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: