ALPAKA/TACOS
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Cleaned up compiler errors that I missed somehow.

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This commit is contained in:
dario 2023-11-08 19:12:09 +01:00 committed by carlwachter
parent 098ef140a6
commit 59b1005590
3 changed files with 7 additions and 18 deletions
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2
Libs/rtos2-utils

@ -1 +1 @@
Subproject commit 0e96b2ec29fde1e56e12fc9f0dceb80012e0caf3
Subproject commit c609dc81cc70327948aa8173c9d6ad804ae7a642

2
Tacos/src/manager.cpp
View File

@ -80,7 +80,7 @@ namespace sta
void Manager::func()
{
Statemachine::stateChangeEvent.wait(Statemachine::EventFlags::ALL, osWaitForever);
Statemachine::stateChangeEvent.wait(EventFlags::ALL, osWaitForever);
HeapStats_t stats;
vPortGetHeapStats(&stats);

21
Tacos/src/statemachine.cpp
View File

@ -17,11 +17,8 @@ namespace sta
Statemachine::Statemachine()
: TacosThread{"Statemachine", STA_TACOS_STATEMACHINE_PRIORITY},
currentState_{STA_TACOS_INITIAL_STATE},
failsafeState_{STA_TACOS_INITIAL_STATE},
lockoutTimer_{[](void *){}, nullptr},
failsafeTimer_{[](void *){}, nullptr},
transitionFunc_{[](uint16_t) -> uint16_t { return Statemachine::instance()->getCurrentState(); }},
timerFunc_{[](uint16_t, uint16_t, uint16_t) {}},
queue_{STA_TACOS_STATEMACHINE_QUEUE_LENGTH}
{
STA_ASSERT(STA_TACOS_INITIAL_STATE < STA_TACOS_NUM_STATES);
@ -29,7 +26,7 @@ namespace sta
void Statemachine::init()
{
timerFunc_(0, 0, EventFlags::STARTUP);
}
void Statemachine::func()
@ -55,18 +52,10 @@ namespace sta
}
// Start the lockout timer if requested.
if (transition.lockout != NULL)
if (transition.lockout != 0)
{
setLockoutTimer(transition.lockout);
}
// Start the failsafe timer if requested.
if (transition.failsafe != NULL)
{
std::tie(millis, state) = transition.failsafe;
setFailsafeTimer(millis, state);
}
}
}
@ -89,12 +78,12 @@ namespace sta
void Statemachine::requestTimedStateTransition(uint32_t from, uint32_t to, uint32_t millis, uint32_t lockout /* = 0 */)
{
STA_ASSERT(nextState < STA_TACOS_NUM_STATES);
STA_ASSERT(to < STA_TACOS_NUM_STATES);
STA_ASSERT(!failsafeTimer_.isRunning());
failsafeTimer_.setCallback([from, to, lockout](void* arg) {
Statemachine::requestStateTransition(from, to, lockout);
}, &failsafeState_);
Statemachine::instance()->requestStateTransition(from, to, lockout);
}, NULL);
failsafeTimer_.start(millis);
}