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Added thread rework, and cleaned up Tacos startup

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This commit is contained in:
dario
2023-10-27 12:44:23 +02:00
parent 4efc0382f8
commit 5e23008b78
17 changed files with 194 additions and 52 deletions
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44
App/Src/startup.cpp
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@@ -12,6 +12,8 @@
#include <sta/tacos/manager.hpp>
#include <sta/tacos/statemachine.hpp>
#include <tasks/dummy.hpp>
#include <gpio.h>
#include <sta/devices/stm32/gpio_pin.hpp>
#include <memory>
@@ -22,17 +24,47 @@ namespace sta
{
void onStatemachineInit()
{
STA_DEBUG_PRINTLN("Starting statemachine task!");
Statemachine::instance()->setStateFunction([](uint16_t state) -> uint16_t {
// ###### Implement your state transition function here! ######
/**
* This function should return some state within 0 and STA_TACOS_NUM_STATES (specified in the config.hpp).
* Return the same state as given as the argument for no state transition. Make sure, that this function is not
* computationally expensive.
*/
return state;
});
Statemachine::instance()->setTimerFunction([](uint16_t state, uint16_t lastState, uint32_t event) {
// ###### Set the failsafe and lockout timers here ######
/**
* This function is called after a state transition from lastState to state. Event corresponds to EventFlag enum in the Statemachine
* and encode how the state change happened.
*
* Setting a timer here is fully optional and depends on your system's specifications.
*/
uint32_t someFailsafeMillis = 42;
uint16_t someNextState = STA_TACOS_INITIAL_STATE;
uint32_t someLockoutMillis = 21;
// Start the failsafe timer to force a state transition to someNextState after someFailsafeMillis milliseconds.
Statemachine::instance()->setFailsafeTimer(someFailsafeMillis, someNextState);
// Start the lockout timer to block a state transition for the first someLockoutMillis milliseconds.
Statemachine::instance()->setLockoutTimer(someLockoutMillis);
});
}
void onManagerInit()
{
STA_DEBUG_PRINTLN("Starting manager task!");
// ###### Register different threads for different states here. ######
Manager::instance()->registerThread(std::make_shared<demo::DummyTask>("0"), {0});
Manager::instance()->registerThread(std::make_shared<demo::DummyTask>("1"), {1});
Manager::instance()->registerThread(std::make_shared<demo::DummyTask>("2"), {2});
Manager::instance()->registerThread(std::make_shared<demo::DummyTask>("3"), {3});
// The dummy task runs for state 0.
Manager::instance()->registerThread(std::make_shared<demo::DummyTask>("Dummy"), {0});
}
} // namespace tacos
} // namespace sta

4
App/Src/tasks/dummy.cpp
View File

@@ -29,8 +29,8 @@ namespace demo
void DummyTask::func()
{
STA_DEBUG_PRINTLN(this->getName());
// STA_DEBUG_PRINT("Executing ");
// STA_DEBUG_PRINTLN(this->getName());
osDelay(1000);
}
} // namespace demo