Moved system events to TACOS and re-introduced onManagerInit() and onStatemachineInit() for backwards compatibility

include/sta/tacos/statemachine.hpp

@@ -303,7 +303,7 @@ namespace sta
 		 * @ingroup tacos_statemachine
 		 */
 		STA_WEAK
-		void onStateTransition(uint16_t from, uint16_t to, uint32_t lockout){}
+		void onStateTransition(uint16_t from, uint16_t to, uint32_t lockout) {}
 	}  // namespace tacos
 }  // namespace sta
 

include/sta/tacos/system/events.hpp

@@ -0,0 +1,82 @@
+/**
+ * @file
+ * @brief Implementation of system events.
+ */
+#ifndef STA_TACOS_SYSTEM_EVENTS_HPP
+#define STA_TACOS_SYSTEM_EVENTS_HPP
+
+
+/**
+ * @defgroup STA_RTOS_SysEvent System Events
+ * @ingroup STA_RTOS_API
+ * @brief System events.
+ *
+ * Check @ref STA_RTOS_BuildConfig for configuration options.
+ */
+
+
+#include <cstdint>
+
+
+// System event flags
+//
+
+/**
+ * @brief Startup system event flag.
+ *
+ * @ingroup STA_RTOS_SysEvent
+ */
+#define STA_TACOS_SYSTEM_EVENTS_STARTUP 0x100000U
+
+
+namespace sta
+{
+	namespace tacos
+	{
+		/**
+		 * @brief Initialize system events.
+		 */
+		void initSystemEvents();
+
+
+		/**
+		 * @brief Signal system events.
+		 *
+		 * @param flags     System event flags
+		 *
+		 * @ingroup STA_RTOS_SysEvent
+		 */
+		void signalSystemEvents(uint32_t flags);
+
+		/**
+		 * @brief Wait for system events.
+		 *
+		 * @param flags     System event flags
+		 * @param options   osFlagsWaitAll or osFlagsWaitAny (osFlagsNoClear always set)
+		 * @param timeout   Wait timeout (0 = instant, osWaitForever = infinite)
+		 *
+		 * @ingroup STA_RTOS_SysEvent
+		 */
+		void waitForSystemEvents(uint32_t flags, uint32_t options, uint32_t timeout);
+
+
+		/**
+		 * @brief Signal startup system event.
+		 *
+		 * @ingroup STA_RTOS_SysEvent
+		 */
+		void signalStartupEvent();
+	
+		/**
+		 * @brief Wait for startup system event.
+		 *
+		 * Blocking while waiting
+		 *
+		 * @ingroup STA_RTOS_SysEvent
+		 */
+		void waitForStartupEvent();
+	} // namespace tacos
+} // namespace sta
+
+
+#endif // STA_RTOS_SYSTEM_EVENTS_HPP

src/events.cpp

@@ -0,0 +1,53 @@
+#include <sta/tacos/system/events.hpp>
+#include <sta/rtos/event.hpp>
+
+#include <sta/debug/assert.hpp>
+
+#include <cmsis_os2.h>
+#include <FreeRTOS.h>
+
+
+namespace
+{
+	// Static memory for system events
+	StaticEventGroup_t systemEventControlBlock;
+	// Event handle
+	sta::RtosEvent * systemEvents = nullptr;
+}
+
+
+namespace sta
+{
+	namespace tacos
+	{
+		void initSystemEvents()
+		{
+			if (systemEvents == nullptr)
+			{
+				systemEvents = new sta::RtosEvent();
+			}
+		}
+
+		void signalSystemEvents(uint32_t flags)
+		{
+			STA_ASSERT_MSG(systemEvents != nullptr, "System events not initialized");
+			systemEvents->set(flags);
+		}
+
+		void waitForSystemEvents(uint32_t flags, uint32_t options, uint32_t timeout)
+		{
+			STA_ASSERT_MSG(systemEvents != nullptr, "System events not initialized");
+			systemEvents->peek(flags, timeout);
+		}
+
+		void signalStartupEvent()
+		{
+			signalSystemEvents(STA_TACOS_SYSTEM_EVENTS_STARTUP);
+		}
+	
+		void waitForStartupEvent()
+		{
+			waitForSystemEvents(STA_TACOS_SYSTEM_EVENTS_STARTUP, osFlagsWaitAll, osWaitForever);
+		}
+	} // namespace tacos
+} // namespace sta

