SummerSchool2-Controller/306-controller_interface.X/app/drive.h

/**
 * @author R<EFBFBD>mi Heredero
 * @version 1.0.0
 * @date August 2023
 * @file drive.h
 */
#ifndef DRIVE_H
#define DRIVE_H

#include "../xf/xf.h"
#include "../middleware/alive.h"

typedef enum {
    STDR_INIT = 100,
    STDR_WAIT,
    STDR_RUN,
    STDR_DEAD
} DRIVE_STATES;

typedef enum {
    evDRinit = 100,
    evDRstart,
    evDRstop,
    evDRresurrect,
    evDRpollSpeed,
    evDRpollTorque
} DRIVE_EVENTS;

typedef void (*DRIVE_CALLBACK_FUNCTION)(void*);
typedef struct {
    DRIVE_CALLBACK_FUNCTION f; // function
    void* p; // param(s)
} DRIVE_CALLBACK;

typedef struct {
    DRIVE_STATES state;
    ALIVE myChecker;
    DRIVE_CALLBACK wait;
    DRIVE_CALLBACK run;
    DRIVE_CALLBACK dead;
} DRIVE;

/**
 * Initialize the DRIVE
 * @param me the DRIVE itself
 */
void DRIVE_init(DRIVE* me);

/**
 * Start the DRIVE state machine
 * @param me the DRIVE itself
 */
void DRIVE_startBehaviour(DRIVE* me);

/**
 * Process the event
 * @param ev the event to process
 * @return true if the event is processed
 */
bool DRIVE_processEvent(Event* ev);

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

/**
 * Set the callback function to call when the DRIVE is entering state wait
 * @param me the DRIVE itself
 * @param f the function to call
 * @param p the param(s) to pass to the function
 */
void DRIVE_onWait(DRIVE* me, DRIVE_CALLBACK_FUNCTION f, void* p);

/**
 * Set the callback function to call when the DRIVE is entering state run
 * @param me the DRIVE itself
 * @param f the function to call
 * @param p the param(s) to pass to the function
 */
void DRIVE_onRun(DRIVE* me, DRIVE_CALLBACK_FUNCTION f, void* p);

/**
 * Set the callback function to call when the DRIVE is entering state dead
 * @param me the DRIVE itself
 * @param f the function to call
 * @param p the param(s) to pass to the function
 */
void DRIVE_onDead(DRIVE* me, DRIVE_CALLBACK_FUNCTION f, void* p);

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

/**
 * Emit the start event
 * @param p the DRIVE itself
 */
void DRIVE_emitStart(void* p);

/**
 * Emit the stop event
 * @param p the DRIVE itself
 */
void DRIVE_emitStop(void* p);

/**
 * Emit the resurrect event
 * @param p the DRIVE itself
 */
void DRIVE_emitResurrect(void* p);

/**
 * Emit the pollSpeed event
 * @param p the DRIVE itself
 */
void DRIVE_emitPollSpeed(void* p);

/**
 * Emit the pollTorque event
 * @param p the DRIVE itself
 */
void DRIVE_emitPollTorque(DRIVE* me, uint16_t t, int64_t data);

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



#endif