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* l7()  {
    return &theFactory.l7_;
}
LED* l8()  {
    return &theFactory.l8_;
}

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(l7(), 7);
    LED_init(l8(), 8);
    LED_initHW(l7());
    LED_initHW(l8());

    CAN_init();
    CAN_setSender(1);
    
    MEM_init();
    
    ALIVE_init(ALcontroller(), 6);
    ALIVE_setAliveTime(ALcontroller(), KART_CST.CONTROL_ALIVE_TIME);
    
    ALIVE_init(ALjoy(), 1);
    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);
    
    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);
    
    
    
}