Simpler thread controller (#4327)

* s

* Start -> start

* maybe tests are happy

* s

* s

firmware/controllers/engine_controller.cpp

@@ -145,7 +145,6 @@ class EngineStateBlinkingTask : public PeriodicTimerController {
 	}
 
 	void PeriodicTask() override {
-		counter++;
 #if EFI_SHAFT_POSITION_INPUT
 		bool is_running = engine->rpmCalculator.isRunning();
 #else
@@ -154,14 +153,12 @@ class EngineStateBlinkingTask : public PeriodicTimerController {
 
 		if (is_running) {
 			// blink in running mode
-			enginePins.runningLedPin.setValue(counter % 2);
+			enginePins.runningLedPin.toggle();
 		} else {
 			int is_cranking = engine->rpmCalculator.isCranking();
 			enginePins.runningLedPin.setValue(is_cranking);
 		}
 	}
-private:
-	int counter = 0;
 };
 
 static EngineStateBlinkingTask engineStateBlinkingTask;

firmware/controllers/system/thread_controller.h

@@ -7,8 +7,6 @@
 
 #pragma once
 
-#include "global.h"
-
 /**
  * @brief A base class for a controller that requires its own thread.
  * 
@@ -17,53 +15,35 @@
  * allocate the stack at compile time, it has to be a template parameter instead of a normal parameter)
  */
 template <int TStackSize>
-class ThreadController
+class ThreadController : public chibios_rt::BaseStaticThread<TStackSize>
 {
 private:
-    THD_WORKING_AREA(m_threadstack, TStackSize);
+	const tprio_t m_prio;
-    const tprio_t m_prio;
-	bool m_isStarted = false;
-
-    /**
-     * The OS can only call a function with a single void* param.  We have
-     * to convert back to an instance of ThreadController, and call the task to run.
-     */
-    static void StaticThreadTaskAdapter(void* thread)
-    {
-        ThreadController* t = static_cast<ThreadController*>(thread);
-
-        // Run our thread task
-        t->ThreadTask();
-    }
 
 protected:
-    /**
+	// Override this function to implement your controller's thread's behavior.
-     * Override this function to implement your controller's thread's behavior.
+	virtual void ThreadTask() = 0;
-     */
+
-    virtual void ThreadTask() = 0;
+	void main() override {
-    thread_t* m_thread;
+		this->setName(m_name);
+
+		ThreadTask();
+	}
 
 	const char* const m_name;
 
 public:
-    ThreadController(const char* name, tprio_t priority)
+	ThreadController(const char* name, tprio_t priority)
 		: m_prio(priority)
 		, m_name(name)
-    {
+	{
-    }
+	}
 
-    /**
+	/**
-     * @brief Start the thread.
+	 * @brief Start the thread.
-     */
+	 */
-    void start()
+	void start()
-    {
+	{
-		if (m_isStarted) {
+		chibios_rt::BaseStaticThread<TStackSize>::start(m_prio);
-			warning(CUSTOM_OBD_6003, "Tried to start thread %s but it was already running", m_name);
+	}
-			return;
-		}
-
-        m_thread = chThdCreateStatic(m_threadstack, sizeof(m_threadstack), m_prio, StaticThreadTaskAdapter, this);
-		m_thread->name = m_name;
-		m_isStarted = true;
-    }
 };

unit_tests/chibios-mock/mock-threads.h

@@ -23,3 +23,12 @@ thread_t *chThdCreateStatic(void *wsp, size_t size,
                             tprio_t prio, tfunc_t pf, void *arg);
 
 #define PAL_MODE_OUTPUT_PUSHPULL 0
+
+namespace chibios_rt {
+	template <int N>
+	struct BaseStaticThread {
+		void start(tprio_t) { }
+		virtual void main() = 0;
+		void setName(const char*) { }
+	};
+}