Removed libs

include/sta/tacos/manager.hpp

@@ -0,0 +1,87 @@
+/*
+ * 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>
+
+#ifndef STA_TACOS_MANAGER_PRIORITY
+#	error "Manger task priority not specified in config.hpp"
+#else
+
+#include <set>
+#include <list>
+#include <memory>
+#include <sta/tacos/thread.hpp>
+
+namespace sta
+{
+	namespace tacos
+	{
+		class Manager : public TacosThread
+		{
+		public:
+			static Manager* instance()
+			{
+				static CGuard g;
+
+				if (!_instance)
+				{
+					// Create a the manager singleton instance.
+					Manager::_instance = new Manager();
+				}
+
+				return _instance;
+			}
+
+			/**
+			 *
+			 */
+			void registerThread(std::shared_ptr<TacosThread> thread, std::list<uint16_t> states);
+
+			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();
+
+			void updateThreads();
+
+			void startThreads(uint16_t state);
+
+			void stopThreads(uint16_t state);
+
+			std::set<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/startup.hpp

@@ -0,0 +1,31 @@
+/*
+ * startup.hpp
+ *
+ *  Created on: 22 Sep 2023
+ *      Author: Dario
+ */
+
+#ifndef INCLUDE_STA_TACOS_STARTUP_HPP_
+#define INCLUDE_STA_TACOS_STARTUP_HPP_
+
+namespace sta
+{
+	namespace tacos
+	{
+		/**
+		 * @brief Function that is called before the statemachine task is started.
+		 * Override it to adjust the statemachine to your specifications.
+		 */
+		void onStatemachineInit();
+
+		/**
+		 * @brief Function that is called before the manager task is started.
+		 * Override it to adjust the manager to your specifications.
+		 */
+		void onManagerInit();
+	}  // namespace tacos
+}  // namespace sta
+
+
+
+#endif /* INCLUDE_STA_TACOS_STARTUP_HPP_ */

include/sta/tacos/statemachine.hpp

@@ -0,0 +1,158 @@
+/*
+ * statemachine.hpp
+ *
+ *  Created on: Sep 14, 2023
+ *      Author: Dario
+ */
+
+#ifndef INCLUDE_TACOS_STATEMACHINE_HPP_
+#define INCLUDE_TACOS_STATEMACHINE_HPP_
+
+#include <sta/config.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
+
+#define STA_TACOS_STATEMACHINE_QUEUE_LENGTH		4
+
+// State transition happened because of
+#define STA_TACOS_STATE_CHANGE_NORMAL_FLAG		( 0x1U )
+#define STA_TACOS_STATE_CHANGE_FORCED_FLAG		( 0x1U << 1)
+#define STA_TACOS_STATE_CHANGE_TIMEOUT			( 0x1U << 2)
+#define STA_TACOS_STATE_CHANGE_STARTUP_FLAG			( 0x1U << 3)
+#define STA_TACOS_STATE_CHANGE_ALL_FLAG			( 0x15U )
+
+
+#include <sta/tacos/thread.hpp>
+#include <sta/rtos/queue.hpp>
+#include <sta/rtos/timer.hpp>
+#include <sta/rtos/event.hpp>
+#include <sta/event.hpp>
+#include <sta/debug/assert.hpp>
+
+#include <functional>
+#include <tuple>
+
+
+namespace sta
+{
+	namespace tacos
+	{
+		enum EventFlags
+		{
+			NORMAL 				= 0x1U,
+			FORCED				= 0x1U << 1,
+			TIMEOUT				= 0x1U << 2,
+			STARTUP				= 0x1U << 3,
+			ALL					= NORMAL | FORCED | TIMEOUT | STARTUP
+		};
+
+		struct StateTransition
+		{
+			uint16_t from;
+			uint16_t to;
+			EventFlags event;
+			uint32_t lockout;
+		};
+
+
+		class Statemachine : public TacosThread
+		{
+		public:
+			/**
+			 * @brief The global event signaling a state change.
+			 */
+			static RtosEvent stateChangeEvent;
+
+			/**
+			 * @brief Getter function for the singleton instance.
+			 */
+			static Statemachine* instance()
+			{
+				static CGuard g;
+
+				if (!_instance)
+				{
+					// Create the manager singleton instance.
+					Statemachine::_instance = new Statemachine();
+				}
+
+				return _instance;
+			}
+
+			/**
+			 * @brief Returns the statemachine's current state.
+			 */
+			uint16_t getCurrentState() const;
+
+			/**
+			 * @brief Request a state transition from a state to another.
+			 *
+			 * @param from The state which we want to leave. This is used to filter out obsolete transitions.
+			 * @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.
+			 */
+			void requestStateTransition(uint32_t from, uint32_t to, uint32_t lockout = 0);
+
+			/**
+			 * @brief Request a state transition after a given time has passed.
+			 *
+			 * @param from The state which we want to leave. This is used to filter out obsolete transitions.
+			 * @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.
+			 */
+			void requestTimedStateTransition(uint32_t from, uint32_t to, uint32_t millis, uint32_t lockout = 0);
+
+			void init() override;
+			void func() override;
+
+		private:
+			static Statemachine * _instance;
+
+			class CGuard
+			{
+			public:
+			   ~CGuard()
+			   {
+				  if( NULL != Statemachine::_instance )
+				  {
+					 delete Statemachine::_instance;
+					 Statemachine::_instance = NULL;
+				  }
+			   }
+			};
+
+			Statemachine();
+
+			Statemachine(const Statemachine&);
+
+			~Statemachine() {}
+
+		private:
+			/**
+			 * @brief Starts the lockoutTimer for the desired duration.
+			 */
+			void setLockoutTimer(uint32_t millis);
+
+		private:
+			uint16_t currentState_;
+
+			RtosTimer lockoutTimer_;
+			RtosTimer failsafeTimer_;
+
+			RtosQueue<StateTransition> queue_;
+		};
+	}  // namespace tacos
+}  // namespace sta
+
+#endif // STA_TACOS_NUM_STATES
+
+#endif /* INCLUDE_TACOS_STATEMACHINE_HPP_ */

