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Changed registerThread to accept shared_ptrs to fix some issues with polymorphism.

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This commit is contained in:
dario 2023-09-29 15:12:44 +02:00
parent 54b2e4e9cd
commit 1a9a96503e
8 changed files with 28 additions and 35 deletions
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4
App/Inc/sta/config.hpp
View File

@ -24,8 +24,8 @@
// Settings for the rtos-utils
#define STA_RTOS_SYSTEM_EVENTS_ENABLE
#define STA_RTOS_SYSTEM_WATCHDOG_ENABLE
#define STA_RTOS_WATCHDOG_ENABLE
// #define STA_RTOS_SYSTEM_WATCHDOG_ENABLE
// #define STA_RTOS_WATCHDOG_ENABLE
// Settings for TACOS

8
App/Src/startup.cpp
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@ -12,6 +12,8 @@
#include <sta/tacos/manager.hpp>
#include <tasks/dummy.hpp>
#include <memory>
namespace sta
{
@ -26,9 +28,9 @@ namespace sta
{
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});
Manager::instance()->registerThread(std::make_unique<demo::DummyTask>("A"), {0, 1});
Manager::instance()->registerThread(std::make_unique<demo::DummyTask>("B"), {0, 2});
Manager::instance()->registerThread(std::make_unique<demo::DummyTask>("C"), {0, 3});
}
} // namespace tacos
} // namespace sta

6
App/Src/tasks/dummy.cpp
View File

@ -23,13 +23,15 @@ namespace demo
void DummyTask::init()
{
STA_DEBUG_PRINTLN("Initialized dummy task!");
}
void DummyTask::func()
{
STA_DEBUG_PRINT("Executing ");
STA_DEBUG_PRINTLN(this->getName());
// STA_DEBUG_PRINT("Executing ");
// STA_DEBUG_PRINTLN(this->getName());
osDelay(1000);
}
} // namespace demo

10
Tacos/include/sta/tacos/manager.hpp
View File

@ -15,8 +15,9 @@
# error "Manger task priority not specified in config.hpp"
#else
#include <list>
#include <set>
#include <list>
#include <memory>
#include <sta/tacos/thread.hpp>
namespace sta
@ -39,7 +40,10 @@ namespace sta
return _instance;
}
void registerThread(TacosThread thread, std::list<uint16_t> states);
/**
*
*/
void registerThread(std::shared_ptr<TacosThread> thread, std::list<uint16_t> states);
void init() override;
@ -73,7 +77,7 @@ namespace sta
void stopThreads(uint16_t state);
std::set<TacosThread> threads_[STA_TACOS_NUM_STATES];
std::set<std::shared_ptr<TacosThread>> threads_[STA_TACOS_NUM_STATES];
};
} // namespace tacos
} // namespace sta

4
Tacos/include/sta/tacos/thread.hpp
View File

@ -61,12 +61,12 @@ namespace sta
/**
* @brief This function is executed first when this thread is started.
*/
virtual void init();
virtual void init() = 0;
/**
* @brief The body of the thread's loop. Has to be implemented by the user.
*/
virtual void func();
virtual void func() = 0;
private:

23
Tacos/src/manager.cpp
View File

@ -14,7 +14,7 @@ namespace sta
{
namespace tacos
{
void Manager::registerThread(TacosThread thread, std::list<uint16_t> states)
void Manager::registerThread(std::shared_ptr<TacosThread> thread, std::list<uint16_t> states)
{
for (uint16_t state : states)
{
@ -28,11 +28,11 @@ namespace sta
{
STA_ASSERT(state < STA_TACOS_NUM_STATES);
for (TacosThread thread : threads_[state])
for (std::shared_ptr<TacosThread> thread : threads_[state])
{
if (!thread.isRunning())
if (!thread->isRunning())
{
thread.start();
thread->start();
}
}
}
@ -48,13 +48,13 @@ namespace sta
continue;
}
for (TacosThread thread : threads_[state])
for (std::shared_ptr<TacosThread> thread : threads_[state])
{
// If the thread is currently running but not part of the set of threads that should be running...
if (thread.isRunning() && threads_[currentState].count(thread) == 0)
if (thread->isRunning() && threads_[currentState].count(thread) == 0)
{
// ...politely request termination.
thread.requestTermination();
thread->requestTermination();
}
}
}
@ -70,20 +70,11 @@ namespace sta
void Manager::init()
{
STA_DEBUG_PRINTLN("INITIALIZING MANAGER!");
startThreads(Statemachine::instance()->getCurrentState());
}
void Manager::func()
{
if (true)
{
// STA_DEBUG_PRINTLN("LOOPY LOOP IN MANAGER TASK");
osDelay(1000);
}
// Wait for either the termination request or the state change flag.
uint32_t flags = osEventFlagsWait(getInstance(), STA_RTOS_THREAD_FLAG_TERMINATE, osFlagsWaitAny, osWaitForever);

3
Tacos/src/statemachine.cpp
View File

@ -35,10 +35,7 @@ namespace sta
void Statemachine::func()
{
STA_DEBUG_PRINTLN("LOOPY LOOP IN STATEMACHINE.");
STA_DEBUG_PRINTLN(lockoutTimer_.isRunning() ? "LOCKOUT RUNNING!" : "LOCKOUT STOPPED!");
osDelay(500);
}
uint16_t Statemachine::getCurrentState() const

5
Tacos/src/thread.cpp
View File

@ -8,6 +8,7 @@
#include <sta/tacos/thread.hpp>
#include <sta/debug/assert.hpp>
#include <sta/debug/debug.hpp>
#include <functional>
#include <cstring>
@ -87,10 +88,6 @@ namespace sta
return std::strcmp(this->getName(), other.getName()) < 0;
}
void TacosThread::init(){}
void TacosThread::func(){}
TacosThread::~TacosThread(){}
} // namespace tacos