src/startup.cpp

@@ -28,8 +28,7 @@
 #include <sta/lang.hpp>
 
 // rtos2-utils-specific includes.
-#include <sta/rtos/system/startup.hpp>
+#include <sta/tacos/system/events.hpp>
-#include <sta/rtos/system/events.hpp>
 
 // Tacos-specific includes.
 #include <sta/tacos/c_api/startup.h>
@@ -85,7 +84,7 @@ namespace sta
 	{
 		/**
 		 * @brief Function that is called before the statemachine task is started. Override it to 
-		 * adjust the statemachine to your specifications.
+		 * adjust the statemachine to your specifications. Remains in TACOS for backwards compatibility, use startup() instead.
 		 * 
 		 * @ingroup tacos_startup
 		 */
@@ -93,10 +92,34 @@ namespace sta
 		void onStatemachineInit()
 		{}
 
+		/**
+		 * @brief Function that is called before the statemachine task is started. Override it to
+		 * adjust the statemachine to your specifications. Remains in TACOS for backwards compatibility, use startup() instead.
+		 *
+		 * @ingroup tacos_startup
+		 */
+		STA_WEAK
+		void onManagerInit()
+		{}
+
+		/**
+		 * @brief Function that is called before the statemachine task is started. It serves as an entry point for the user to
+		 * define the threads the statemachine should run.
+		 *
+		 * @ingroup tacos_startup
+		 */
+		STA_WEAK
+		void startup()
+		{}
+
 		void initStatemachine()
 		{
 			onStatemachineInit();
 
+			onManagerInit();
+
+			startup();
+
 			Statemachine::instance()->start();
 		}
 
@@ -158,16 +181,14 @@ void startTACOS(void * arg)
 	// Initialize HAL
 	sta::initHAL();
 
-	// Initialize RTOS system resources
+	// Initialize RTOS system events
-	sta::rtos::initSystem();
+	sta::tacos::initSystemEvents();
 
 	// Call further initialization code
 	sta::tacos::startupExtras(arg);
 
 	// Wake threads
-#ifdef STA_RTOS_SYSTEM_EVENTS_ENABLE
+	sta::tacos::signalStartupEvent();
-	sta::rtos::signalStartupEvent();
-#endif // STA_RTOS_SYSTEM_EVENTS_ENABLE
 
 	// Check if called from thread
 	if (osThreadGetId() != nullptr)

src/statemachine.cpp

@@ -131,12 +131,8 @@ namespace sta
 					setLockoutTimer(lockout);
 				}
 
-				// get heap stats at the end of the state transition
-				HeapStats_t stats;
-				vPortGetHeapStats(&stats);
-
 				// Execute the user-defined callback.
-				sta::tacos::onStateTransition(transition.from, transition.to, transition.lockout);
+				sta::tacos::onStateTransition(from, to, lockout);
 
 				// Start all new tasks and stop all the tasks that aren't supposed to be running.
 				updateThreads();

src/thread.cpp

@@ -7,9 +7,10 @@
 
 
 #include <sta/tacos/thread.hpp>
+#include <sta/tacos/system/events.hpp>
+
 #include <sta/debug/assert.hpp>
 #include <sta/debug/debug.hpp>
-#include <sta/rtos/system/events.hpp>
 
 #include <functional>
 #include <cstring>
@@ -63,7 +64,7 @@ namespace sta
 			while (true)
 			{
 				// The thread has to wait until the system startup has been completed.
-				rtos::waitForStartupEvent();
+				sta::tacos::waitForStartupEvent();
 
 				// Wait for a thread start flag.
 				wait(STA_RTOS_THREAD_FLAG_START);