refactor: merged manger task into statemachine task

include/sta/tacos/configs/default.hpp

@@ -2,13 +2,11 @@
 #define STA_TACOS_CONFIGS_DEFAULT_HPP
 
 // Generally, we assume the TACOS threads to have the highest priorties.
-#define STA_TACOS_MANAGER_PRIORITY          osPriorityHigh
 #define STA_TACOS_STATEMACHINE_PRIORITY     osPriorityHigh
 #define STA_TACOS_WATCHDOG_PRIORITY         osPriorityHigh
 #define STA_TACOS_CAN_BUS_PRIORITY          osPriorityHigh
 
 // Set the Stack size for the TACOS threads, to 0 to use the default stack size, set in the ioc
-#define STA_TACOS_MANAGER_STACK_SIZE        0
 #define STA_TACOS_STATEMACHINE_STACK_SIZE   0
 
 // Per default, we assume state 0 to be the initial state.

include/sta/tacos/manager.hpp

@@ -1,124 +0,0 @@
-/*
- * manager.hpp
- *
- *  Created on: Sep 19, 2023
- *      Author: Dario
- */
-
-#ifndef INCLUDE_STA_TACOS_MANAGER_HPP_
-#define INCLUDE_STA_TACOS_MANAGER_HPP_
-
-
-#include <sta/config.hpp>
-
-#if !defined(STA_TACOS_MANAGER_PRIORITY)  && !defined(DOXYGEN)
-#	error "Manger task priority not specified in config.hpp"
-#else 
-
-#include <set>
-#include <list>
-#include <vector>
-#include <memory>
-#include <sta/tacos/thread.hpp>
-
-/**
- * @defgroup tacos_manager Manager Task
- * @ingroup tacos
- * @brief Manager task for TACOS.
- */
-
-namespace sta
-{
-	namespace tacos
-	{
-		/**
-		 * @brief Manager class for Tacos.
-		 *
-		 * @ingroup tacos_manager
-		 */
-		class Manager : public TacosThread
-		{
-		public:
-			/**
-			 * @brief Get the singleton instance of the manager.
-			 * 
-			 * @ingroup tacos_manager
-			 */
-			static Manager* instance()
-			{
-				static CGuard g;
-
-				if (!_instance)
-				{
-					// Create a the manager singleton instance.
-					Manager::_instance = new Manager();
-				}
-
-				return _instance;
-			}
-
-			/**
-			 * @brief Register a thread to be managed by the manager.
-			 */
-			void registerThread(std::shared_ptr<TacosThread> thread, std::set<uint16_t> states);
-
-			/**
-			 * @brief Get the Active Threads object
-			 * 
-			 * @return std::vector<std::shared_ptr<TacosThread>> 
-			 */
-			std::vector<std::shared_ptr<TacosThread>> getActiveThreads();
-
-			void init() override;
-
-			void func() override;
-		private:
-			static Manager* _instance;
-
-			class CGuard
-			{
-			public:
-			   ~CGuard()
-			   {
-				  if( NULL != Manager::_instance )
-				  {
-					 delete Manager::_instance;
-					 Manager::_instance = NULL;
-				  }
-			   }
-			};
-
-			Manager();
-
-			Manager(const Manager&);
-
-			//~Manager();
-
-			/**
-			 * @brief Forces only threads of current state to run.
-			 */
-			void updateThreads();
-
-			/**
-			 * @brief Starts all threads which should be running in the given state. Does nothing if the state is already running.
-			 */
-			void startThreads(uint16_t state);
-
-			/**
-			 * @brief Stops all threads which should not be running in the given state.
-			 */
-			void stopThreads(uint16_t state);
-
-			/**
-			 * @brief Pointers to all threads which are managed by the manager.
-			 * 
-			 * @ingroup tacos_manager
-			 */
-			std::vector<std::shared_ptr<TacosThread>> threads_[STA_TACOS_NUM_STATES];
-		};
-	}  // namespace tacos
-}  // namespace sta
-
-#endif // STA_TACOS_MANAGER_PRIORITY
-
-#endif /* INCLUDE_STA_TACOS_MANAGER_HPP_ */

include/sta/tacos/statemachine.hpp

@@ -69,6 +69,9 @@
 
 #include <functional>
 #include <tuple>
+#include <list>
+#include <vector>
+#include <memory>
 #include <set>
 #include <algorithm>
 
