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_;
}

WATCHDOG* WDcontroller(){
    return &theFactory.WDcontroller_;
}

ALIVE_CHECKER* ACjoy() {
    return &theFactory.ACjoy_;
}


//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());

    CAN_init();
    CAN_setSender(1);
    LED_off(l1());
    
    // TODO init EPROM interface
    
    // TODO init watchdog with EPROM CST 
    WATCHDOG_init(WDcontroller());
    CAR_CST.CONTROL_ALIVE_TIME = 100; 
    WATCHDOG_setTime(WDcontroller(), CAR_CST.CONTROL_ALIVE_TIME);
    
    // TODO init ALIVE CHECKER with EPROM CST
    CAR_CST.JOYSTICK_MODE = 0;
    CAR_CST.JOYSTICK_PARAM1 = 100;
    CAR_CST.JOYSTICK_PARAM2 = 1;
    CAR_CST.JOYSTICK_ALIVE_TIME = 10;
    ALIVE_CHECKER_init(ACjoy());
}

void foo(uint8_t a, uint8_t b, uint32_t c){
    if(b){
        LED_on(l1());
    } else {
        LED_off(l1());
    }
    CAN_Send(a, b, c);
}

//connect objects if required
void Factory_build() {    
    ECAN_SetRXBnInterruptHandler(CAN_newMsg);
    CAN_onReceiveCan(foo);
    
    WATCHDOG_onAlive(WDcontroller(), CM_CONTROLLER_ALIVE, NULL);
    ALIVE_CHECKER_onSetup(ACjoy(), CM_JOY_SETUP, NULL);
    ALIVE_CHECKER_setAliveTime(ACjoy(), CAR_CST.JOYSTICK_ALIVE_TIME);
    
}

//start all state machines
void Factory_start() {
    CAN_startBehaviour();
    WATCHDOG_startBehaviour(WDcontroller());
    ALIVE_CHECKER_startBehaviour(ACjoy());
    ALIVE_CHECKER_emitBorn(ACjoy(), 100, 0);
    ALIVE_CHECKER_emitReady(ACjoy(), 200, 0);
    
}