Added dummy task. Still a lot of compiler errors to be fixed

.cproject

@@ -101,12 +101,12 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="App"/>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Core"/>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Drivers"/>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Libs"/>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Middlewares"/>
 						<entry flags="VALUE_WORKSPACE_PATH" kind="sourcePath" name="Tacos"/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="App"/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Libs"/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Core"/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Middlewares"/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Drivers"/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>
@@ -200,10 +200,10 @@
 					</folderInfo>
 					<sourceEntries>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="App"/>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Core"/>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Drivers"/>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Libs"/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Core"/>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Middlewares"/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Drivers"/>
 					</sourceEntries>
 				</configuration>
 			</storageModule>

.settings/stm32cubeide.project.prefs

@@ -1,5 +1,5 @@
 635E684B79701B039C64EA45C3F84D30=C96BA6CC9F20E1205A6EBDFF40205165
 66BE74F758C12D739921AEA421D593D3=4
 8DF89ED150041C4CBC7CB9A9CAA90856=D6E44E0C9E8538D2672E3627575EB9A7
-DC22A860405A8BF2F2C095E5B6529F12=B7A8998BB86F8064A3F4829332693759
+DC22A860405A8BF2F2C095E5B6529F12=D6E44E0C9E8538D2672E3627575EB9A7
 eclipse.preferences.version=1

App/Inc/tasks/dummy.hpp

@@ -0,0 +1,25 @@
+/*
+ * dummy.hpp
+ *
+ *  Created on: 22 Sep 2023
+ *      Author: Dario
+ */
+
+#ifndef INC_TASKS_DUMMY_HPP_
+#define INC_TASKS_DUMMY_HPP_
+
+#include <sta/tacos/thread.hpp>
+
+namespace demo
+{
+	class DummyTask : public sta::tacos::TacosThread {
+	public:
+		DummyTask(const char* name);
+
+		void init() override;
+
+		void func() override;
+	};
+} // namespace demo
+
+#endif /* INC_TASKS_DUMMY_HPP_ */

App/Inc/tasks/statemachine.hpp

@@ -1,45 +0,0 @@
-/*
- * statemachine.hpp
- *
- *  Created on: Sep 6, 2023
- *      Author: Dario
- */
-
-#ifndef INC_TASKS_STATEMACHINE_HPP_
-#define INC_TASKS_STATEMACHINE_HPP_
-
-// Two flags for the state change event. TODO: HOW TO SET THE VALUES?
-#define TACOS_STATE_CHG_FORCED 	0x01
-#define TACOS_STATE_CHG_TIMEOUT	0x02
-#define TACOS_STATE_CHG_NATURAL	0x03
-#define TACOS_STATE_CHG_ALL		TACOS_STATE_CHG_FORCED | TACOS_STATE_CHG_TIMEOUT | TACOS_STATE_CHG_NATURAL
-
-
-// The event for signaling state changes to other tasks
-osEventFlagsId_t stateChangeEvent_id;
-
-
-// The states used for this demo
-enum tacos_states_t
-{
-	init,
-	started,
-	flying,
-	landed
-};
-
-
-namespace tacos
-{
-	class StateMachine
-	{
-	public:
-
-
-	private:
-
-	};
-}
-
-
-#endif /* INC_TASKS_STATEMACHINE_HPP_ */

App/Src/startup.cpp

@@ -5,38 +5,31 @@
  *      Author: Dario
  */
 
-#include <cmsis_os2.h>
 
-#include <usart.h>
+#include <sta/tacos/startup.hpp>
-#include <sta/rtos/mutex.hpp>
-#include <sta/devices/stm32/bus/uart.hpp>
-#include <sta/debug/printing/printable_uart.hpp>
 #include <sta/debug/debug.hpp>
 
