Added new task for testing

App/Inc/sta/config.hpp

@@ -33,7 +33,7 @@
 #define STA_TACOS_STATEMACHINE_PRIORITY osPriorityNormal
 
 // Statemachine settings. Here, we only have a single state which is also the initial state.
-#define STA_TACOS_NUM_STATES 2
+#define STA_TACOS_NUM_STATES 3
 #define STA_TACOS_INITIAL_STATE 0
 
 #endif /* INC_STA_CONFIG_HPP_ */

App/Inc/tasks/disturb.hpp

@@ -0,0 +1,26 @@
+/*
+ * disturb.hpp
+ *
+ *  Created on: Nov 20, 2023
+ *      Author: Dario
+ */
+
+#ifndef INC_TASKS_DISTURB_HPP_
+#define INC_TASKS_DISTURB_HPP_
+
+#include <sta/tacos/thread.hpp>
+
+namespace demo
+{
+	class DisturbTask : public sta::tacos::TacosThread {
+	public:
+		DisturbTask();
+
+		void init() override;
+
+		void func() override;
+	};
+} // namespace demo
+
+
+#endif /* INC_TASKS_DISTURB_HPP_ */

App/Inc/tasks/dummy.hpp

@@ -15,7 +15,6 @@ namespace demo
 	class DummyTask : public sta::tacos::TacosThread {
 	public:
 		DummyTask(const char* name);
-		~DummyTask() override;
 
 		void init() override;
 

App/Src/startup.cpp

@@ -13,6 +13,7 @@
 #include <sta/tacos/statemachine.hpp>
 #include <tasks/dummy.hpp>
 #include <tasks/toggle.hpp>
+#include <tasks/disturb.hpp>
 #include <gpio.h>
 #include <sta/devices/stm32/gpio_pin.hpp>
 
@@ -35,7 +36,9 @@ namespace sta
 			// The dummy task runs for state 0.
 			Manager::instance()->registerThread(std::make_shared<demo::DummyTask>("State 0"), {0});
 			Manager::instance()->registerThread(std::make_shared<demo::DummyTask>("State 1"), {1});
+			Manager::instance()->registerThread(std::make_shared<demo::DummyTask>("State 2 - FAIL"), {2});
 			Manager::instance()->registerThread(std::make_shared<demo::Toggle>(), {0, 1});
+			Manager::instance()->registerThread(std::make_shared<demo::DisturbTask>(), {0, 1});
 		}
 	} // namespace tacos
 } // namespace sta

App/Src/tasks/disturb.cpp

@@ -0,0 +1,35 @@
+/*
+ * disturb.cpp
+ *
+ *  Created on: Nov 20, 2023
+ *      Author: Dario
+ */
+
+#include <tasks/disturb.hpp>
+#include <sta/tacos/statemachine.hpp>
+#include <sta/debug/debug.hpp>
+
+namespace demo
+{
+	DisturbTask::DisturbTask()
+		: sta::tacos::TacosThread("Disturb",  osPriorityNormal)
+	{
+
+	}
+
+	void DisturbTask::init()
+	{
+
+	}
+
+	void DisturbTask::func()
+	{
+		STA_DEBUG_PRINTLN(this->getName());
+
+		sta::tacos::Statemachine::instance()->stateChangeEvent.wait(sta::tacos::EventFlags::ALL, osWaitForever);
+
+		uint16_t currentState = sta::tacos::Statemachine::instance()->getCurrentState();
+		sta::tacos::Statemachine::instance()->requestTimedStateTransition(currentState, 2, 4000, 0);
+	}
+}  // namespace demo
+

App/Src/tasks/dummy.cpp

@@ -19,8 +19,6 @@ namespace demo
 
 	}
 
-	DummyTask::~DummyTask(){}
-
 	void DummyTask::init()
 	{
 

App/Src/tasks/toggle.cpp

@@ -26,8 +26,23 @@ namespace demo
 	{
 		osDelay(5000);
 
+		// Have we been requested to terminate while waiting?
+		if (!isRunning())
+			return;
+
+		// Do some important stuff...
+
 		uint16_t state = sta::tacos::Statemachine::instance()->getCurrentState();
-		uint16_t next = 1 - state;
+		uint16_t next;
+
+		if (state != 2)
+		{
+			next = 1 - state;
+		}
+		else
+		{
+			next = 0;
+		}
 
 		STA_DEBUG_PRINTLN("Toggle!");
 		sta::tacos::Statemachine::instance()->requestStateTransition(state, next, 0);