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

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

#include "alive_checker.h"

void ALIVE_CHECKER_init(ALIVE_CHECKER* me){
    me->state = STAC_INIT;
    me->isAlive = false;
    me->aliveTime = 10;
    me->setup.f = NULL;
    me->born.f = NULL;
    me->wait.f = NULL;
    me->dead.f = NULL;
}

void ALIVE_CHECKER_startBehaviour(ALIVE_CHECKER* me){
    POST(me, &ALIVE_CHECKER_processEvent, evACinit, 0, 0);
}

bool ALIVE_CHECKER_processEvent(Event* ev) {
    bool processed = false;
    ALIVE_CHECKER* me = (ALIVE_CHECKER*)Event_getTarget(ev);
    ALIVE_CHECKER_STATES oldState = me->state;
    evIDT evid = Event_getId(ev);
    uint64_t data = Event_getData(ev);
    
    switch (me->state) {        // onState
        case STAC_INIT:
            if (ev->id == evACinit) {
                me->state = STAC_SETUP;
            }
            break;
        
        case STAC_SETUP:
            if (ev->id == evACborn) {
                me->state = STAC_BORN;
            }
            break;
        
        case STAC_BORN:
            if (ev->id == evACready) {
                me->state = STAC_WAIT;
                ALIVE_CHECKER_emitPoll(me, me->aliveTime*10, 0);
            } 
            break;
        
        case STAC_WAIT:
            if (ev->id == evACpoll) {
                if (me->isAlive) {
                    me->state = STAC_WAIT;
                    ALIVE_CHECKER_emitPoll(me, me->aliveTime*10, 0);
                } else {
                    me->state = STAC_DEAD;
                }
            }
            break;
        
        case STAC_DEAD:
            if(ev->id == evACborn) {
                me->state = STAC_BORN;
            }
            break;
    }

    if(oldState != me->state){
        switch (oldState) {     // onExit
            case STAC_INIT:
                break;
            
            case STAC_SETUP:
                break;
            
            case STAC_BORN:
                break;
            
            case STAC_WAIT:
                break;
            
            case STAC_DEAD:
                break;
        }

        switch (me->state) {    // onEntry
            case STAC_INIT:
                break;
            
            case STAC_SETUP:
                if (me->setup.f != NULL) {
                    me->setup.f(me->setup.p);
                }
                break;
            
            case STAC_BORN:
                if (me->born.f != NULL) {
                    me->born.f(me->born.p);
                }
                break;
            
            case STAC_WAIT:
                me->isAlive = false;
                if (me->wait.f != NULL) {
                    me->wait.f(me->wait.p);
                }
                break;
            
            case STAC_DEAD:
                if (me->dead.f != NULL) {
                    me->dead.f(me->dead.p);
                }
                break;
        }

        processed = true;
    }
    return processed;
}

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

void ALIVE_CHECKER_onSetup(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p) {
    me->setup.f = f;
    me->setup.p = p;
}

void ALIVE_CHECKER_onBorn(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p) {
    me->born.f = f;
    me->born.p = p;
}

void ALIVE_CHECKER_onWait(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p) {
    me->wait.f = f;
    me->wait.p = p;
}

void ALIVE_CHECKER_onDead(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p) {
    me->dead.f = f;
    me->dead.p = p;
}

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

void ALIVE_CHECKER_emitBorn(ALIVE_CHECKER* me, uint16_t t, int64_t data) {
    POST(me, &ALIVE_CHECKER_processEvent, evACborn, t, data);
}

void ALIVE_CHECKER_emitReady(ALIVE_CHECKER* me, uint16_t t, int64_t data) {
    POST(me, &ALIVE_CHECKER_processEvent, evACready, t, data);
}

void ALIVE_CHECKER_emitPoll(ALIVE_CHECKER* me, uint16_t t, int64_t data) {
    POST(me, &ALIVE_CHECKER_processEvent, evACpoll, t, data);
}

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

void ALIVE_CHECKER_setAliveTime(ALIVE_CHECKER* me, uint8_t v) {
    me->aliveTime = v;
}

void ALIVE_CHECKER_setIsAlive(ALIVE_CHECKER* me, bool v) {
    me->aliveTime = v;
}

void ALIVE_CHECKER_ISALIVE(ALIVE_CHECKER* me) {
    ALIVE_CHECKER_setIsAlive(me, true);
}