-// The UART mutex defined in freertos.c
+#include <sta/tacos/manager.hpp>
-extern osMutexId_t uartMutexHandle;
+#include <tasks/dummy.hpp>
 
 
 namespace sta
 {
-	// Here the printable used for debugging is defined.
+	namespace tacos
-	Printable * Debug;
-
-	namespace rtos
 	{
-		// Override the weak implementation of startupExtras provided in rtos2-utils.
+		void onStatemachineInit()
-		void startupExtras(void * argument)
 		{
-			// Initialize the mutex for UART communication.
+			STA_DEBUG_PRINTLN("Starting statemachine task!");
-			RtosMutex * mutex = new RtosMutex(&uartMutexHandle);
-
-			// Initialize the UART interface and printable object.
-			UARTSettings settings = { .mode =  UARTMode::RX_TX };
-			STM32UART * intf_ptr = new STM32UART(&huart2, settings, mutex);
-			Debug = new PrintableUART(intf_ptr);
-
-			STA_DEBUG_PRINTLN("UART SUCCESSFULLY INITIALIZED");
 		}
-	} // namespace rtos
+
+		void onManagerInit()
+		{
+			STA_DEBUG_PRINTLN("Starting manager task!");
+
+			Manager::instance()->registerThread(demo::DummyTask("A"), {0, 1});
+			Manager::instance()->registerThread(demo::DummyTask("B"), {1, 2});
+			Manager::instance()->registerThread(demo::DummyTask("C"), {2, 3});
+		}
+	} // namespace tacos
 } // namespace sta
 

App/Src/tasks/dummy.cpp

@@ -0,0 +1,34 @@
+/*
+ * dummy.cpp
+ *
+ *  Created on: 22 Sep 2023
+ *      Author: Dario
+ */
+
+#include <tasks/dummy.hpp>
+#include <sta/debug/debug.hpp>
+
+#include <cmsis_os2.h>
+
+
+namespace demo
+{
+	DummyTask::DummyTask(const char* name)
+		: TacosThread(name, osPriorityNormal)
+	{
+
+	}
+
+	void DummyTask::init()
+	{
+		STA_DEBUG_PRINTLN("Initialized dummy task!");
+	}
+
+	void DummyTask::func()
+	{
+		STA_DEBUG_PRINT("Executing ");
+		STA_DEBUG_PRINTLN(this->getName());
+	}
+}  // namespace demo
+
+

App/Src/tasks/manager.cpp

@@ -1,152 +0,0 @@
-/*
- * manager.cpp
- *
- *  Created on: Aug 30, 2023
- *      Author: Dario
- */
-
-
-#include <sta/debug/debug.hpp>
-#include <sta/debug/assert.hpp>
-
-#include <list>
-#include <algorithm>
-
-#include <cmsis_os2.h>
-#include <FreeRTOS.h>
-
-
-#include <sta/rtos/system/events.hpp>
-
-#include <tasks/statemachine.hpp>
-
-
-namespace tacos
-{
-
-	// The data structure representing a TACOS task.
-	struct tacos_task_t
-	{
-		// The code to be executed for this task.
-		osThreadFunc_t func;
-
-		// The attributes for the task.
-		osThreadAttr_t attribs;
-
-		// A list of currently running instances of this task.
-		std::list<osThreadId_t> running;
-
-		// A list of states for which this task should be running.
-		std::list<tacos_states_t> states;
-	};
-
-
-} // namespace tacos
-
-
-// The current state defined somewhere else.
-extern tacos_states_t currentState;
-
-
-extern "C"
-{
-	void managerTask(void *)
-	{
-		STA_DEBUG_PRINTLN("INITIALIZED MANAGER TASK");
-
-		while (true)
-		{
-			// Wait until the state machine triggers an event signaling a state-change.
-			uint32_t flags = osEventFlagsWait(stateChangeEvent_id, STATE_CHANGED_MSK, osFlagsWaitAll, osWaitForever);
-
-
-		}
-	}
-}
-
-
-
-
-
-
-
-
-std::list<tacos_task_t> tasks;
-
-
-
-void dummyInit(void *)
-{
-	while (true)
-	{
-		STA_DEBUG_PRINTLN("INIT STATE");
-	}
-
-	osThreadExit();
-}
-
-void dummyStarted(void *)
-{
-	while (true)
-	{
-		STA_DEBUG_PRINTLN("STARTED STATE");
-	}
-
-	osThreadExit();
-}
-
-void dummyFlying(void *)
-{
-	while (true)
-	{
-		STA_DEBUG_PRINTLN("FLYING STATE");
-	}
-
-	osThreadExit();
-}
-
-void dummyLanded(void *)
-{
-	while (true)
-	{
-		STA_DEBUG_PRINTLN("LANDED STATE");
-	}
-
-	osThreadExit();
-}
-
-
-extern "C" void startManagerTask(void *)
-{
-	STA_DEBUG_PRINTLN("INITIALIZED MANAGER TASK");
-
-	while (true)
-	{
-		// Wait until the state machine triggers an event signaling a state-change.
-		osEventFlagsWait(stateChangeEvent_id, STATE_CHANGED_MSK, osFlagsWaitAll, osWaitForever);
-
-		for (tacos_task_t task : tasks)
-		{
-			// Check if this task is supposed to be running for this state. If not, kill all instances, else create the desired number of instances.
-			if (std::find(task.states.begin(), task.states.end(), currentState) == task.states.end())
-			{
-				for (osThreadId_t instance : task.running)
-				{
-					osThreadTerminate(instance);
-				}
-			}
-			else
-			{
-				if (!task.running.empty())
-				{
-					osThreadDef (task.attribs.name, task.attribs.priority, 1, 0);
-
-					osThreadCreate(osTh, argument);
-				}
-			}
-		}
-	}
-
-	osThreadExit();
-}
-

