131 lines
2.4 KiB
C
131 lines
2.4 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 drive.h
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*/
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#ifndef DRIVE_H
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#define DRIVE_H
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#include "../xf/xf.h"
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#include "../middleware/alive.h"
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typedef enum {
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STDR_INIT,
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STDR_WAIT,
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STDR_RUN,
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STDR_DEAD
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} DRIVE_STATES;
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typedef enum {
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evDRinit = 100,
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evDRstart,
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evDRstop,
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evDRresurrect,
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evDRpollSpeed,
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evDRpollTorque
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} DRIVE_EVENTS;
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typedef void (*DRIVE_CALLBACK_FUNCTION)(void*);
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typedef struct {
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DRIVE_CALLBACK_FUNCTION f; // function
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void* p; // param(s)
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} DRIVE_CALLBACK;
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typedef struct {
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DRIVE_STATES state;
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ALIVE myChecker;
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DRIVE_CALLBACK wait;
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DRIVE_CALLBACK run;
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DRIVE_CALLBACK dead;
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} DRIVE;
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/**
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* Initialize the DRIVE
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* @param me the DRIVE itself
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*/
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void DRIVE_init(DRIVE* me);
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/**
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* Start the DRIVE state machine
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* @param me the DRIVE itself
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*/
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void DRIVE_startBehaviour(DRIVE* 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 DRIVE_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 DRIVE is entering state wait
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* @param me the DRIVE 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 DRIVE_onWait(DRIVE* me, DRIVE_CALLBACK_FUNCTION f, void* p);
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/**
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* Set the callback function to call when the DRIVE is entering state run
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* @param me the DRIVE 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 DRIVE_onRun(DRIVE* me, DRIVE_CALLBACK_FUNCTION f, void* p);
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/**
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* Set the callback function to call when the DRIVE is entering state dead
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* @param me the DRIVE 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 DRIVE_onDead(DRIVE* me, DRIVE_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 start event
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* @param p the DRIVE itself
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*/
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void DRIVE_emitStart(void* p);
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/**
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* Emit the stop event
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* @param p the DRIVE itself
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*/
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void DRIVE_emitStop(void* p);
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/**
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* Emit the resurrect event
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* @param p the DRIVE itself
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*/
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void DRIVE_emitResurrect(void* p);
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/**
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* Emit the pollSpeed event
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* @param p the DRIVE itself
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*/
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void DRIVE_emitPollSpeed(void* p);
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/**
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* Emit the pollTorque event
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* @param p the DRIVE itself
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*/
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void DRIVE_emitPollTorque(DRIVE* me, uint16_t t, int64_t data);
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/***********
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* SETTERS *
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***********/
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#endif
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