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_;
}

DRIVE* drive(){
    return &theFactory.drive_;
}

STEERING* steering(){
    return &theFactory.steering_;
}


//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());
    DRIVE_init(drive());
    STEERING_init(steering());
}

//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());
    
    DRIVE_onRun(drive(), LED_on, l2());
    DRIVE_onDead(drive(), LED_off, l2());
    
    STEERING_onRun(steering(), LED_on, l3());
    STEERING_onDead(steering(), LED_off, l3());
    
}

//start all state machines
void Factory_start() {
    CAN_startBehaviour();
        
    DRIVE_startBehaviour(drive());
    STEERING_startBehaviour(steering());
    
    ALIVE_startBehaviourSender(ALcontroller());
    
    ALIVE_startBehaviourChecker(ALjoy());
    ALIVE_emitBorn(ALjoy(), 100, 0);
    ALIVE_emitReady(ALjoy(), 200, 0);
    
    
    
}