91 lines
1.9 KiB
C
91 lines
1.9 KiB
C
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/**
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* @author R<EFBFBD>mi Heredero
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* @version 1.0.0
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* @date August 2023
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* @file watchdog.c
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*/
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#include "watchdog.h"
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void WATCHDOG_init(WATCHDOG* me){
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me->state = STWD_INIT;
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me->time = 10;
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me->alive.f = NULL;
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}
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void WATCHDOG_startBehaviour(WATCHDOG* me){
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POST(me, &WATCHDOG_processEvent, evWDinit, 0, 0);
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}
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bool WATCHDOG_processEvent(Event* ev) {
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bool processed = false;
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WATCHDOG* me = (WATCHDOG*)Event_getTarget(ev);
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WATCHDOG_STATES oldState = me->state;
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evIDT evid = Event_getId(ev);
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uint64_t data = Event_getData(ev);
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switch (me->state) { // onState
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case STWD_INIT:
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if (ev->id == evWDinit) {
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me->state = STWD_ALIVE;
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WATCHDOG_emitPoll(me, 10*me->time, 0);
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}
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break;
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case STWD_ALIVE:
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if (ev->id == evWDpoll) {
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WATCHDOG_emitPoll(me, 10*me->time, 0);
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if (me->alive.f != NULL) {
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me->alive.f(me->alive.p);
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}
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}
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break;
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}
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if(oldState != me->state){
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switch (oldState) { // onExit
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case STWD_INIT:
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break;
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case STWD_ALIVE:
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break;
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}
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switch (me->state) { // onEntry
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case STWD_INIT:
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break;
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case STWD_ALIVE:
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break;
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}
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processed = true;
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}
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return processed;
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}
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/*************
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* Callbacks *
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*************/
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void WATCHDOG_onAlive(WATCHDOG* me, WATCHDOG_CALLBACK_FUNCTION f, void* p) {
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me->alive.f = f;
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me->alive.p = p;
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}
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/************
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* EMITTERS *
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************/
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void WATCHDOG_emitPoll(WATCHDOG* me, uint16_t t, int64_t data) {
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POST(me, &WATCHDOG_processEvent, evWDpoll, t, data);
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}
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/***********
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* SETTERS *
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***********/
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void WATCHDOG_setTime(WATCHDOG* me, uint8_t v) {
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me->time = v;
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}
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