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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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23
Tacos/src/manager.cpp
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@@ -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);