SummerSchool2-Controller/306-controller_interface.X/middleware/alive.c

/**
 * @author R<EFBFBD>mi Heredero
 * @version 1.0.0
 * @date August 2023
 * @file alive.c
 */

#include "alive.h"

void ALIVE_init(ALIVE* me, uint8_t led){
    me->state = STAL_INIT;
    me->isAlive = false;
    me->checker = false;
    me->sender = false;
    me->haveBreak = true;
    me->aliveTime = 10;
    me->setup.f = NULL;
    me->born.f = NULL;
    me->wait.f = NULL;
    me->dead.f = NULL;
    me->alive.f = NULL;
    me->break_cb.f = NULL;
    LED_init(&me->debugLed, led);
    LED_initHW(&me->debugLed);
    BLINKER_init(&me->debugBlinker);
    BLINKER_setTimeOn(&me->debugBlinker, 50);
    BLINKER_setTimeOff(&me->debugBlinker, 50);
    BLINKER_onOn(&me->debugBlinker, LED_on, &me->debugLed);
    BLINKER_onOff(&me->debugBlinker, LED_off, &me->debugLed);
}

void ALIVE_startBehaviourChecker(ALIVE* me){
    BLINKER_startBehaviour(&me->debugBlinker);
    POST(me, &ALIVE_processEvent, evALinitChecker, 10, 0);
}

void ALIVE_startBehaviourSender(ALIVE* me){
    BLINKER_startBehaviour(&me->debugBlinker);
    POST(me, &ALIVE_processEvent, evALinitSender, 10, 0);
}

bool ALIVE_processEvent(Event* ev) {
    bool processed = false;
    ALIVE* me = (ALIVE*)Event_getTarget(ev);
    ALIVE_STATES oldState = me->state;
    evIDT evid = Event_getId(ev);
    uint64_t data = Event_getData(ev);
    
    switch (me->state) {        // onState
        case STAL_INIT:
            LED_on(&me->debugLed);
            if (ev->id == evALinitChecker) {
                me->state = STAL_SETUP;
            }
            if (ev->id == evALinitSender) {
                me->state = STAL_ALIVE;
                ALIVE_emitPoll(me, me->aliveTime*10, 0);
            }
            break;
        
        case STAL_SETUP:
            if (ev->id == evALborn) {
                me->state = STAL_BORN;
            }
            break;
        
        case STAL_BORN:
            if (ev->id == evALready) {
                me->state = STAL_WAIT;
                ALIVE_emitPoll(me, me->aliveTime*20, 0);
            }
            break;
        
        case STAL_WAIT:
            if (ev->id == evALpoll) {
                
                if (me->aliveTime == 0) {
                    if (me->haveBreak){
                        me->state = STAL_BREAK;
                    }
                } else if (me->isAlive){
                    me->state = STAL_WAIT;
                    ALIVE_emitPoll(me, me->aliveTime*20, 0);
                } else {
                    me->state = STAL_DEAD;
                }
                me->isAlive = false;
                
            }
            break;
        
        case STAL_DEAD:
            if (ev->id == evALresurrect) {
                me->state = STAL_SETUP;
            }
            break;
        
        case STAL_ALIVE:
            if (ev->id == evALpoll) {
                if (me->alive.f != NULL) {
                    me->alive.f(me->alive.p);
                }
                if (me->aliveTime == 0) {
                    if (me->haveBreak){
                        me->state = STAL_BREAK;
                    }
                } else {
                    ALIVE_emitPoll(me, me->aliveTime*20, 0);
                }
            }
            break;
        
        case STAL_BREAK:
            if (ev->id == evALstart) {
                ALIVE_emitPoll(me, me->aliveTime*10, 0);
                if (me->checker) {
                    me->state = STAL_WAIT;
                }
                if (me->sender) {
                    me->state = STAL_ALIVE;
                }
            }
            break;
    }

    if(oldState != me->state){
        switch (oldState) {     // onExit
            case STAL_INIT:
                break;
            
            case STAL_SETUP:
                break;
            
            case STAL_BORN:
                break;
            
