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Added first successful test for statemachine rework

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This commit is contained in:
dario 2023-11-10 09:53:22 +01:00 committed by carlwachter
parent 59b1005590
commit 5217945c03
5 changed files with 69 additions and 3 deletions
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2
App/Inc/sta/config.hpp
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@ -33,7 +33,7 @@
#define STA_TACOS_STATEMACHINE_PRIORITY osPriorityNormal
// Statemachine settings. Here, we only have a single state which is also the initial state.
#define STA_TACOS_NUM_STATES 1
#define STA_TACOS_NUM_STATES 2
#define STA_TACOS_INITIAL_STATE 0
#endif /* INC_STA_CONFIG_HPP_ */

26
App/Inc/tasks/toggle.hpp Normal file
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@ -0,0 +1,26 @@
/*
* toggle.hpp
*
* Created on: Nov 10, 2023
* Author: Dario
*/
#ifndef INC_STA_TOGGLE_HPP_
#define INC_STA_TOGGLE_HPP_
#include <sta/tacos/thread.hpp>
namespace demo
{
class Toggle : public sta::tacos::TacosThread
{
public:
Toggle();
void init() override;
void func() override;
};
}
#endif /* INC_STA_TOGGLE_HPP_ */

5
App/Src/startup.cpp
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@ -12,6 +12,7 @@
#include <sta/tacos/manager.hpp>
#include <sta/tacos/statemachine.hpp>
#include <tasks/dummy.hpp>
#include <tasks/toggle.hpp>
#include <gpio.h>
#include <sta/devices/stm32/gpio_pin.hpp>
@ -32,7 +33,9 @@ namespace sta
// ###### Register different threads for different states here. ######
// The dummy task runs for state 0.
Manager::instance()->registerThread(std::make_shared<demo::DummyTask>("Dummy"), {0});
Manager::instance()->registerThread(std::make_shared<demo::DummyTask>("State 0"), {0});
Manager::instance()->registerThread(std::make_shared<demo::DummyTask>("State 1"), {1});
Manager::instance()->registerThread(std::make_shared<demo::Toggle>(), {0, 1});
}
} // namespace tacos
} // namespace sta

37
App/Src/tasks/toggle.cpp Normal file
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@ -0,0 +1,37 @@
/*
* toggle.cpp
*
* Created on: Nov 10, 2023
* Author: Dario
*/
#include <tasks/toggle.hpp>
#include <sta/tacos/statemachine.hpp>
#include <sta/debug/debug.hpp>
namespace demo
{
Toggle::Toggle()
: sta::tacos::TacosThread{ "Toggle", osPriorityNormal }
{
}
void Toggle::init()
{
}
void Toggle::func()
{
osDelay(5000);
uint16_t state = sta::tacos::Statemachine::instance()->getCurrentState();
uint16_t next = 1 - state;
STA_DEBUG_PRINTLN("Toggle!");
sta::tacos::Statemachine::instance()->requestStateTransition(state, next, 0);
}
}

2
Libs/rtos2-utils

@ -1 +1 @@
Subproject commit c609dc81cc70327948aa8173c9d6ad804ae7a642
Subproject commit 615900f16e246f3f33eebb9b022b7da3c62b7162