add blinker

306-controller_interface.X/app/factory/factory.c

@@ -30,6 +30,10 @@ LED* l8()  {
     return &theFactory.l8_;
 }
 
+BLINKER* b1() {
+    return &theFactory.b1_;
+}
+
 ALIVE* ALcontroller(){
     return &theFactory.ALcontroller_;
 }
@@ -59,6 +63,8 @@ void Factory_init() {
     LED_initHW(l7());
     LED_initHW(l8());
     
+    BLINKER_init(b1());
+
     CAN_init();
     CAN_setSender(1);
     LED_off(l1());
@@ -78,6 +84,9 @@ void Factory_build() {
     
     ALIVE_onAlive(ALcontroller(), CM_CONTROLLER_ALIVE, NULL);
     
+    BLINKER_onOn(b1(), LED_on, l6());
+    BLINKER_onOff(b1(), LED_off, l6());
+    
     ALIVE_onSetup(ALjoy(), CM_JOY_SETUP, NULL);
     ALIVE_setAliveTime(ALjoy(), KART_CST.JOYSTICK_ALIVE_TIME);
     ALIVE_onBorn(ALjoy(), LED_on, l1());
@@ -89,6 +98,9 @@ void Factory_build() {
 void Factory_start() {
     CAN_startBehaviour();
     
+    BLINKER_startBehaviour(b1());
+    BLINKER_emitBlink(b1(), 0);
+        
     ALIVE_startBehaviourSender(ALcontroller());
     ALIVE_startBehaviourChecker(ALjoy());
     ALIVE_emitBorn(ALjoy(), 100, 0);

306-controller_interface.X/app/factory/factory.h

@@ -19,6 +19,7 @@
 #include "../../middleware/alive.h"
 #include "../../middleware/can_interface.h"
 #include "../../middleware/eeprom.h"
+#include "../../middleware/blinker.h"
 
 
 typedef struct {
@@ -31,6 +32,8 @@ typedef struct {
     LED l7_;
     LED l8_;
     
+    BLINKER b1_;
+    
     ALIVE ALcontroller_;
     ALIVE ALjoy_;
 
@@ -51,6 +54,8 @@ LED* l6();
 LED* l7();
 LED* l8();
 
+BLINKER* b1();
+
 ALIVE* ALcontroller();
 ALIVE* ALjoy();
 

