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

Tacos/include/sta/tacos/manager.hpp

@@ -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

Tacos/include/sta/tacos/thread.hpp

@@ -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:
 

Tacos/src/manager.cpp

@@ -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);
 

Tacos/src/statemachine.cpp

@@ -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

Tacos/src/thread.cpp

@@ -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