135 lines
3.5 KiB
C
135 lines
3.5 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 alive_checker.h
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*/
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#ifndef ALIVE_CHECKER_H
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#define ALIVE_CHECKER_H
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#include "../xf/xf.h"
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typedef enum {
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STAC_INIT,
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STAC_SETUP,
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STAC_BORN,
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STAC_WAIT,
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STAC_DEAD
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} ALIVE_CHECKER_STATES;
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typedef enum {
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evACinit = 100, // TODO change this number (< 256)
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evACborn,
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evACready,
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evACpoll
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} ALIVE_CHECKER_EVENTS;
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typedef void (*ALIVE_CHECKER_CALLBACK_FUNCTION)(void*);
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typedef struct {
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ALIVE_CHECKER_CALLBACK_FUNCTION f; // function
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void* p; // param(s)
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} ALIVE_CHECKER_CALLBACK;
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typedef struct {
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ALIVE_CHECKER_STATES state;
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bool isAlive;
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uint8_t aliveTime;
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ALIVE_CHECKER_CALLBACK setup;
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ALIVE_CHECKER_CALLBACK born;
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ALIVE_CHECKER_CALLBACK wait;
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ALIVE_CHECKER_CALLBACK dead;
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} ALIVE_CHECKER;
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/**
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* Initialize the ALIVE_CHECKER
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* @param me the ALIVE_CHECKER itself
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*/
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void ALIVE_CHECKER_init(ALIVE_CHECKER* me);
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/**
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* Start the ALIVE_CHECKER state machine
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* @param me the ALIVE_CHECKER itself
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*/
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void ALIVE_CHECKER_startBehaviour(ALIVE_CHECKER* me);
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/**
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* Process the event
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* @param ev the event to process
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* @return true if the event is processed
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*/
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bool ALIVE_CHECKER_processEvent(Event* ev);
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/*************
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* Callbacks *
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*************/
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/**
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* Set the callback function to call when the ALIVE_CHECKER is entering state setup
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* @param me the ALIVE_CHECKER itself
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* @param f the function to call
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* @param p the param(s) to pass to the function
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*/
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void ALIVE_CHECKER_onSetup(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p);
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/**
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* Set the callback function to call when the ALIVE_CHECKER is entering state born
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* @param me the ALIVE_CHECKER itself
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* @param f the function to call
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* @param p the param(s) to pass to the function
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*/
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void ALIVE_CHECKER_onBorn(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p);
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/**
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* Set the callback function to call when the ALIVE_CHECKER is entering state wait
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* @param me the ALIVE_CHECKER itself
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* @param f the function to call
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* @param p the param(s) to pass to the function
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*/
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void ALIVE_CHECKER_onWait(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p);
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/**
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* Set the callback function to call when the ALIVE_CHECKER is entering state dead
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* @param me the ALIVE_CHECKER itself
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* @param f the function to call
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* @param p the param(s) to pass to the function
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*/
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void ALIVE_CHECKER_onDead(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p);
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/************
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* EMITTERS *
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************/
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/**
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* Emit the born event
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* @param me the ALIVE_CHECKER itself
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* @param t time to wait in ms before triggering event
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* @param data data to put on the event for XF
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*/
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void ALIVE_CHECKER_emitBorn(ALIVE_CHECKER* me, uint16_t t, int64_t data);
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/**
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* Emit the ready event
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* @param me the ALIVE_CHECKER itself
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* @param t time to wait in ms before triggering event
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* @param data data to put on the event for XF
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*/
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void ALIVE_CHECKER_emitReady(ALIVE_CHECKER* me, uint16_t t, int64_t data);
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/**
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* Emit the poll event
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* @param me the ALIVE_CHECKER itself
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* @param t time to wait in ms before triggering event
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* @param data data to put on the event for XF
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*/
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void ALIVE_CHECKER_emitPoll(ALIVE_CHECKER* me, uint16_t t, int64_t data);
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/***********
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* SETTERS *
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***********/
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void ALIVE_CHECKER_setAliveTime(ALIVE_CHECKER* me, uint8_t v);
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void ALIVE_CHECKER_setIsAlive(ALIVE_CHECKER* me, bool v);
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void ALIVE_CHECKER_ISALIVE(ALIVE_CHECKER* me); // Use this one when you receive CAN message
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#endif
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