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

Tacos/src/manager.cpp

@@ -0,0 +1,99 @@
+/*
+ * manager.cpp
+ *
+ *  Created on: Sep 19, 2023
+ *      Author: Dario
+ */
+
+#include <sta/tacos/manager.hpp>
+#include <sta/tacos/statemachine.hpp>
+
+
+namespace sta
+{
+	namespace tacos
+	{
+		void Manager::registerThread(TacosThread thread, std::list<uint16_t> states)
+		{
+			for (uint16_t state : states)
+			{
+				STA_ASSERT(state < STA_TACOS_NUM_STATES);
+
+				threads_[state].emplace(thread);
+			}
+		}
+
+		void Manager::startThreads(uint16_t state)
+		{
+			STA_ASSERT(state < STA_TACOS_NUM_STATES);
+
+			for (TacosThread thread : threads_[state])
+			{
+				if (!thread.isRunning())
+				{
+					thread.start();
+				}
+			}
+		}
+
+		void Manager::stopThreads(uint16_t state)
+		{
+			uint16_t currentState = Statemachine::instance()->getCurrentState();
+
+			for (uint16_t state = 0; state < STA_TACOS_NUM_STATES; ++state)
+			{
+				if (state == currentState)
+				{
+					continue;
+				}
+
+				for (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)
+					{
+						// ...politely request termination.
+						thread.requestTermination();
+					}
+				}
+			}
+		}
+
+		void Manager::updateThreads()
+		{
+			uint16_t state = Statemachine::instance()->getCurrentState();
+
+			startThreads(state);
+			stopThreads(state);
+		}
+
+		void Manager::init()
+		{
+			startThreads(Statemachine::instance()->getCurrentState());
+		}
+
+		void Manager::func()
+		{
+			// Wait for either the termination request or the state change flag.
+			uint32_t flags = osEventFlagsWait(getInstance(), STA_RTOS_THREAD_FLAG_TERMINATE, osFlagsWaitAny, osWaitForever);
+
+			if ((flags & STA_RTOS_THREAD_FLAG_TERMINATE) != 0)
+			{
+				// The loop implemented by the TacosThread class should handle termination.
+				return;
+			}
+
+			// Start all new tasks and stop all the tasks that aren't supposed to be running.
+			updateThreads();
+		}
+
+		Manager::Manager()
+			: TacosThread{"Manager", STA_TACOS_MANAGER_PRIORITY}
+		{
+
+		}
+
+	}  // namespace tacos
+}  // namespace sta
+
+