Merge pull request 'statemachine-rework' (#10) from statemachine-rework into main

Reviewed-on: https://git.intern.spaceteamaachen.de/ALPAKA/TACOS/pulls/10
Reviewed-by: carlwachter <carlwachter@noreply.git.intern.spaceteamaachen.de>

.cproject

@@ -25,6 +25,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.1523528544" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="genericBoard" valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.1559967274" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.6 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.option.toolchain.value.workspace || STM32F411RETx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Core/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc | ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy | ../Drivers/CMSIS/Device/ST/STM32F4xx/Include | ../Drivers/CMSIS/Include | ../Middlewares/Third_Party/FreeRTOS/Source/include | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F ||  ||  || USE_HAL_DRIVER | STM32F411xE ||  || Drivers | Core/Startup | Middlewares | Core ||  ||  || ${workspace_loc:/${ProjName}/STM32F411RETX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None ||  ||  || " valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.debug.option.cpuclock.1388963198" name="Cpu clock frequence" superClass="com.st.stm32cube.ide.mcu.debug.option.cpuclock" useByScannerDiscovery="false" value="16" valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat.2054601156" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat" value="true" valueType="boolean"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.682707397" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
 							<builder buildPath="${workspace_loc:/TACOS}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.1663759602" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.1268227203" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">

.settings/language.settings.xml

@@ -5,7 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1090266248531783773" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1366383323889271194" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -16,7 +16,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1090266248531783773" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1366383323889271194" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>

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 1
+#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/Inc/tasks/toggle.hpp

@@ -0,0 +1,26 @@
+/*
+ * toggle.hpp
+ *
+ *  Created on: Nov 10, 2023
+ *      Author: Dario
+ */
+
+#ifndef INC_STA_TOGGLE_HPP_
+#define INC_STA_TOGGLE_HPP_
+
+#include <sta/tacos/thread.hpp>
+
+namespace demo
+{
+	class Toggle : public sta::tacos::TacosThread
+	{
+	public:
+		Toggle();
+
+		void init() override;
+
+		void func() override;
+	};
+}
+
+#endif /* INC_STA_TOGGLE_HPP_ */

App/Src/startup.cpp

@@ -12,8 +12,11 @@
 #include <sta/tacos/manager.hpp>
 #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>
+#include <sta/rtos/debug/heap_stats.hpp>
 
 #include <memory>
 
@@ -24,38 +27,6 @@ namespace sta
 	{
 		void onStatemachineInit()
 		{
-			Statemachine::instance()->setStateFunction([](uint16_t state) -> uint16_t {
-				// ###### Implement your state transition function here! ######
-
-				/**
-				 * This function should return some state within 0 and STA_TACOS_NUM_STATES (specified in the config.hpp).
-				 * Return the same state as given as the argument for no state transition. Make sure, that this function is not
-				 * computationally expensive.
-				 */
-
-				return state;
-			});
-
-			Statemachine::instance()->setTimerFunction([](uint16_t state, uint16_t lastState, uint32_t event) {
-				// ###### Set the failsafe and lockout timers here ######
-
-				/**
-				 * This function is called after a state transition from lastState to state. Event corresponds to EventFlag enum in the Statemachine
-				 * and encode how the state change happened.
-				 *
-				 * Setting a timer here is fully optional and depends on your system's specifications.
-				 */
-
-				uint32_t someFailsafeMillis = 42;
-				uint16_t someNextState = STA_TACOS_INITIAL_STATE;
-				uint32_t someLockoutMillis = 21;
-
-				// Start the failsafe timer to force a state transition to someNextState after someFailsafeMillis milliseconds.
-				Statemachine::instance()->setFailsafeTimer(someFailsafeMillis, someNextState);
-
-				// Start the lockout timer to block a state transition for the first someLockoutMillis milliseconds.
-				Statemachine::instance()->setLockoutTimer(someLockoutMillis);
-			});
 
 		}
 
@@ -64,7 +35,15 @@ namespace sta
 			// ###### Register different threads for different states here. ######
 
 			// The dummy task runs for state 0.
-			Manager::instance()->registerThread(std::make_shared<demo::DummyTask>("Dummy"), {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});
+
+			STA_DEBUG_PRINTF("The answer to everything is %d", 42);
+
+			STA_DEBUG_HEAP_STATS();
 		}
 	} // 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

@@ -0,0 +1,34 @@
+/*
+ * toggle.cpp
+ *
+ *  Created on: Nov 10, 2023
+ *      Author: Dario
+ */
+
+#include <tasks/toggle.hpp>
+#include <sta/tacos/statemachine.hpp>
+#include <sta/debug/debug.hpp>
+
+namespace demo
+{
+	Toggle::Toggle()
+		: sta::tacos::TacosThread{ "Toggle", osPriorityNormal }
+	{
+
+	}
+
+	void Toggle::init()
+	{
+
+	}
+
+	void Toggle::func()
+	{
+		uint16_t state = sta::tacos::Statemachine::instance()->getCurrentState();
+		uint16_t next = 1 - state;
+
+		sta::tacos::Statemachine::instance()->requestStateTransition(state, next, 5000);
+	}
+}
+
+

