suspend() const noexcept
@@ -134,7 +134,7 @@ struct task<T, lazy>::task_promise : public promise_setter<T>
       void await_resume() const noexcept {}
 
       std::coroutine_handle<>
-      await_suspend(std::coroutine_handle<task::task_promise> h) noexcept
+      await_suspend(std::coroutine_handle<Task::task_promise> h) noexcept
       {
         if constexpr (std::is_same_v<T, void>)
         {

coro/inc/skullc/coro/this_coro.hpp

@@ -0,0 +1,30 @@
+//
+// Created by erki on 30/01/25.
+//
+
+#pragma once
+
+#include "skullc/coro/scheduler_base.hpp"
+
+namespace skullc::this_coro
+{
+
+struct SchedulerGetter
+{
+  void register_scheduler(coro::SchedulerBase& scheduler)
+  {
+    scheduler_ = &scheduler;
+  }
+
+  coro::SchedulerBase& operator()()
+  {
+    return *scheduler_;
+  }
+
+private:
+  coro::SchedulerBase* scheduler_ = nullptr;
+};
+
+inline static SchedulerGetter scheduler;
+
+}// namespace skullc::this_coro