Added reworked manager / statemachine tasks, thread implementation and new directory layout

Tacos/include/sta/tacos/manager.hpp

@@ -0,0 +1,86 @@
+/*
+ * manager.hpp
+ *
+ *  Created on: Sep 19, 2023
+ *      Author: Dario
+ */
+
+#ifndef INCLUDE_STA_TACOS_MANAGER_HPP_
+#define INCLUDE_STA_TACOS_MANAGER_HPP_
+
+
+#include <sta/config.hpp>
+
+#ifndef STA_TACOS_MANAGER_PRIORITY
+#	error "Manger task priority not specified in config.hpp"
+#else
+
+#include <list>
+#include <set>
+#include <sta/tacos/thread.hpp>
+
+namespace sta
+{
+	namespace tacos
+	{
+		class Manager : public TacosThread
+		{
+		public:
+			static Manager* instance()
+			{
+				static CGuard g;
+
+				if (!_instance)
+				{
+					// Create a the manager singleton instance.
+					Manager::_instance = new Manager();
+
+					// Start the manager task as a tacos task.
+					Manager::_instance->start();
+				}
+
+				return _instance;
+			}
+
+			void registerThread(TacosThread thread, std::list<uint16_t> states);
+
+			void init() override;
+
+			void func() override;
+
+		private:
+			class CGuard
+			{
+			public:
+			   ~CGuard()
+			   {
+				  if( NULL != Manager::_instance )
+				  {
+					 delete Manager::_instance;
+					 Manager::_instance = NULL;
+				  }
+			   }
+			};
+
+			static Manager* _instance;
+
+			Manager();
+
+			Manager(const Manager&);
+
+			~Manager() {}
+
+			void updateThreads();
+
+			void startThreads(uint16_t state);
+
+			void stopThreads(uint16_t state);
+
+			std::set<TacosThread> threads_[STA_TACOS_NUM_STATES];
+		};
+	}  // namespace tacos
+}  // namespace sta
+
+#endif // STA_TACOS_MANAGER_PRIORITY
+
+#endif /* INCLUDE_STA_TACOS_MANAGER_HPP_ */

Tacos/include/sta/tacos/startup.hpp

@@ -0,0 +1,31 @@
+/*
+ * startup.hpp
+ *
+ *  Created on: 22 Sep 2023
+ *      Author: Dario
+ */
+
+#ifndef INCLUDE_STA_TACOS_STARTUP_HPP_
+#define INCLUDE_STA_TACOS_STARTUP_HPP_
+
+namespace sta
+{
+	namespace tacos
+	{
+		/**
+		 * @brief Function that is called before the statemachine task is started.
+		 * Override it to adjust the statemachine to your specifications.
+		 */
+		void onStatemachineInit();
+
+		/**
+		 * @brief Function that is called before the manager task is started.
+		 * Override it to adjust the manager to your specifications.
+		 */
+		void onManagerInit();
+	}  // namespace tacos
+}  // namespace sta
+
+
+
+#endif /* INCLUDE_STA_TACOS_STARTUP_HPP_ */

Tacos/include/sta/tacos/statemachine.hpp

@@ -0,0 +1,73 @@
+/*
+ * statemachine.hpp
+ *
+ *  Created on: Sep 14, 2023
+ *      Author: Dario
+ */
+
+#ifndef INCLUDE_TACOS_STATEMACHINE_HPP_
+#define INCLUDE_TACOS_STATEMACHINE_HPP_
+
+#include <sta/config.hpp>
+
+#include <sta/tacos/thread.hpp>
+
+namespace sta
+{
+	namespace tacos
+	{
+		class Statemachine : public TacosThread
+		{
+		public:
+			static Statemachine* instance()
+			{
+				static CGuard g;
+
+				if (!_instance)
+				{
+					// Create a the manager singleton instance.
+					Statemachine::_instance = new Statemachine();
+
+					// Start the manager task as a tacos task.
+					Statemachine::_instance->start();
+				}
+
+				return _instance;
+			}
+
+			void init() override;
+
+			void func() override;
+
+			uint16_t getCurrentState();
+
+		private:
+			class CGuard
+			{
+			public:
+			   ~CGuard()
+			   {
+				  if( NULL != Statemachine::_instance )
+				  {
+					 delete Statemachine::_instance;
+					 Statemachine::_instance = NULL;
+				  }
+			   }
+			};
+
+			Statemachine();
+
+			Statemachine(const Statemachine&);
+
+			~Statemachine() {}
+
+			static Statemachine * _instance;
+
+			uint16_t currentState_;
+		};
+	}  // namespace tacos
+}  // namespace sta
+
+
+
+#endif /* INCLUDE_TACOS_STATEMACHINE_HPP_ */

Tacos/include/sta/tacos/thread.hpp

@@ -0,0 +1,78 @@
+/*
+ * task.hpp
+ *
+ *  Created on: Sep 14, 2023
+ *      Author: Dario
+ */
+
+#ifndef INCLUDE_TACOS_TASK_HPP_
+#define INCLUDE_TACOS_TASK_HPP_
+
+#include <cmsis_os2.h>
+
+#include <sta/rtos/thread.hpp>
+
+
+namespace sta
+{
+	namespace tacos
+	{
+		class TacosThread : public RtosThread
+		{
+		public:
+			/**
+			 *
+			 */
+			TacosThread(const char* name, osPriority_t prio);
+
+			virtual ~TacosThread();
+
+			/**
+			 * @brief Start the execution of this thread.
+			 */
+			void start();
+
+			/**
+			 * @brief Checks if this thread is currently running.
+			 */
+			bool isRunning();
+
+			/**
+			 * @brief Get the currently running instance.
+			 */
+			osThreadId_t getInstance();
+
+			/**
+			 *
+			 */
+			const char* getName() const;
+
+			bool operator==(const TacosThread& other) const;
+			bool operator<(const TacosThread& other) const;
+
+			/**
+			 * @brief A function that wraps this task's functionality in a loop. This loop will run until
+			 * termination is requested.
+			 */
+			void loop();
+
+			virtual void init();
+
+			/**
+			 * @brief The body of the thread's loop. Has to be implemented by the user.
+			 */
+			virtual void func();
+		private:
+			/**
+			 * @brief Static function to pass to RTOS to run as a thread. Calls the loop function implemented here.
+			 */
+			static void entry_point(void* arg);
+
+			osThreadId_t instance_;
+			osThreadAttr_t attribs_;
+		};
+	}
+}
+
+
+#endif /* INCLUDE_TACOS_TASK_HPP_ */