From f0c5faf29ecc685749b48a161f8d2f7e16980ddd Mon Sep 17 00:00:00 2001
From: CarlWachter <carlwachter@web.de>
Date: Sun, 3 Nov 2024 12:43:46 +0100
Subject: [PATCH] refactor: moved startup from rtos2-utils to TACOS

---
 README.md                         |  6 ++---
 include/sta/tacos/c_api/startup.h | 22 +++++++++++++++++
 src/startup.cpp                   | 40 +++++++++++++++++++++++++------
 3 files changed, 58 insertions(+), 10 deletions(-)
 create mode 100644 include/sta/tacos/c_api/startup.h

diff --git a/README.md b/README.md
index 5fec4c4..0a16532 100644
--- a/README.md
+++ b/README.md
@@ -11,13 +11,13 @@ Properties -> C/C++ General -> Paths and Symbols -> Includes -> GNU C++ -> Add..
 Properties -> C/C++ General -> Paths and Symbols -> Source Location -> Add Folder... 
 ```
 
-Create a new thread via the project's IOC and call `startALPAKA()` from this thread. If your thread is called `defaultTask`, the corresponding function `StartDefaultTask` generated in `Core/Src/freertos.c` should look like this:
+Create a new thread via the project's IOC and call `startTACOS()` from this thread. If your thread is called `defaultTask`, the corresponding function `StartDefaultTask` generated in `Core/Src/freertos.c` should look like this:
 ```
 void StartDefaultTask(void *argument)
 {
   /* USER CODE BEGIN StartDefaultTask */
-	extern void startALPAKA(void *);
-	startALPAKA(argument);
+	extern void startTACOS(void *);
+	startTACOS(argument);
 
   /* Infinite loop */
   for(;;)
diff --git a/include/sta/tacos/c_api/startup.h b/include/sta/tacos/c_api/startup.h
new file mode 100644
index 0000000..3876718
--- /dev/null
+++ b/include/sta/tacos/c_api/startup.h
@@ -0,0 +1,22 @@
+#ifndef STA_TACOS_C_API_STARTUP_H
+#define STA_TACOS_C_API_STARTUP_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/**
+ * @brief
+ *
+ * @param arg   Default task argument
+ */
+void startTACOS(void * arg);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+
+#endif // STA_TACOS_C_API_STARTUP_H
diff --git a/src/startup.cpp b/src/startup.cpp
index 6934df5..0f450f5 100644
--- a/src/startup.cpp
+++ b/src/startup.cpp
@@ -21,11 +21,18 @@
 
 // sta-core-specific imports.
 #include <sta/devices/stm32/bus/uart.hpp>
+#include <sta/devices/stm32/init.hpp>
 #include <sta/debug/printing/printable_uart.hpp>
 #include <sta/debug/debug.hpp>
+#include <sta/debug/assert.hpp>
 #include <sta/lang.hpp>
 
+// rtos2-utils-specific includes.
+#include <sta/rtos/system/startup.hpp>
+#include <sta/rtos/system/events.hpp>
+
 // Tacos-specific includes.
+#include <sta/tacos/c_api/startup.h>
 #include <sta/tacos/manager.hpp>
 #include <sta/tacos/statemachine.hpp>
 #include <sta/tacos/watchdog.hpp>
@@ -72,7 +79,7 @@ namespace sta
 			STM32UART * intf_ptr = new STM32UART(getUARThandle(), settings, mutex);
 			Debug = new PrintableUART(intf_ptr);
 		}
-	}
+	} // namespace tacos
 #endif // STA_DEBUGGING_ENABLED
 
 	namespace tacos
@@ -142,12 +149,7 @@ namespace sta
 			CanBus::instance()->start();
 		}
 #endif //STA_TACOS_CAN_BUS_ENABLED
-	}  // namespace tacos
 
-
-	namespace rtos
-	{
-		// Override the weak implementation of startupExtras provided in rtos2-utils.
 		void startupExtras(void * argument)
 		{
 #ifdef STA_DEBUGGING_ENABLED
@@ -166,7 +168,31 @@ namespace sta
 			tacos::initCanBus();
 #endif // STA_TACOS_CAN_BUS_ENABLED
 		}
-	} // namespace rtos
+	} // namespace tacos
 } // namespace sta
 
+void startTACOS(void * arg)
+{
+	STA_ASSERT_MSG(osKernelGetState() != osKernelInactive, "Cannot call startTACOS() before osKernelInitialize()");
 
+	// Initialize HAL
+	sta::initHAL();
+
+	// Initialize RTOS system resources
+	sta::rtos::initSystem();
+
+	// Call further initialization code
+	sta::tacos::startupExtras(arg);
+
+	// Wake threads
+#ifdef STA_RTOS_SYSTEM_EVENTS_ENABLE
+	sta::rtos::signalStartupEvent();
+#endif // STA_RTOS_SYSTEM_EVENTS_ENABLE
+
+	// Check if called from thread
+	if (osThreadGetId() != nullptr)
+	{
+		// Terminate current thread
+		osThreadExit();
+	}
+}