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

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

#include "../xf/xf.h"

typedef enum {
    STAC_INIT,
    STAC_SETUP,
    STAC_BORN,
    STAC_WAIT,
    STAC_DEAD
} ALIVE_CHECKER_STATES;

typedef enum {
    evACinit = 15,
    evACborn,
    evACready,
    evACpoll
} ALIVE_CHECKER_EVENTS;

typedef void (*ALIVE_CHECKER_CALLBACK_FUNCTION)(void*);
typedef struct {
    ALIVE_CHECKER_CALLBACK_FUNCTION f; // function
    void* p; // param(s)
} ALIVE_CHECKER_CALLBACK;

typedef struct {
    ALIVE_CHECKER_STATES state;
    bool isAlive;
    uint8_t aliveTime;
    ALIVE_CHECKER_CALLBACK setup;
    ALIVE_CHECKER_CALLBACK born;
    ALIVE_CHECKER_CALLBACK wait;
    ALIVE_CHECKER_CALLBACK dead;
} ALIVE_CHECKER;

/**
 * Initialize the ALIVE_CHECKER
 * @param me the ALIVE_CHECKER itself
 */
void ALIVE_CHECKER_init(ALIVE_CHECKER* me);

/**
 * Start the ALIVE_CHECKER state machine
 * @param me the ALIVE_CHECKER itself
 */
void ALIVE_CHECKER_startBehaviour(ALIVE_CHECKER* me);

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

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

/**
 * Set the callback function to call when the ALIVE_CHECKER is entering state setup
 * @param me the ALIVE_CHECKER itself
 * @param f the function to call
 * @param p the param(s) to pass to the function
 */
void ALIVE_CHECKER_onSetup(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p);

/**
 * Set the callback function to call when the ALIVE_CHECKER is entering state born
 * @param me the ALIVE_CHECKER itself
 * @param f the function to call
 * @param p the param(s) to pass to the function
 */
void ALIVE_CHECKER_onBorn(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p);

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

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

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

/**
 * Emit the born event
 * @param me the ALIVE_CHECKER itself
 * @param t time to wait in ms before triggering event
 * @param data data to put on the event for XF
 */
void ALIVE_CHECKER_emitBorn(ALIVE_CHECKER* me, uint16_t t, int64_t data);

/**
 * Emit the ready event
 * @param me the ALIVE_CHECKER itself
 * @param t time to wait in ms before triggering event
 * @param data data to put on the event for XF
 */
void ALIVE_CHECKER_emitReady(ALIVE_CHECKER* me, uint16_t t, int64_t data);

/**
 * Emit the poll event
 * @param me the ALIVE_CHECKER itself
 * @param t time to wait in ms before triggering event
 * @param data data to put on the event for XF
 */
void ALIVE_CHECKER_emitPoll(ALIVE_CHECKER* me, uint16_t t, int64_t data);

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

void ALIVE_CHECKER_setAliveTime(ALIVE_CHECKER* me, uint8_t v);
void ALIVE_CHECKER_setIsAlive(ALIVE_CHECKER* me, bool v);
void ALIVE_CHECKER_ISALIVE(ALIVE_CHECKER* me); // Use this one when you receive CAN message

#endif