App/Src/tasks/output.cpp

@@ -1,25 +0,0 @@
-/*
- * manager.cpp
- *
- *  Created on: Aug 31, 2023
- *      Author: Carl
- */
-
-#include <cmsis_os.h>
-#include <string>
-#include <usart.h>
-
-#include <sta/debug/debug.hpp>
-
-
-extern "C" void outputTask(void *)
-{
-	while (true)
-	{
-		STA_DEBUG_PRINTLN("OUTPUT TASK RUNNING");
-
-		osThreadYield();
-	}
-
-	osThreadExit();
-}

App/Src/tasks/statemachine.cpp

@@ -1,107 +0,0 @@
-/*
- * state_machine.cpp
- *
- *  Created on: Sep 4, 2023
- *      Author: Dario
- */
-
-#include <cmsis_os2.h>
-
-#include <tasks/statemachine.hpp>
-#include <sta/debug/assert.hpp>
-
-
-tacos_states_t currentState;
-
-osTimerId_t lockout;
-osTimerId_t failsafe;
-
-
-void lockoutCallback(void* arg)
-{
-
-}
-
-void failsafeCallback(void* arg)
-{
-	changeState(TACOS_STATE_CHG_TIMEOUT);
-}
-
-
-
-bool checkStateChangeConditions()
-{
-	// Only use the timers in this demo.
-	return false;
-}
-
-
-void changeState(uint8_t flag)
-{
-	// Stop the old timers.
-	osTimerStop(lockout);
-	osTimerStop(failsafe);
-
-	// Set the event flags to signal other tasks that a state change has occured. Reset the flags immediately.
-	osEventFlagsSet(stateChangeEvent_id, flag);
-	osEventFlagsClear(stateChangeEvent_id, TACOS_STATE_CHG_ALL);
-
-	uint32_t lockoutCycles = 0;
-	uint32_t failsafeCycles = 0;
-
-	switch (currentState) {
-		case tacos_states_t::init:
-			currentState = tacos_states_t::started;
-
-			lockoutCycles = 5000;
-			failsafeCycles = 6000;
-
-		case tacos_states_t::started:
-			currentState = tacos_states_t::flying;
-
-			lockoutCycles = 1000;
-			failsafeCycles = 2000;
-
-		case tacos_states_t::flying:
-			currentState = tacos_states_t::landed;
-
-			lockoutCycles = 5000;
-			failsafeCycles = 6000;
-
-			break;
-		default:
-			break;
-	}
-
-	// Restart the timers.
-	osTimerStart(lockout, lockoutCycles);
-	osTimerStart(failsafe, failsafeCycles);
-}
-
-
-extern "C" void startStateMachine(void*)
-{
-	// Initialize the stateChange event.
-	stateChangeEvent_id = osEventFlagsNew(NULL);
-	STA_ASSERT_MSG(stateChangeEvent_id != NULL, "Failed to initialize state change event!");
-
-	// The timers for catching errors.
-	lockout = osTimerNew(lockoutCallback, osTimerOnce, NULL, NULL);
-	failsafe = osTimerNew(failsafeCallback, osTimerOnce, NULL, NULL);
-
-	// Check if the initialization of the timers was successful.
-	STA_ASSERT_MSG(lockout != 0, "Failed to initialize lockout timer");
-	STA_ASSERT_MSG(failsafe != 0, "Failed to initialize failsafe timer");
-
-	while (true)
-	{
-		if (checkStateChangeConditions())
-		{
-			changeState(TACOS_STATE_CHG_NATURAL);
-		}
-	}
-
-	osThreadExit();
-}
-
-