include/sta/tacos/thread.hpp

@@ -0,0 +1,90 @@
+/*
+ * task.hpp
+ *
+ *  Created on: Sep 14, 2023
+ *      Author: Dario
+ */
+
+#ifndef INCLUDE_TACOS_TASK_HPP_
+#define INCLUDE_TACOS_TASK_HPP_
+
+#include <cmsis_os2.h>
+
+#include <sta/rtos/thread.hpp>
+
+
+namespace sta
+{
+	namespace tacos
+	{
+		class TacosThread : public RtosThread
+		{
+		public:
+			/**
+			 *
+			 */
+			TacosThread(const char* name, osPriority_t prio);
+
+			TacosThread();
+
+			virtual ~TacosThread();
+
+			/**
+			 * @brief Start the execution of this thread.
+			 */
+			void start();
+
+			/**
+			 * @brief Checks if this thread is currently running.
+			 */
+			bool isRunning();
+
+			/**
+			 * @brief Get the currently running instance.
+			 */
+			osThreadId_t getInstance();
+
+			/**
+			 *
+			 */
+			const char* getName() const;
+
+			bool operator==(const TacosThread& other) const;
+			bool operator<(const TacosThread& other) const;
+
+			/**
+			 * @brief A function that wraps this task's functionality in a loop. This loop will run until
+			 * termination is requested.
+			 */
+			void loop();
+
+			/**
+			 * @brief This function is executed first when this thread is started.
+			 */
+			virtual void init();
+
+			/**
+			 * @brief The body of the thread's loop. Has to be implemented by the user.
+			 */
+			virtual void func() = 0;
+
+
+			virtual void cleanup();
+
+		private:
+
+			/**
+			 * @brief Static function to pass to RTOS to run as a thread. Calls the loop function implemented here.
+			 */
+			static void entry_point(void* arg);
+
+		private:
+			osThreadId_t instance_;
+			osThreadAttr_t attribs_;
+			bool running_;
+		};
+	}
+}
+
+
+#endif /* INCLUDE_TACOS_TASK_HPP_ */