Libs/rtos2-utils

@@ -1 +1 @@
-Subproject commit 0e96b2ec29fde1e56e12fc9f0dceb80012e0caf3
+Subproject commit b1d6456dd88f881f68674824339483f69dd280f0

Libs/sta-core

@@ -1 +1 @@
-Subproject commit 4da1f0bb7dd48f89e9dd5ee0ec181638894e55e2
+Subproject commit c4692287cf88e518d22078c1d284be343fc82fba

Tacos/include/sta/tacos/statemachine.hpp

@@ -20,6 +20,8 @@
 #	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)
@@ -29,34 +31,41 @@
 
 
 #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
 	{
-		typedef std::function<uint16_t(uint16_t)> 					state_fn;
+		enum EventFlags
-		typedef std::function<void(uint16_t, uint16_t, uint32_t)> 	timer_fn;
+		{
+			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:
-			enum EventFlags
-			{
-				NORMAL 				= 0x1U,
-				FORCED				= 0x1U << 1,
-				TIMEOUT				= 0x1U << 2,
-				STARTUP				= 0x1U << 3,
-				ALL					= NORMAL | FORCED | TIMEOUT | STARTUP
-			};
-
 			/**
 			 * @brief The global event signaling a state change.
 			 */
@@ -84,29 +93,23 @@ namespace sta
 			uint16_t getCurrentState() const;
 
 			/**
-			 * @brief Registers a new state transition function. This is a function for the user to implement state transition rules.
+			 * @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 setStateFunction(state_fn func);
+			void requestStateTransition(uint32_t from, uint32_t to, uint32_t lockout = 0);
 
 			/**
-			 * @brief Registers a new timer function. This is a function for the user to set the timers after a state change.
+			 * @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 setTimerFunction(timer_fn func);
+			void requestTimedStateTransition(uint32_t from, uint32_t to, uint32_t millis, uint32_t lockout = 0);
-
-			/**
-			 * @brief Starts the failsafe timer for the desired duration and the desired next state.
-			 */
-			void setFailsafeTimer(uint32_t millis, uint16_t nextState);
-
-			/**
-			 * @brief Starts the lockoutTimer for the desired duration.
-			 */
-			void setLockoutTimer(uint32_t millis);
-
-			/**
-			 * @brief this function call allows forced state transitions from external and internal sources.
-			 */
-			void forceStateTransition(uint16_t state);
 
 			void init() override;
 			void func() override;
@@ -133,15 +136,19 @@ namespace sta
 
 			~Statemachine() {}
 
+		private:
+			/**
+			 * @brief Starts the lockoutTimer for the desired duration.
+			 */
+			void setLockoutTimer(uint32_t millis);
+
 		private:
 			uint16_t currentState_;
-			uint16_t failsafeState_;
 
 			RtosTimer lockoutTimer_;
 			RtosTimer failsafeTimer_;
 
-			state_fn transitionFunc_;
+			RtosQueue<StateTransition> queue_;
-			timer_fn timerFunc_;
 		};
 	}  // namespace tacos
 }  // namespace sta

Tacos/src/manager.cpp

@@ -80,7 +80,7 @@ namespace sta
 
 		void Manager::func()
 		{
-			Statemachine::stateChangeEvent.wait(Statemachine::EventFlags::ALL, osWaitForever);
+			Statemachine::stateChangeEvent.wait(EventFlags::ALL, osWaitForever);
 
 			HeapStats_t stats;
 			vPortGetHeapStats(&stats);

Tacos/src/statemachine.cpp

@@ -17,47 +17,46 @@ namespace sta
 		Statemachine::Statemachine()
 			: TacosThread{"Statemachine", STA_TACOS_STATEMACHINE_PRIORITY},
 			  currentState_{STA_TACOS_INITIAL_STATE},
-			  failsafeState_{STA_TACOS_INITIAL_STATE},
 			  lockoutTimer_{[](void *){}, nullptr},
 			  failsafeTimer_{[](void *){}, nullptr},
-			  transitionFunc_{[](uint16_t) -> uint16_t { return Statemachine::instance()->getCurrentState(); }},
+			  queue_{STA_TACOS_STATEMACHINE_QUEUE_LENGTH}
-			  timerFunc_{[](uint16_t, uint16_t, uint16_t) {}}
 		{
 			STA_ASSERT(STA_TACOS_INITIAL_STATE < STA_TACOS_NUM_STATES);
 		}
 
 		void Statemachine::init()
 		{
-			timerFunc_(0, 0, EventFlags::STARTUP);
+
 		}
 
 		void Statemachine::func()
 		{
-			if (!lockoutTimer_.isRunning())
+			// Wait for a message to be added to the queue.
+			StateTransition transition;
+			queue_.get(&transition, osWaitForever);
+
+			// Check if the transition isn't blocked and is legal.
+			if (!lockoutTimer_.isRunning() && transition.from == currentState_)
 			{
-				uint16_t next = transitionFunc_(currentState_);
+				STA_ASSERT(transition.to < STA_TACOS_NUM_STATES);
 
