From 5217945c034d5e6dab0a0ab8cf8adbd2090a87d5 Mon Sep 17 00:00:00 2001
From: dario <dario.vandenboom@rcor.de>
Date: Fri, 10 Nov 2023 09:53:22 +0100
Subject: [PATCH] Added first successful test for statemachine rework

---
 App/Inc/sta/config.hpp   |  2 +-
 App/Inc/tasks/toggle.hpp | 26 ++++++++++++++++++++++++++
 App/Src/startup.cpp      |  5 ++++-
 App/Src/tasks/toggle.cpp | 37 +++++++++++++++++++++++++++++++++++++
 Libs/rtos2-utils         |  2 +-
 5 files changed, 69 insertions(+), 3 deletions(-)
 create mode 100644 App/Inc/tasks/toggle.hpp
 create mode 100644 App/Src/tasks/toggle.cpp

diff --git a/App/Inc/sta/config.hpp b/App/Inc/sta/config.hpp
index eee17cb..ac9da2c 100644
--- a/App/Inc/sta/config.hpp
+++ b/App/Inc/sta/config.hpp
@@ -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_ */
diff --git a/App/Inc/tasks/toggle.hpp b/App/Inc/tasks/toggle.hpp
new file mode 100644
index 0000000..3d14e2f
--- /dev/null
+++ b/App/Inc/tasks/toggle.hpp
@@ -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_ */
diff --git a/App/Src/startup.cpp b/App/Src/startup.cpp
index 9b5186a..646ca9c 100644
--- a/App/Src/startup.cpp
+++ b/App/Src/startup.cpp
@@ -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
diff --git a/App/Src/tasks/toggle.cpp b/App/Src/tasks/toggle.cpp
new file mode 100644
index 0000000..f4efe41
--- /dev/null
+++ b/App/Src/tasks/toggle.cpp
@@ -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);
+	}
+}
+
+
diff --git a/Libs/rtos2-utils b/Libs/rtos2-utils
index c609dc8..615900f 160000
--- a/Libs/rtos2-utils
+++ b/Libs/rtos2-utils
@@ -1 +1 @@
-Subproject commit c609dc81cc70327948aa8173c9d6ad804ae7a642
+Subproject commit 615900f16e246f3f33eebb9b022b7da3c62b7162