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

Tacos/src/thread.cpp

@@ -0,0 +1,86 @@
+/*
+ * thread.cpp
+ *
+ *  Created on: Sep 14, 2023
+ *      Author: Dario
+ */
+
+
+#include <sta/tacos/thread.hpp>
+#include <sta/debug/assert.hpp>
+
+#include <functional>
+#include <cstring>
+
+
+namespace sta
+{
+	namespace tacos
+	{
+		TacosThread::TacosThread(const char* name, osPriority_t prio)
+				: RtosThread(RtosHandle<osThreadId_t>(Handle::Deferred(&instance_))),
+				  attribs_{ .name = name, .priority = prio }
+		{
+
+		}
+
+		static void entry_point(void* arg)
+		{
+			STA_ASSERT(arg != nullptr);
+
+			TacosThread* instance = reinterpret_cast<TacosThread*>(arg) ;
+			instance->loop();
+		}
+
+		void TacosThread::start()
+		{
+			STA_ASSERT(!isRunning());
+
+			instance_ = osThreadNew(entry_point, this, &attribs_);
+
+			STA_ASSERT(instance_ != NULL);
+		}
+
+		bool TacosThread::isRunning()
+		{
+			return instance_ != NULL;
+		}
+
+		osThreadId_t TacosThread::getInstance()
+		{
+			STA_ASSERT(isRunning());
+
+			return instance_;
+		}
+
+		const char* TacosThread::getName() const
+		{
+			return attribs_.name;
+		}
+
+		void TacosThread::loop()
+		{
+			init();
+
+			while ((osEventFlagsGet(instance_) & STA_RTOS_THREAD_FLAG_TERMINATE) == 0)
+			{
+				func();
+			}
+
+			instance_ = NULL;
+
+			osThreadExit();
+		}
+
+		bool TacosThread::operator==(const TacosThread& other) const
+		{
+			return std::strcmp(this->getName(), other.getName()) == 0;
+		}
+
+		bool TacosThread::operator<(const TacosThread& other) const
+		{
+			return std::strcmp(this->getName(), other.getName()) < 0;
+		}
+	}  // namespace tacos
+}  // namespace sta
+