            case STAL_WAIT:
                BLINKER_endBlink(&me->debugBlinker);
                break;
            
            case STAL_DEAD:
                break;
            
            case STAL_ALIVE:
                BLINKER_endBlink(&me->debugBlinker);
                break;
            
            case STAL_BREAK:
                break;
        }

        switch (me->state) {    // onEntry
            case STAL_INIT:
                break;
            
            case STAL_SETUP:
                me->checker = true;
                if (me->setup.f != NULL) {
                    me->setup.f(me->setup.p);
                }
                break;
            
            case STAL_BORN:
                if (me->born.f != NULL) {
                    me->born.f(me->born.p);
                }
                break;
            
            case STAL_WAIT:
                LED_off(&me->debugLed);
                BLINKER_emitBlink(&me->debugBlinker, 0);
                if (me->wait.f != NULL) {
                    me->wait.f(me->wait.p);
                }
                break;
            
            case STAL_DEAD:
                if (me->dead.f != NULL) {
                    me->dead.f(me->dead.p);
                }
                break;
            
            case STAL_ALIVE:
                LED_off(&me->debugLed);
                BLINKER_emitBlink(&me->debugBlinker, 0);
                me->sender = true;
                break;
            
            case STAL_BREAK:
                if (me->break_cb.f != NULL) {
                    me->break_cb.f(me->break_cb.p);
                }
                break;
        }

        processed = true;
    }
    return processed;
}

/*************
 * Callbacks *
 *************/

void ALIVE_onSetup(ALIVE* me, ALIVE_CALLBACK_FUNCTION f, void* p) {
    me->setup.f = f;
    me->setup.p = p;
}

void ALIVE_onBorn(ALIVE* me, ALIVE_CALLBACK_FUNCTION f, void* p) {
    me->born.f = f;
    me->born.p = p;
}

void ALIVE_onWait(ALIVE* me, ALIVE_CALLBACK_FUNCTION f, void* p) {
    me->wait.f = f;
    me->wait.p = p;
}

void ALIVE_onDead(ALIVE* me, ALIVE_CALLBACK_FUNCTION f, void* p) {
    me->dead.f = f;
    me->dead.p = p;
}

void ALIVE_onAlive(ALIVE* me, ALIVE_CALLBACK_FUNCTION f, void* p) {
    me->alive.f = f;
    me->alive.p = p;
}

void ALIVE_onBreak(ALIVE* me, ALIVE_CALLBACK_FUNCTION f, void* p) {
    me->break_cb.f = f;
    me->break_cb.p = p;
}

/************
 * EMITTERS *
 ************/

void ALIVE_emitInitSender(ALIVE* me, uint16_t t, int64_t data) {
    POST(me, &ALIVE_processEvent, evALinitSender, t, data);
}

void ALIVE_emitBorn(ALIVE* me, uint16_t t, int64_t data) {
    POST(me, &ALIVE_processEvent, evALborn, t, data);
}

void ALIVE_emitReady(ALIVE* me, uint16_t t, int64_t data) {
    POST(me, &ALIVE_processEvent, evALready, t, data);
}

void ALIVE_emitPoll(ALIVE* me, uint16_t t, int64_t data) {
    POST(me, &ALIVE_processEvent, evALpoll, t, data);
}

void ALIVE_emitStart(ALIVE* me, uint16_t t, int64_t data) {
    POST(me, &ALIVE_processEvent, evALstart, t, data);
}

void ALIVE_emitResurrect(ALIVE* me, uint16_t t, int64_t data) {
    POST(me, &ALIVE_processEvent, evALresurrect, t, data);
}

/***********
 * SETTERS *
 ***********/

void ALIVE_setIsAlive(ALIVE* me, bool v) {
    me->isAlive = v;
}

void ALIVE_setHaveBreak(ALIVE* me, bool v) {
    me->haveBreak = v;
}

void ALIVE_setAliveTime(ALIVE* me, uint8_t v) {
    me->aliveTime = v;
}

void ALIVE_ISALIVE(ALIVE* me) {
    ALIVE_setIsAlive(me, true);
}