From 2b4e6341798890f63f898295365074444efb528e Mon Sep 17 00:00:00 2001
From: dario <dario.vandenboom@arcor.de>
Date: Wed, 29 Nov 2023 20:12:45 +0100
Subject: [PATCH] Changed TacosThread termination to work correctly; fixed bugs
 in the testing

---
 .cproject                       |  1 +
 .settings/language.settings.xml |  4 ++--
 App/Src/startup.cpp             |  5 +++++
 App/Src/tasks/toggle.cpp        | 12 ++++--------
 Libs/rtos2-utils                |  2 +-
 Libs/sta-core                   |  2 +-
 Tacos/src/thread.cpp            | 11 ++++++++---
 7 files changed, 22 insertions(+), 15 deletions(-)

diff --git a/.cproject b/.cproject
index c112998..400127d 100644
--- a/.cproject
+++ b/.cproject
@@ -25,6 +25,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.1523528544" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="genericBoard" valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.1559967274" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.6 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32F411RETx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Core/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy | ../Drivers/CMSIS/Device/ST/STM32F4xx/Include | ../Drivers/CMSIS/Include | ../Middlewares/Third_Party/FreeRTOS/Source/include | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F ||  ||  || USE_HAL_DRIVER | STM32F411xE ||  || Drivers | Core/Startup | Middlewares | Core ||  ||  || ${workspace_loc:/${ProjName}/STM32F411RETX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None ||  ||  || " valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.1388963198" name="Cpu clock frequence" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" useByScannerDiscovery="false" value="16" valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat.2054601156" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat" value="true" valueType="boolean"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.682707397" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
 							<builder buildPath="${workspace_loc:/TACOS}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.1663759602" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.1268227203" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index fa3c189..69eae04 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -5,7 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-409744681908698058" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1366383323889271194" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -16,7 +16,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-409744681908698058" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1366383323889271194" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
diff --git a/App/Src/startup.cpp b/App/Src/startup.cpp
index 87dfde0..4fe3a2b 100644
--- a/App/Src/startup.cpp
+++ b/App/Src/startup.cpp
@@ -16,6 +16,7 @@
 #include <tasks/disturb.hpp>
 #include <gpio.h>
 #include <sta/devices/stm32/gpio_pin.hpp>
+#include <sta/rtos/debug/heap_stats.hpp>
 
 #include <memory>
 
@@ -39,6 +40,10 @@ namespace sta
 			Manager::instance()->registerThread(std::make_shared<demo::DummyTask>("State 2 - FAIL"), {2});
 			Manager::instance()->registerThread(std::make_shared<demo::Toggle>(), {0, 1});
 			Manager::instance()->registerThread(std::make_shared<demo::DisturbTask>(), {0, 1});
+
+			STA_DEBUG_PRINTF("The answer to everything is %d", 42);
+
+			STA_DEBUG_HEAP_STATS();
 		}
 	} // namespace tacos
 } // namespace sta
diff --git a/App/Src/tasks/toggle.cpp b/App/Src/tasks/toggle.cpp
index e43b296..cdeb197 100644
--- a/App/Src/tasks/toggle.cpp
+++ b/App/Src/tasks/toggle.cpp
@@ -27,7 +27,7 @@ namespace demo
 		osDelay(5000);
 
 		// Have we been requested to terminate while waiting?
-		if (!isRunning())
+		if (isTerminationRequested())
 			return;
 
 		// Do some important stuff...
@@ -38,14 +38,10 @@ namespace demo
 		if (state != 2)
 		{
 			next = 1 - state;
-		}
-		else
-		{
-			next = 0;
-		}
 
-		STA_DEBUG_PRINTLN("Toggle!");
-		sta::tacos::Statemachine::instance()->requestStateTransition(state, next, 0);
+			STA_DEBUG_PRINTLN("Toggle!");
+			sta::tacos::Statemachine::instance()->requestStateTransition(state, next, 0);
+		}
 	}
 }
 
diff --git a/Libs/rtos2-utils b/Libs/rtos2-utils
index 615900f..dccdaca 160000
--- a/Libs/rtos2-utils
+++ b/Libs/rtos2-utils
@@ -1 +1 @@
-Subproject commit 615900f16e246f3f33eebb9b022b7da3c62b7162
+Subproject commit dccdacae426f699405da195f7d6ddb283a12e632
diff --git a/Libs/sta-core b/Libs/sta-core
index 4da1f0b..fb17c11 160000
--- a/Libs/sta-core
+++ b/Libs/sta-core
@@ -1 +1 @@
-Subproject commit 4da1f0bb7dd48f89e9dd5ee0ec181638894e55e2
+Subproject commit fb17c11903d1e7c92a2de3ea08bbed8386a7f35a
diff --git a/Tacos/src/thread.cpp b/Tacos/src/thread.cpp
index d6a1226..49c6b14 100644
--- a/Tacos/src/thread.cpp
+++ b/Tacos/src/thread.cpp
@@ -81,21 +81,26 @@ namespace sta
 			// Infinite loop allowing quick restarts of this thread after termination.
 			while (true)
 			{
-				// The thread has to wait until the startup has been completed.
+				// The thread has to wait until the system startup has been completed.
 				rtos::waitForStartupEvent();
 
 				// Wait for a thread start flag.
 				wait(STA_RTOS_THREAD_FLAG_START);
 
+				// Call user-defined initialization code.
 				running_ = true;
 				init();
 
-				// Run the thread until the termination flag is set.
-				while (!resetTerminationRequest())
+				// Run the thread until the termination flag is set. Reset this
+				while (!isTerminationRequested())
 				{
 					func();
 				}
 
+				// Clear the termination request flag for this thread.
+				deleteTerminationRequest();
+
+				// Call user-defined cleanup code.
 				cleanup();
 				running_ = false;
 			}