306-controller_interface.X/middleware/blinker.c

@@ -0,0 +1,189 @@
+/**
+ * @author Rémi Heredero
+ * @version 1.0.0
+ * @date July 2023
+ * @file blinker.c
+ */
+
+#include "blinker.h"
+
+void BLINKER_init(BLINKER* me){
+    me->state = STBL_INIT;
+    me->timeOn = 500;
+    me->timeOff = 500;
+    me->numberOfBlink = 3;
+    me->nBlinkIsOn = false;
+    me->remainBlinks = 3;
+    me->wait.f = NULL;
+    me->on.f = NULL;
+    me->off.f = NULL;
+    me->finished.f = NULL;
+}
+
+void BLINKER_startBehaviour(BLINKER* me) {
+    POST(me, &BLINKER_processEvent, evBLinit, 0, 0);
+}
+
+bool BLINKER_processEvent(Event* ev) {
+    bool processed = false;
+    BLINKER* me = (BLINKER*)Event_getTarget(ev);
+    BLINKER_STATES oldState = me->state;
+    evIDT evid = Event_getId(ev);
+    
+    switch (me->state) {        // onState
+        case STBL_INIT:
+            if (ev->id == evBLinit) {
+                me->state = STBL_WAIT;
+            }
+            break;
+        
+        case STBL_WAIT:
+            me->remainBlinks = me->numberOfBlink;
+            if(evid == evBLblinkN) {
+                me->state = STBL_ON;
+                me->nBlinkIsOn = true;
+                BLINKER_emitTimer(me, me->timeOn);
+            }
+            if(evid == evBLblink) {
+                me->state = STBL_ON;
+                me->nBlinkIsOn = false;
+                BLINKER_emitTimer(me, me->timeOn);
+            }
+            break;
+        
+        case STBL_ON:
+            if (me->nBlinkIsOn) {
+                me->remainBlinks--;
+            }
+            if (evid == evBLtimer) {
+                me->state = STBL_OFF;
+                BLINKER_emitTimer(me, me->timeOff);
+            }
+            break;
+        
+        case STBL_OFF:
+            if (evid == evBLtimer) {
+                if (me->remainBlinks == 0) {
+                    me->state = STBL_WAIT;
+                    if (me->finished.f != NULL) {
+                        me->finished.f(me->finished.p);
+                    }
+                } else {
+                    me->state = STBL_ON;
+                    BLINKER_emitTimer(me, me->timeOn);
+                }
+            }
+            break;
+    }
+
+    if(oldState != me->state){
+        switch (oldState) {     // onExit
+            case STBL_INIT:
+                break;
+            
+            case STBL_WAIT:
+                break;
+            
+            case STBL_ON:
+                break;
+            
+            case STBL_OFF:
+                break;
+        }
+
+        switch (me->state) {    // onEntry
+            case STBL_INIT:
+                break;
+            
+            case STBL_WAIT:
+                if (me->wait.f != NULL) {
+                    me->wait.f(me->wait.p);
+                }
+                break;
+            
+            case STBL_ON:
+                if (me->on.f != NULL) {
+                    me->on.f(me->on.p);
+                }
+                break;
+            
+            case STBL_OFF:
+                if (me->off.f != NULL) {
+                    me->off.f(me->off.p);
+                }
+                break;
+        }
+
+        processed = true;
+    }
+    return processed;
+}
+
+/*************
+ * Callbacks *
+ *************/
+
+void BLINKER_onWait(BLINKER* me, BLINKER_CALLBACK_FUNCTION f, void* p) {
+    me->wait.f = f;
+    me->wait.p = p;
+}
+
+void BLINKER_onOn(BLINKER* me, BLINKER_CALLBACK_FUNCTION f, void* p) {
+    me->on.f = f;
+    me->on.p = p;
+}
+
+void BLINKER_onOff(BLINKER* me, BLINKER_CALLBACK_FUNCTION f, void* p) {
+    me->off.f = f;
+    me->off.p = p;
+}
+
+void BLINKER_onFinished(BLINKER* me, BLINKER_CALLBACK_FUNCTION f, void* p) {
+    me->finished.f = f;
+    me->finished.p = p;
+}
+
+/************
+ * EMITTERS *
+ ************/
+
+void BLINKER_emitBlink(BLINKER* me, uint16_t t) {
+    POST(me, &BLINKER_processEvent, evBLblink, t, 0);
+}
+
+void BLINKER_emitBlinkN(BLINKER* me, uint16_t t) {
+    POST(me, &BLINKER_processEvent, evBLblinkN, t, 0);
+}
+
+void BLINKER_emitTimer(BLINKER* me, uint16_t t) {
+    POST(me, &BLINKER_processEvent, evBLtimer, t, 0);
+}
+
+/***********
+ * SETTERS *
+ ***********/
+
+void BLINKER_setTimeOn(BLINKER* me, uint16_t v) {
+    me->timeOn = v;
+}
+
+void BLINKER_setTimeOff(BLINKER* me, uint16_t v) {
+    me->timeOff = v;
+}
+
+void BLINKER_setNumberOfBlink(BLINKER* me, uint8_t v) {
+    me->numberOfBlink = v;
+}
+
+void BLINKER_setNBlinkIsOn(BLINKER* me, bool v) {
+    me->nBlinkIsOn = v;
+}
+
+void BLINKER_setRemainBlinks(BLINKER* me, uint8_t v) {
+    me->remainBlinks = v;
+}
+
+
+void BLINKER_endBlink(BLINKER* me) {
+    me->remainBlinks = 0;
+}