-				STA_ASSERT(next < STA_TACOS_NUM_STATES);
+				// Perform the transition and notify the threads. The event flags are set
+				// here in order to allow threads to react immediately.
+				currentState_ = transition.to;
+				Statemachine::stateChangeEvent.set(transition.event);
+				Statemachine::stateChangeEvent.clear(EventFlags::ALL);
 
-				// Check if a state change is desired. Block if the lockoutTimer is still running.
+				if (failsafeTimer_.isRunning())
-				if (next != currentState_)
 				{
-					if (failsafeTimer_.isRunning())
+					failsafeTimer_.stop();
-					{
+				}
-						failsafeTimer_.stop();
-					}
 
-					// Call user space code to set the timers again.
+				// Start the lockout timer if requested.
-					timerFunc_(next, currentState_, EventFlags::NORMAL);
+				if (transition.lockout != 0)
-
+				{
-					// Update the state and trigger the global state changed event.
+					setLockoutTimer(transition.lockout);
-					currentState_ = next;
-					Statemachine::stateChangeEvent.set(EventFlags::NORMAL);
-					Statemachine::stateChangeEvent.clear(EventFlags::ALL);
 				}
 			}
-
-			osThreadYield();
 		}
 
 		uint16_t Statemachine::getCurrentState() const
@@ -65,28 +64,27 @@ namespace sta
 			return currentState_;
 		}
 
-		void Statemachine::setStateFunction(state_fn func)
+		void Statemachine::requestStateTransition(uint32_t from, uint32_t to, uint32_t lockout /* = 0 */)
 		{
-			STA_ASSERT(func != nullptr);
+			StateTransition transition;
+			transition.from = from;
+			transition.to = to;
+			transition.event = EventFlags::NORMAL;
+			transition.lockout = lockout;
 
-			transitionFunc_ = func;
+			// Try to add a state transition request to the queue. Don't wait if another
+			// thread is already requesting a state change.
+			queue_.put(transition, 0);
 		}
 
-		void Statemachine::setTimerFunction(timer_fn func)
+		void Statemachine::requestTimedStateTransition(uint32_t from, uint32_t to, uint32_t millis, uint32_t lockout /* = 0 */)
 		{
-			STA_ASSERT(func != nullptr);
+			STA_ASSERT(to < STA_TACOS_NUM_STATES);
-
-			timerFunc_ = func;
-		}
-
-		void Statemachine::setFailsafeTimer(uint32_t millis, uint16_t nextState)
-		{
-			STA_ASSERT(nextState < STA_TACOS_NUM_STATES);
 			STA_ASSERT(!failsafeTimer_.isRunning());
 
-			failsafeTimer_.setCallback([nextState](void* arg) {
+			failsafeTimer_.setCallback([from, to, lockout](void* arg) {
-				Statemachine::instance()->forceStateTransition(nextState);
+				Statemachine::instance()->requestStateTransition(from, to, lockout);
-			}, &failsafeState_);
+			}, NULL);
 
 			failsafeTimer_.start(millis);
 		}
@@ -99,25 +97,6 @@ namespace sta
 			lockoutTimer_.start(millis);
 		}
 
-		void Statemachine::forceStateTransition(uint16_t state)
-		{
-			if (failsafeTimer_.isRunning())
-			{
-				failsafeTimer_.stop();
-			}
-
-			if (lockoutTimer_.isRunning())
-			{
-				lockoutTimer_.stop();
-			}
-
-			timerFunc_(state, currentState_, EventFlags::FORCED);
-			currentState_ = state;
-
-			Statemachine::stateChangeEvent.set(EventFlags::FORCED);
-			Statemachine::stateChangeEvent.clear(EventFlags::ALL);
-		}
-
 		Statemachine* Statemachine::_instance = nullptr;
 
 		RtosEvent Statemachine::stateChangeEvent;

Tacos/src/thread.cpp

@@ -81,21 +81,26 @@ namespace sta
 			// Infinite loop allowing quick restarts of this thread after termination.
 			while (true)
 			{
-				// The thread has to wait until the startup has been completed.
+				// The thread has to wait until the system startup has been completed.
 				rtos::waitForStartupEvent();
 
 				// Wait for a thread start flag.
 				wait(STA_RTOS_THREAD_FLAG_START);
 
+				// Call user-defined initialization code.
 				running_ = true;
 				init();
 
-				// Run the thread until the termination flag is set.
+				// Run the thread until the termination flag is set. Reset this
-				while (!resetTerminationRequest())
+				while (!isTerminationRequested())
 				{
 					func();
 				}
 
+				// Clear the termination request flag for this thread.
+				deleteTerminationRequest();
+
+				// Call user-defined cleanup code.
 				cleanup();
 				running_ = false;
 			}