mirror of
https://git.intern.spaceteamaachen.de/ALPAKA/TACOS.git
synced 2025-08-06 09:37:34 +00:00
Added dummy task. Still a lot of compiler errors to be fixed
This commit is contained in:
dario
34
App/Src/tasks/dummy.cpp
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34
App/Src/tasks/dummy.cpp
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/*
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* dummy.cpp
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*
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* Created on: 22 Sep 2023
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* Author: Dario
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*/
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#include <tasks/dummy.hpp>
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#include <sta/debug/debug.hpp>
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#include <cmsis_os2.h>
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namespace demo
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{
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DummyTask::DummyTask(const char* name)
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: TacosThread(name, osPriorityNormal)
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{
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}
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void DummyTask::init()
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{
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STA_DEBUG_PRINTLN("Initialized dummy task!");
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}
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void DummyTask::func()
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{
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STA_DEBUG_PRINT("Executing ");
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STA_DEBUG_PRINTLN(this->getName());
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}
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} // namespace demo
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@@ -1,152 +0,0 @@
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/*
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* manager.cpp
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*
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* Created on: Aug 30, 2023
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* Author: Dario
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*/
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#include <sta/debug/debug.hpp>
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#include <sta/debug/assert.hpp>
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#include <list>
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#include <algorithm>
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#include <cmsis_os2.h>
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#include <FreeRTOS.h>
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#include <sta/rtos/system/events.hpp>
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#include <tasks/statemachine.hpp>
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namespace tacos
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{
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// The data structure representing a TACOS task.
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struct tacos_task_t
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{
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// The code to be executed for this task.
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osThreadFunc_t func;
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// The attributes for the task.
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osThreadAttr_t attribs;
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// A list of currently running instances of this task.
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std::list<osThreadId_t> running;
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// A list of states for which this task should be running.
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std::list<tacos_states_t> states;
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};
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} // namespace tacos
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// The current state defined somewhere else.
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extern tacos_states_t currentState;
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extern "C"
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{
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void managerTask(void *)
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{
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STA_DEBUG_PRINTLN("INITIALIZED MANAGER TASK");
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while (true)
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{
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// Wait until the state machine triggers an event signaling a state-change.
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uint32_t flags = osEventFlagsWait(stateChangeEvent_id, STATE_CHANGED_MSK, osFlagsWaitAll, osWaitForever);
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}
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}
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}
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std::list<tacos_task_t> tasks;
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void dummyInit(void *)
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{
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while (true)
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{
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STA_DEBUG_PRINTLN("INIT STATE");
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}
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osThreadExit();
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}
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void dummyStarted(void *)
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{
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while (true)
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{
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STA_DEBUG_PRINTLN("STARTED STATE");
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}
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osThreadExit();
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}
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void dummyFlying(void *)
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{
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while (true)
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{
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STA_DEBUG_PRINTLN("FLYING STATE");
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}
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osThreadExit();
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}
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void dummyLanded(void *)
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{
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while (true)
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{
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STA_DEBUG_PRINTLN("LANDED STATE");
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}
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osThreadExit();
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}
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extern "C" void startManagerTask(void *)
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{
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STA_DEBUG_PRINTLN("INITIALIZED MANAGER TASK");
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while (true)
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{
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// Wait until the state machine triggers an event signaling a state-change.
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osEventFlagsWait(stateChangeEvent_id, STATE_CHANGED_MSK, osFlagsWaitAll, osWaitForever);
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for (tacos_task_t task : tasks)
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{
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// Check if this task is supposed to be running for this state. If not, kill all instances, else create the desired number of instances.
