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Multiple bugfixes; working manager task

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This commit is contained in:
dario
2023-10-15 22:37:04 +02:00
parent cb41fb56e2
commit 67f3e9aa15
6 changed files with 59 additions and 34 deletions
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24
Tacos/src/manager.cpp
View File

@@ -9,6 +9,8 @@
#include <sta/tacos/statemachine.hpp>
#include <sta/debug/debug.hpp>
#include <algorithm>
namespace sta
{
@@ -39,22 +41,23 @@ namespace sta
void Manager::stopThreads(uint16_t state)
{
uint16_t currentState = Statemachine::instance()->getCurrentState();
for (uint16_t state = 0; state < STA_TACOS_NUM_STATES; ++state)
for (uint16_t other = 0; other < STA_TACOS_NUM_STATES; ++other)
{
if (state == currentState)
if (other == state)
{
continue;
}
for (std::shared_ptr<TacosThread> thread : threads_[state])
for (std::shared_ptr<TacosThread> thread : threads_[other])
{
// If the thread is currently running but not part of the set of threads that should be running...
if (thread->isRunning() && threads_[currentState].count(thread) == 0)
if (thread->isRunning() && threads_[state].count(thread) == 0)
{
// ...politely request termination.
thread->requestTermination();
STA_DEBUG_PRINT("KILLING ");
STA_DEBUG_PRINTLN(thread->getName());
}
}
}
@@ -75,14 +78,9 @@ namespace sta
void Manager::func()
{
// Wait for either the termination request or the state change flag.
uint32_t flags = osEventFlagsWait(getInstance(), STA_RTOS_THREAD_FLAG_TERMINATE, osFlagsWaitAny, osWaitForever);
Statemachine::stateChangeEvent->wait(TACOS_STATE_CHANGE_ALL_FLAG, osWaitForever);
if ((flags & STA_RTOS_THREAD_FLAG_TERMINATE) != 0)
{
// The loop implemented by the TacosThread class should handle termination.
return;
}
STA_DEBUG_PRINTLN("UPDATING THREADS");
// Start all new tasks and stop all the tasks that aren't supposed to be running.
updateThreads();

29
Tacos/src/statemachine.cpp
View File

@@ -18,7 +18,8 @@ namespace sta
: TacosThread{"Statemachine", STA_TACOS_STATEMACHINE_PRIORITY},
currentState_{STA_TACOS_INITIAL_STATE},
lockoutTimer_{[](void *){}, nullptr},
failsafeTimer_{[](void *){}, nullptr}
failsafeTimer_{[](void *){}, nullptr},
transitionFunc_{[](uint16_t) -> uint16_t { return Statemachine::instance()->getCurrentState(); }}
{
STA_ASSERT(STA_TACOS_INITIAL_STATE < STA_TACOS_NUM_STATES);
}
@@ -28,15 +29,14 @@ namespace sta
lockoutTimer_.setCallback([](void *) { }, nullptr);
lockoutTimer_.start(5000);
STA_DEBUG_PRINTLN("INITIALIZING STATEMACHINE");
failsafeTimer_.setCallback([](void * arg) { }, nullptr);
failsafeTimer_.setCallback([](void *) {
Statemachine::instance()->forceStateTransition(1);
}, nullptr);
failsafeTimer_.start(10000);
}
void Statemachine::func()
{
/*
uint16_t next = transitionFunc_(currentState_);
STA_ASSERT(next < STA_TACOS_NUM_STATES);
@@ -45,10 +45,10 @@ namespace sta
{
currentState_ = next;
// TODO: Emit state transition event.
}*/
STA_DEBUG_PRINTLN(lockoutTimer_.isRunning() ? "[RUNNING]" : "[STOPPED]");
osDelay(1000);
Statemachine::stateChangeEvent->set(TACOS_STATE_TRANSITION_FLAG);
}
Statemachine::stateChangeEvent->clear(TACOS_STATE_CHANGE_ALL_FLAG);
}
uint16_t Statemachine::getCurrentState() const
@@ -56,14 +56,23 @@ namespace sta
return currentState_;
}
void Statemachine::setStateTransitionFunction(uint16_t (*function)(uint16_t))
void Statemachine::setStateTransitionFunction(std::function<uint16_t(uint16_t)> function)
{
STA_ASSERT(function != nullptr);
transitionFunc_ = function;
}
void Statemachine::forceStateTransition(uint16_t state)
{
currentState_ = state;
Statemachine::stateChangeEvent->set(TACOS_STATE_CHANGE_FORCED_FLAG);
Statemachine::stateChangeEvent->clear(TACOS_STATE_CHANGE_ALL_FLAG);
}
Statemachine* Statemachine::_instance = nullptr;
RtosEvent* Statemachine::stateChangeEvent = nullptr;
} // namespace tacos
} // namespace sta

7
Tacos/src/thread.cpp
View File

@@ -9,6 +9,7 @@
#include <sta/tacos/thread.hpp>
#include <sta/debug/assert.hpp>
#include <sta/debug/debug.hpp>
#include <sta/rtos/system/events.hpp>
#include <functional>
#include <cstring>
@@ -66,9 +67,13 @@ namespace sta
void TacosThread::loop()
{
// The thread has to wait until the startup has been completed.
rtos::waitForStartupEvent();
init();
while ((osEventFlagsGet(instance_) & STA_RTOS_THREAD_FLAG_TERMINATE) == 0)
// Run the thread until the termination flag is set.
while ((getFlags() & STA_RTOS_THREAD_FLAG_TERMINATE) == 0)
{
func();
}