SummerSchool2-Controller/306-controller_interface.X/middleware/can/can_sender.h

/**
 * @author R<EFBFBD>mi Heredero
 * @version 1.0.0
 * @date August 2023
 * @file can_sender.h
 */
#ifndef CANSENDER_H
#define CANSENDER_H

#include "../../xf/xf.h"

typedef enum {
    STCS_INIT,
    STCS_WAIT,
    STCS_SEND
} CANSENDER_STATES;

typedef enum {
    evCSinit = 15, // TODO change this number (< 256)
    evCSsend,
    evCSdone
} CANSENDER_EVENTS;

typedef void (*CANSENDER_CALLBACK_FUNCTION)(void*);
typedef struct {
    CANSENDER_CALLBACK_FUNCTION f; // function
    void* p; // param(s)
} CANSENDER_CALLBACK;

typedef struct {
    CANSENDER_STATES state;
    uint8_t sendingTime;
    CANSENDER_CALLBACK wait;
    CANSENDER_CALLBACK send;
} CANSENDER;

/**
 * Initialize the CANSENDER
 * @param me the CANSENDER itself
 */
void CANSENDER_init(CANSENDER* me);

/**
 * Start the CANSENDER state machine
 * @param me the CANSENDER itself
 */
void CANSENDER_startBehaviour(CANSENDER* me);

/**
 * Process the event
 * @param ev the event to process
 * @return true if the event is processed
 */
bool CANSENDER_processEvent(Event* ev);

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

/**
 * Set the callback function to call when the CANSENDER is entering state wait
 * @param me the CANSENDER itself
 * @param f the function to call
 * @param p the param(s) to pass to the function
 */
void CANSENDER_onWait(CANSENDER* me, CANSENDER_CALLBACK_FUNCTION f, void* p);

/**
 * Set the callback function to call when the CANSENDER is entering state send
 * @param me the CANSENDER itself
 * @param f the function to call
 * @param p the param(s) to pass to the function
 */
void CANSENDER_onSend(CANSENDER* me, CANSENDER_CALLBACK_FUNCTION f, void* p);

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

/**
 * Emit the send event
 * @param me the CANSENDER itself
 * @param t time to wait in ms before triggering event
 */
void CANSENDER_emitSend(CANSENDER* me, uint16_t t);

/**
 * Emit the done event
 * @param me the CANSENDER itself
 * @param t time to wait in ms before triggering event
 */
 void CANSENDER_emitDone(CANSENDER* me, uint16_t t);
 
 void CANSENDER_sendCanMsg(CANSENDER* me, uint8_t id, uint32_t data);
 void sendCanMsg(uint32_t id, uint32_t data);
 
 
/***********
 * SETTERS *
 ***********/

/**
 * 
 * @param me
 * @param v
 */
void CANSENDER_setSendingTime(CANSENDER* me, uint8_t v);

void CANSENDER_seSender(CANSENDER* me, uint8_t s);
void CANSENDER_setRecipient(CANSENDER* me, uint8_t r);

#endif