From 5cb4f3a2af98c3f00cb63d419e855c2faaf9dae5 Mon Sep 17 00:00:00 2001
From: dario <dario.vandenboom@arcor.de>
Date: Fri, 19 Jan 2024 12:42:05 +0100
Subject: [PATCH] Added customizable stack sizes for TacosThreads

---
 include/sta/tacos/thread.hpp | 13 ++++++++++---
 src/thread.cpp               | 11 ++---------
 2 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/include/sta/tacos/thread.hpp b/include/sta/tacos/thread.hpp
index ca01469..660dd64 100644
--- a/include/sta/tacos/thread.hpp
+++ b/include/sta/tacos/thread.hpp
@@ -31,11 +31,18 @@ namespace sta
 		{
 		public:
 			/**
-			 * @brief Create a new thread with the given name and priority.
+			 * @brief 
 			 */
-			TacosThread(const char* name, osPriority_t prio);
 
-			TacosThread();
+			/**
+			 * @brief Create a new thread with the given name and priority.
+			 * 
+			 * @param name The thread's name. This is used for debugging.
+			 * @param prio The thread's priority. Generally, this should be lower than the manager and statemachine priority.
+			 * @param stack_size The stack size for the task. The default is the stack size specified in the FreeRTOS settings.
+			 * @param cb_size The control block size for the task. The default is the size specified in the FreeRTOS settings.
+			 */
+			TacosThread(const char* name, osPriority_t prio, uint32_t stack_size = NULL, uint32_t cb_size = NULL);
 
 			virtual ~TacosThread();
 
diff --git a/src/thread.cpp b/src/thread.cpp
index 49c6b14..37b6073 100644
--- a/src/thread.cpp
+++ b/src/thread.cpp
@@ -19,17 +19,10 @@ namespace sta
 {
 	namespace tacos
 	{
-		TacosThread::TacosThread(const char* name, osPriority_t prio)
+		TacosThread::TacosThread(const char* name, osPriority_t prio, uint32_t stack_size = NULL, uint32_t cb_size = NULL)
 				: RtosThread(RtosHandle<osThreadId_t>(Handle::Deferred(&instance_))),
 				  instance_{ NULL },
-				  attribs_{ .name = name, .priority = prio },
-				  running_{false}
-		{}
-
-		TacosThread::TacosThread()
-				: RtosThread(RtosHandle<osThreadId_t>(Handle::Deferred(&instance_))),
-				  instance_{ NULL },
-				  attribs_{ },
+				  attribs_{ .name = name, .priority = prio, .stack_size=stack_size, .cb_size=cb_size },
 				  running_{false}
 		{}