App/Src/watchdog.cpp

@@ -12,13 +12,9 @@ namespace sta
 {
 	namespace rtos
 	{
-		// Implementation of the watchdog event handler.
+		void watchdogEventHandler(void * arg, uint32_t flags)
-		void watchdogEventHandler(void *, uint32_t flags)
 		{
-			if (flags & STA_WATCHDOG_FLAG_HEARTBEAT)
+			STA_DEBUG_PRINTLN("Watchdog is doing stuff?");
-			{
-				STA_DEBUG_PRINTLN("PING!");
-			}
 		}
 	}
 } // namespace sta

Core/Src/freertos.c

@@ -29,7 +29,6 @@
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
-typedef StaticTask_t osStaticThreadDef_t;
 typedef StaticSemaphore_t osStaticMutexDef_t;
 /* USER CODE BEGIN PTD */
 
@@ -56,19 +55,6 @@ const osThreadAttr_t defaultTask_attributes = {
   .stack_size = 128 * 4,
   .priority = (osPriority_t) osPriorityNormal,
 };
-
-/* Definitions for managerTask */
-osThreadId_t managerTaskHandle;
-uint32_t managerTaskBuffer[ 128 ];
-osStaticThreadDef_t managerTaskControlBlock;
-const osThreadAttr_t managerTask_attributes = {
-  .name = "managerTask",
-  .cb_mem = &managerTaskControlBlock,
-  .cb_size = sizeof(managerTaskControlBlock),
-  .stack_mem = &managerTaskBuffer[0],
-  .stack_size = sizeof(managerTaskBuffer),
-  .priority = (osPriority_t) osPriorityLow,
-};
 /* Definitions for uartMutex */
 osMutexId_t uartMutexHandle;
 osStaticMutexDef_t uartMutex_cb;
@@ -84,7 +70,6 @@ const osMutexAttr_t uartMutex_attributes = {
 /* USER CODE END FunctionPrototypes */
 
 void StartDefaultTask(void *argument);
-extern void startManagerTask(void *argument);
 
 void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
 
@@ -133,9 +118,6 @@ void MX_FREERTOS_Init(void) {
   /* creation of defaultTask */
   defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);
 
-  /* creation of managerTask */
-  managerTaskHandle = osThreadNew(startManagerTask, NULL, &managerTask_attributes);
-
   /* USER CODE BEGIN RTOS_THREADS */
   /* add threads, ... */
   /* USER CODE END RTOS_THREADS */

TACOS-Demo.ioc

@@ -5,7 +5,7 @@ CAD.provider=
 FREERTOS.FootprintOK=true
 FREERTOS.IPParameters=Tasks01,configUSE_NEWLIB_REENTRANT,configRECORD_STACK_HIGH_ADDRESS,configCHECK_FOR_STACK_OVERFLOW,Mutexes01,FootprintOK
 FREERTOS.Mutexes01=uartMutex,Static,uartMutex_cb
-FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL;managerTask,8,128,startManagerTask,As external,NULL,Static,managerTaskBuffer,managerTaskControlBlock
+FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
 FREERTOS.configCHECK_FOR_STACK_OVERFLOW=1
 FREERTOS.configRECORD_STACK_HIGH_ADDRESS=1
 FREERTOS.configUSE_NEWLIB_REENTRANT=1

Tacos/include/sta/tacos/statemachine.hpp

@@ -42,6 +42,8 @@ namespace sta
 			uint16_t getCurrentState();
 
 		private:
+			static Statemachine * _instance;
+
 			class CGuard
 			{
 			public:
@@ -61,8 +63,6 @@ namespace sta
 
 			~Statemachine() {}
 
-			static Statemachine * _instance;
-
 			uint16_t currentState_;
 		};
 	}  // namespace tacos