@@ -134,11 +137,15 @@ namespace sta
 		public:
 			/**
 			 * @brief The global event signaling a state change.
+			 * 
+			 * @ingroup tacos_statemachine
 			 */
 			static RtosEvent stateChangeEvent;
 
 			/**
 			 * @brief Getter function for the singleton instance.
+			 * 
+			 * @ingroup tacos_statemachine
 			 */
 			static Statemachine* instance()
 			{
@@ -146,7 +153,7 @@ namespace sta
 
 				if (!_instance)
 				{
-					// Create the manager singleton instance.
+					// Create the statemachine singleton instance.
 					Statemachine::_instance = new Statemachine();
 				}
 
@@ -155,6 +162,8 @@ namespace sta
 
 			/**
 			 * @brief Returns the statemachine's current state.
+			 * 
+			 * @ingroup tacos_statemachine
 			 */
 			uint16_t getCurrentState() const;
 
@@ -165,6 +174,8 @@ namespace sta
 			 * @param to The state to transition to.
 			 * @param lockout The minimum number of milliseconds we expect to stay in this state. This is used to block premature transitions.
 			 * @param force If true, the state transition will be executed regardless of the current state.
+			 * 
+			 * @ingroup tacos_statemachine
 			 */
 			void requestStateTransition(uint32_t from, uint32_t to, uint32_t lockout = 0, bool force = false, bool publish = true);
 
@@ -175,9 +186,27 @@ namespace sta
 			 * @param to The state to transition to.
 			 * @param millis the number of milliseconds to wait before triggering the transition.
 			 * @param lockout The minimum number of milliseconds we expect to stay in this state. This is used to block premature transitions.
+			 * 
+			 * @ingroup tacos_statemachine
 			 */
 			void requestTimedStateTransition(uint32_t from, uint32_t to, uint32_t millis, uint32_t lockout = 0, bool publish = true);
 
+			/**
+			 * @brief Register a thread to be managed by the statemachine.
+			 * 
+			 * @ingroup tacos_statemachine
+			 */
+			void registerThread(std::shared_ptr<TacosThread> thread, std::set<uint16_t> states);
+
+			/**
+			 * @brief Get the Active Threads object
+			 * 
+			 * @return std::vector<std::shared_ptr<TacosThread>> 
+			 * 
+			 * @ingroup tacos_statemachine
+			 */
+			std::vector<std::shared_ptr<TacosThread>> getActiveThreads();
+
 			void init() override;
 			void func() override;
 
@@ -208,9 +237,32 @@ namespace sta
 			 * @brief Starts the lockoutTimer for the desired duration.
 			 * 
 			 * @param millis The duration of the timer in milliseconds.
+			 * 
+			 * @ingroup tacos_statemachine
 			 */
 			void setLockoutTimer(uint32_t millis);
 
+			/**
+			 * @brief Forces only threads of current state to run.
+			 * 
+			 * @ingroup tacos_statemachine
+			 */
+			void updateThreads();
+
+			/**
+			 * @brief Starts all threads which should be running in the given state. Does nothing if the state is already running.
+			 * 
+			 * @ingroup tacos_statemachine
+			 */
+			void startThreads(uint16_t state);
+
+			/**
+			 * @brief Stops all threads which should not be running in the given state.
+			 * 
+			 * @ingroup tacos_statemachine
+			 */
+			void stopThreads(uint16_t state);
+
 		private:
 			uint16_t currentState_;
 
@@ -218,6 +270,13 @@ namespace sta
 			RtosTimer failsafeTimer_;
 
 			RtosQueue<StateTransition> queue_;
+
+			/**
+			 * @brief Pointers to all threads which are managed by the statemachine.
+			 *
+			 * @ingroup tacos_statemachine
+			 */
+			std::vector<std::shared_ptr<TacosThread>> threads_[STA_TACOS_NUM_STATES];
 		};
 	}  // namespace tacos
 }  // namespace sta

include/sta/tacos/thread.hpp

@@ -79,7 +79,7 @@ namespace sta
 			 * @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 prio The thread's priority. Generally, this should be lower than the statemachine priority.
 			 * @param stack_size The stack size for the task. The default is 0, i.e. the stack size specified in the FreeRTOS settings.
 			 * @param cb_size The control block size for the task. The default is 0, i.e. the size specified in the FreeRTOS settings.
 			 */