SummerSchool2-Controller/306-controller_interface.X/middleware/can/can_interface.c

/**
 * @author R<EFBFBD>mi Heredero
 * @version 1.0.0
 * @date August 2023
 * @file can_interface.c
 */

#include "can_interface.h"

void CANINTERFACE_init(){
    CANINTERFACE_myself.wait.f = NULL;
    CANINTERFACE_myself.read.f = NULL;
    //CANINTERFACE_myself.processCan = NULL;
}

void CANINTERFACE_startBehaviour(){
    POST(&CANINTERFACE_myself, &CANINTERFACE_processEvent, evCAinit, 0, 0);
}

void CANINTERFACE_newMsg() {
    uint64_t data;
    uCAN_MSG canMsg;
    CAN_receive(&canMsg);
    data = canMsg.frame.id;
    data = data<<32;
    data = canMsg.frame.data0;
    data = data<<8;
    data = canMsg.frame.data1;
    data = data<<8;
    data = canMsg.frame.data2;
    data = data<<8;
    data = canMsg.frame.data3;
    POST(&CANINTERFACE_myself, &CANINTERFACE_processEvent, evCAnewMsg, 0, data);
}

bool CANINTERFACE_processEvent(Event* ev) {
    bool processed = false;
    CANINTERFACE* me = (CANINTERFACE*)Event_getTarget(ev);
    CANINTERFACE_STATES oldState = me->state;
    evIDT evid = Event_getId(ev);
    
    uint64_t data = Event_getData(ev);
    uint32_t canData = (uint32_t) data;
    data = data>>8;
    uint32_t canId = (uint32_t) data;
    
    switch (me->state) {        // onState
        case STCA_INIT:
            if (ev->id == evCAinit) {
                me->state = STCA_WAIT;
            }
            break;
        
        case STCA_WAIT:
            if (ev->id == evCAnewMsg) {
                me->state = STCA_READ;
                CANINTERFACE_emitDone(0);
            }
            break;
        
        case STCA_READ:
            if (ev->id == evCAdone) {
                me->state = STCA_WAIT;
            }
            break;
    }

    if(oldState != me->state){
        switch (oldState) {     // onExit
            case STCA_INIT:
                break;
            
            case STCA_WAIT:
                break;
            
            case STCA_READ:
                break;
        }

        switch (me->state) {    // onEntry
            case STCA_INIT:
                break;
            
            case STCA_WAIT:
                if (me->wait.f != NULL) {
                    me->wait.f(me->wait.p);
                }
                break;
            
            case STCA_READ:
                if (me->read.f != NULL) {
                    me->read.f(me->read.p);
                }
                
                if (me->processCan != NULL) {
                    me->processCan(canId, canData);
                }
                break;
        }

        processed = true;
    }
    return processed;
}

/*************
 * Callbacks *
 *************/

void CANINTERFACE_onWait(CANINTERFACE_CALLBACK_FUNCTION f, void* p) {
    CANINTERFACE_myself.wait.f = f;
    CANINTERFACE_myself.wait.p = p;
}

void CANINTERFACE_onRead(CANINTERFACE_CALLBACK_FUNCTION f, void* p) {
    CANINTERFACE_myself.read.f = f;
    CANINTERFACE_myself.read.p = p;
}

void CANINTERFACE_onProcessCan(CANINTERFACE_CALLBACK_CAN f) {
    CANINTERFACE_myself.processCan = f;
}

/************
 * EMITTERS *
 ************/

void CANINTERFACE_emitNewMsg(uint16_t t) {
    POST(&CANINTERFACE_myself, &CANINTERFACE_processEvent, evCAnewMsg, t, 0);
}

void CANINTERFACE_emitDone(uint16_t t) {
    POST(&CANINTERFACE_myself, &CANINTERFACE_processEvent, evCAdone, t, 0);
}