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Working manager & statemachine tasks; timers still bugged; statemachine init bugged

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This commit is contained in:
dario 2023-09-27 00:07:23 +02:00
parent 5bf6cca3b1
commit 817db58a0e
10 changed files with 83 additions and 31 deletions
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6
App/Src/startup.cpp
View File

@ -26,9 +26,9 @@ namespace sta
{
STA_DEBUG_PRINTLN("Starting manager task!");
Manager::instance()->registerThread(demo::DummyTask("A"), {0, 1});
Manager::instance()->registerThread(demo::DummyTask("B"), {1, 2});
Manager::instance()->registerThread(demo::DummyTask("C"), {2, 3});
// Manager::instance()->registerThread(demo::DummyTask("A"), {0, 1});
// Manager::instance()->registerThread(demo::DummyTask("B"), {1, 2});
// Manager::instance()->registerThread(demo::DummyTask("C"), {2, 3});
}
} // namespace tacos
} // namespace sta

2
Libs/rtos2-utils

@ -1 +1 @@
Subproject commit 5b8c97cf5c4b57702c25c0f7e7bcaea4575a6f7d
Subproject commit 2948c9203e44a5126e6a0067522698964f0ee7c4

2
Libs/sta-core

@ -1 +1 @@
Subproject commit 8e93db18174937562f246af4b1e8d99bd6bbf632
Subproject commit 4dc625f6e9ebe8db0fc795719a26ee900425b49a

32
Tacos/include/sta/tacos/manager.hpp
View File

@ -34,9 +34,6 @@ namespace sta
{
// Create a the manager singleton instance.
Manager::_instance = new Manager();
// Start the manager task as a tacos task.
Manager::_instance->start();
}
return _instance;
@ -48,8 +45,22 @@ namespace sta
void func() override;
static Manager* _instance;
private:
static Manager* _instance;
class CGuard
{
public:
~CGuard()
{
if( NULL != Manager::_instance )
{
delete Manager::_instance;
Manager::_instance = NULL;
}
}
};
Manager();
Manager(const Manager&);
@ -63,19 +74,6 @@ namespace sta
void stopThreads(uint16_t state);
std::set<TacosThread> threads_[STA_TACOS_NUM_STATES];
class CGuard
{
public:
~CGuard()
{
if( NULL != Manager::_instance )
{
delete Manager::_instance;
Manager::_instance = NULL;
}
}
};
};
} // namespace tacos
} // namespace sta

27
Tacos/include/sta/tacos/statemachine.hpp
View File

@ -11,6 +11,20 @@
#include <sta/config.hpp>
#include <sta/tacos/thread.hpp>
#include <sta/rtos/timer.hpp>
#include <sta/debug/assert.hpp>
#ifndef STA_TACOS_NUM_STATES
# error "Number of states wasn't defined in config.hpp"
#else
#ifndef STA_TACOS_INITIAL_STATE
# define STA_TACOS_INITIAL_STATE 0
#endif
namespace sta
{
@ -27,9 +41,6 @@ namespace sta
{
// Create a the manager singleton instance.
Statemachine::_instance = new Statemachine();
// Start the manager task as a tacos task.
Statemachine::_instance->start();
}
return _instance;
@ -39,7 +50,7 @@ namespace sta
void func() override;
uint16_t getCurrentState();
uint16_t getCurrentState() const;
private:
static Statemachine * _instance;
@ -63,11 +74,17 @@ namespace sta
~Statemachine() {}
private:
static void forceStateChange(void * arg);
private:
uint16_t currentState_;
RtosTimer lockoutTimer_;
RtosTimer failsafeTimer_;
};
} // namespace tacos
} // namespace sta
#endif // STA_TACOS_NUM_STATES
#endif /* INCLUDE_TACOS_STATEMACHINE_HPP_ */

3
Tacos/include/sta/tacos/thread.hpp
View File

@ -58,6 +58,9 @@ namespace sta
*/
void loop();
/**
* @brief This function is executed first when this thread is started.
*/
virtual void init();
/**

10
Tacos/src/manager.cpp
View File

@ -7,6 +7,7 @@
#include <sta/tacos/manager.hpp>
#include <sta/tacos/statemachine.hpp>
#include <sta/debug/debug.hpp>
namespace sta
@ -69,11 +70,20 @@ namespace sta
void Manager::init()
{
STA_DEBUG_PRINTLN("INITIALIZING MANAGER!");
startThreads(Statemachine::instance()->getCurrentState());
}
void Manager::func()
{
if (true)
{
// STA_DEBUG_PRINTLN("LOOPY LOOP IN MANAGER TASK");
osDelay(1000);
}
// Wait for either the termination request or the state change flag.
uint32_t flags = osEventFlagsWait(getInstance(), STA_RTOS_THREAD_FLAG_TERMINATE, osFlagsWaitAny, osWaitForever);

2
Tacos/src/startup.cpp
View File

@ -69,7 +69,7 @@ namespace sta
{
onManagerInit();
Statemachine::instance()->start();
Manager::instance()->start();
}
} // namespace tacos

24
Tacos/src/statemachine.cpp
View File

@ -7,23 +7,43 @@
#include <sta/tacos/statemachine.hpp>
#include <sta/debug/debug.hpp>
namespace sta
{
namespace tacos
{
Statemachine::Statemachine(){}
Statemachine::Statemachine()
: currentState_{STA_TACOS_INITIAL_STATE}, lockoutTimer_{[](void *){}, NULL}, failsafeTimer_{[](void *){}, NULL}
{
STA_ASSERT(STA_TACOS_INITIAL_STATE < STA_TACOS_NUM_STATES);
}
void Statemachine::init()
{
STA_DEBUG_PRINTLN("INITIALIZING STATEMACHINE");
/*
lockoutTimer_.setCallback([](void *) { STA_DEBUG_PRINTLN("Lockout timer triggered!"); }, NULL);
lockoutTimer_.start(1000);
failsafeTimer_.setCallback([](void *) { STA_DEBUG_PRINTLN("Failsafe timer triggered!"); }, NULL);
failsafeTimer_.start(2000);
*/
}
void Statemachine::func()
{
// STA_DEBUG_PRINTLN("LOOPY LOOP IN STATEMACHINE");
STA_DEBUG_PRINT("Failsafe timer is running: ");
STA_DEBUG_PRINTLN(failsafeTimer_.isRunning());
osDelay(1000);
}
uint16_t Statemachine::getCurrentState()
uint16_t Statemachine::getCurrentState() const
{
return currentState_;
}

6
Tacos/src/thread.cpp
View File

@ -19,11 +19,14 @@ namespace sta
{
TacosThread::TacosThread(const char* name, osPriority_t prio)
: RtosThread(RtosHandle<osThreadId_t>(Handle::Deferred(&instance_))),
instance_{ NULL },
attribs_{ .name = name, .priority = prio }
{}
TacosThread::TacosThread()
: RtosThread(RtosHandle<osThreadId_t>(Handle::Deferred(&instance_)))
: RtosThread(RtosHandle<osThreadId_t>(Handle::Deferred(&instance_))),
instance_{ NULL },
attribs_{ }
{}
void TacosThread::entry_point(void* arg)
@ -85,6 +88,7 @@ namespace sta
}
void TacosThread::init(){}
void TacosThread::func(){}
TacosThread::~TacosThread(){}