SummerSchool2-Controller/306-controller_interface.X/app/factory/factory.c

#include "factory.h"


//the factory object containing all objects of our system
static Factory theFactory;

//all the getters
LED* l1() {
    return &theFactory.l1_;
}
LED* l2()  {
    return &theFactory.l2_;
}
LED* l3()  {
    return &theFactory.l3_;
}
LED* l4()  {
    return &theFactory.l4_;
}
LED* l5()  {
    return &theFactory.l5_;
}
LED* l6()  {
    return &theFactory.l6_;
}
LED* l7()  {
    return &theFactory.l7_;
}
LED* l8()  {
    return &theFactory.l8_;
}

BLINKER* b1() {
    return &theFactory.b1_;
}

ALIVE* ALcontroller(){
    return &theFactory.ALcontroller_;
}

ALIVE* ALjoy(){
    return &theFactory.ALjoy_;
}

ALIVE* ALdrive(){
    return &theFactory.ALdrive_;
}


//initialize all objects
void Factory_init() {
    LED_init(l1(), 1);
    LED_init(l2(), 2);
    LED_init(l3(), 3);
    LED_init(l4(), 4);
    LED_init(l5(), 5);
    LED_init(l6(), 6);
    LED_init(l7(), 7);
    LED_init(l8(), 8);

    LED_initHW(l1());
    LED_initHW(l2());
    LED_initHW(l3());
    LED_initHW(l4());
    LED_initHW(l5());
    LED_initHW(l6());
    LED_initHW(l7());
    LED_initHW(l8());
    
    BLINKER_init(b1());

    CAN_init();
    CAN_setSender(1);
    LED_off(l1());
    
    MEM_init();
    
    ALIVE_init(ALcontroller());
    ALIVE_setAliveTime(ALcontroller(), KART_CST.CONTROL_ALIVE_TIME);
    
    ALIVE_init(ALjoy());
    ALIVE_init(ALdrive());
}

void foo(void* p){
    static int16_t speed = 0;
    static bool up = true;
    if(up) {
        speed += 3;
        if(speed >100) up = false;
    } else {
        speed -= 3;
        if(speed < -100) up = true;
    }
    CM_DRIVE_POWER(&speed);
}

//connect objects if required
void Factory_build() {    
    ECAN_SetRXBnInterruptHandler(CAN_newMsg);
    CAN_onReceiveCan(CM_processIncome);
    
    ALIVE_onAlive(ALcontroller(), CM_CONTROLLER_ALIVE, NULL);
    
    //BLINKER_onOn(b1(), LED_on, l6());
    //BLINKER_onOff(b1(), LED_off, l6());
    
    ALIVE_onSetup(ALjoy(), CM_JOY_SETUP, NULL);
    ALIVE_setAliveTime(ALjoy(), KART_CST.JOYSTICK_ALIVE_TIME);
    ALIVE_onBorn(ALjoy(), LED_on, l1());
    ALIVE_onDead(ALjoy(), LED_off, l1());
    
    ALIVE_onSetup(ALdrive(), CM_DRIVE_SETUP, NULL);
    ALIVE_setAliveTime(ALdrive(), KART_CST.DRIVE_ALIVE_TIME);
    ALIVE_onBorn(ALdrive(), LED_on, l2());
    ALIVE_onDead(ALdrive(), LED_off, l2());
    
    BLINKER_setTimeOn(b1(), (KART_CST.DRIVE_STOP_TIME*9)/2);
    BLINKER_setTimeOff(b1(), (KART_CST.DRIVE_STOP_TIME*9)/2);
    BLINKER_onOn(b1(), foo, NULL);
}

//start all state machines
void Factory_start() {
    CAN_startBehaviour();
    
        
    ALIVE_startBehaviourSender(ALcontroller());
    ALIVE_startBehaviourChecker(ALjoy());
    ALIVE_emitBorn(ALjoy(), 100, 0);
    ALIVE_emitReady(ALjoy(), 200, 0);
    ALIVE_startBehaviourChecker(ALdrive());
    ALIVE_emitBorn(ALdrive(), 100, 0);
    ALIVE_emitReady(ALdrive(), 200, 0);
    
    BLINKER_startBehaviour(b1());
    BLINKER_emitBlink(b1(), 300);
    
    
}