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if (std::find(task.states.begin(), task.states.end(), currentState) == task.states.end())
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{
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for (osThreadId_t instance : task.running)
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{
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osThreadTerminate(instance);
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}
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}
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else
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{
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if (!task.running.empty())
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{
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osThreadDef (task.attribs.name, task.attribs.priority, 1, 0);
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osThreadCreate(osTh, argument);
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}
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}
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}
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}
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osThreadExit();
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}
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@@ -1,25 +0,0 @@
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/*
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* manager.cpp
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*
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* Created on: Aug 31, 2023
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* Author: Carl
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*/
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#include <cmsis_os.h>
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#include <string>
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#include <usart.h>
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#include <sta/debug/debug.hpp>
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extern "C" void outputTask(void *)
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{
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while (true)
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{
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STA_DEBUG_PRINTLN("OUTPUT TASK RUNNING");
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osThreadYield();
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}
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osThreadExit();
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}
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@@ -1,107 +0,0 @@
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/*
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* state_machine.cpp
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*
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* Created on: Sep 4, 2023
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* Author: Dario
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*/
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#include <cmsis_os2.h>
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#include <tasks/statemachine.hpp>
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#include <sta/debug/assert.hpp>
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tacos_states_t currentState;
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osTimerId_t lockout;
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osTimerId_t failsafe;
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void lockoutCallback(void* arg)
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{
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}
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void failsafeCallback(void* arg)
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{
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changeState(TACOS_STATE_CHG_TIMEOUT);
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}
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bool checkStateChangeConditions()
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{
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// Only use the timers in this demo.
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return false;
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}
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void changeState(uint8_t flag)
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{
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// Stop the old timers.
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osTimerStop(lockout);
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osTimerStop(failsafe);
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// Set the event flags to signal other tasks that a state change has occured. Reset the flags immediately.
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osEventFlagsSet(stateChangeEvent_id, flag);
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osEventFlagsClear(stateChangeEvent_id, TACOS_STATE_CHG_ALL);
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uint32_t lockoutCycles = 0;
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uint32_t failsafeCycles = 0;
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switch (currentState) {
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case tacos_states_t::init:
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currentState = tacos_states_t::started;
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lockoutCycles = 5000;
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failsafeCycles = 6000;
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case tacos_states_t::started:
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currentState = tacos_states_t::flying;
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lockoutCycles = 1000;
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failsafeCycles = 2000;
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case tacos_states_t::flying:
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currentState = tacos_states_t::landed;
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lockoutCycles = 5000;
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failsafeCycles = 6000;
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break;
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default:
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break;
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}
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// Restart the timers.
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osTimerStart(lockout, lockoutCycles);
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osTimerStart(failsafe, failsafeCycles);
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}
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extern "C" void startStateMachine(void*)
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{
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// Initialize the stateChange event.
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stateChangeEvent_id = osEventFlagsNew(NULL);
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STA_ASSERT_MSG(stateChangeEvent_id != NULL, "Failed to initialize state change event!");
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// The timers for catching errors.
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lockout = osTimerNew(lockoutCallback, osTimerOnce, NULL, NULL);
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failsafe = osTimerNew(failsafeCallback, osTimerOnce, NULL, NULL);
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// Check if the initialization of the timers was successful.
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STA_ASSERT_MSG(lockout != 0, "Failed to initialize lockout timer");
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STA_ASSERT_MSG(failsafe != 0, "Failed to initialize failsafe timer");
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while (true)
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{
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if (checkStateChangeConditions())
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{
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changeState(TACOS_STATE_CHG_NATURAL);
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}
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}
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osThreadExit();
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}
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@@ -1,24 +0,0 @@
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/*
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* watchdog.cpp
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*
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* Created on: Sep 1, 2023
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* Author: Dario
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*/
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#include <sta/debug/debug.hpp>
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#include <sta/rtos/system/watchdog.hpp>
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namespace sta
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{
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namespace rtos
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{
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// Implementation of the watchdog event handler.
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void watchdogEventHandler(void *, uint32_t flags)
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{
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if (flags & STA_WATCHDOG_FLAG_HEARTBEAT)
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{
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STA_DEBUG_PRINTLN("PING!");
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}
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}
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}
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} // namespace sta
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