306-controller_interface.X/middleware/blinker.h

@@ -0,0 +1,167 @@
+/**
+ * @author Rémi Heredero
+ * @version 1.0.0
+ * @date July 2023
+ * @file blinker.h
+ */
+#ifndef BLINKER_H
+#define BLINKER_H
+
+#include "../xf/xf.h"
+
+typedef enum {
+    STBL_INIT,
+    STBL_WAIT,
+    STBL_ON,
+    STBL_OFF
+} BLINKER_STATES;
+
+typedef enum {
+    evBLinit = 200,
+    evBLblink,
+    evBLblinkN,
+    evBLtimer
+} BLINKER_EVENTS;
+
+typedef void (*BLINKER_CALLBACK_FUNCTION)(void*);
+typedef struct {
+    BLINKER_CALLBACK_FUNCTION f; // function
+    void* p; // param(s)
+} BLINKER_CALLBACK;
+
+typedef struct {
+    BLINKER_STATES state; //Actual state
+    uint16_t timeOn; // Time on
+    uint16_t timeOff; // Time off
+    uint8_t numberOfBlink; // Number of blink for this blinker when start with blinkN
+    bool nBlinkIsOn; // If the nBlink way is enable
+    uint8_t remainBlinks; // Actual remain blink
+    BLINKER_CALLBACK wait;
+    BLINKER_CALLBACK on;
+    BLINKER_CALLBACK off;
+    BLINKER_CALLBACK finished;
+} BLINKER;
+
+/**
+ * Initialize the BLINKER
+ * @param me the BLINKER itself
+ */
+void BLINKER_init(BLINKER* me);
+
+/**
+ * Start the BLINKER state machine
+ * @param me the BLINKER itself
+ */
+void BLINKER_startBehaviour(BLINKER* me);
+
+/**
+ * Process the event
+ * @param ev the event to process
+ * @return true if the event is processed
+ */
+bool BLINKER_processEvent(Event* ev);
+
+/*************
+ * Callbacks *
+ *************/
+
+/**
+ * Set the callback function to call when the BLINKER is entering state wait
+ * @param me the BLINKER itself
+ * @param f the function to call
+ * @param p the param(s) to pass to the function
+ */
+void BLINKER_onWait(BLINKER* me, BLINKER_CALLBACK_FUNCTION f, void* p);
+
+/**
+ * Set the callback function to call when the BLINKER is entering state on
+ * @param me the BLINKER itself
+ * @param f the function to call
+ * @param p the param(s) to pass to the function
+ */
+void BLINKER_onOn(BLINKER* me, BLINKER_CALLBACK_FUNCTION f, void* p);
+
+/**
+ * Set the callback function to call when the BLINKER is entering state off
+ * @param me the BLINKER itself
+ * @param f the function to call
+ * @param p the param(s) to pass to the function
+ */
+void BLINKER_onOff(BLINKER* me, BLINKER_CALLBACK_FUNCTION f, void* p);
+
+/**
+ * Set the callabck function to call when the BLINKER is entering state finished
+ * @param me the BLINKER itself
+ * @param f the function to call
+ * @param t the param(s) to pass to the function
+ */
+void BLINKER_onFinished(BLINKER* me, BLINKER_CALLBACK_FUNCTION f, void* p);
+
+/************
+ * EMITTERS *
+ ************/
+
+/**
+ * Emit the blink event
+ * @param me the BLINKER itself
+ * @param t time to wait in ms before triggering event
+ */void BLINKER_emitBlink(BLINKER* me, uint16_t t);
+
+/**
+ * Emit the blinkn event
+ * @param me the BLINKER itself
+ * @param t time to wait in ms before triggering event
+ */void BLINKER_emitBlinkN(BLINKER* me, uint16_t t);
+
+/**
+ * Emit the timer event
+ * @param me the BLINKER itself
+ * @param t time to wait in ms before triggering event
+ */void BLINKER_emitTimer(BLINKER* me, uint16_t t);
+
+/***********
+ * SETTERS *
+ ***********/
+
+/**
+ * Set the time on
+ * @param me the BLINKER itself
+ * @param v the value to set
+ */
+void BLINKER_setTimeOn(BLINKER* me, uint16_t v);
+
+/**
+ * Set the time off
+ * @param me the BLINKER itself
+ * @param v the value to set
+ */
+void BLINKER_setTimeOff(BLINKER* me, uint16_t v);
+
+/**
+ * Set the number of blink
+ * @param me the BLINKER itself
+ * @param v the value to set
+ */
+void BLINKER_setNumberOfBlink(BLINKER* me, uint8_t v);
+
+/**
+ * Set the nBlinkIsOn
+ * @param me the BLINKER itself
+ * @param v the value to set
+ */
+void BLINKER_setNBlinkIsOn(BLINKER* me, bool v);
+
+/**
+ * Set the remain blink(s)
+ * @param me the BLINKER itself
+ * @param v the value to set
+ */
+void BLINKER_setRemainBlinks(BLINKER* me, uint8_t v);
+
+/**
+ * Stop to blink if it was indefinitely blinking
+ * @param me the blinker itself
+ */
+void BLINKER_endBlink(BLINKER* me);
+
+#endif

306-controller_interface.X/nbproject/configurations.xml

@@ -27,6 +27,7 @@
       <logicalFolder name="middleware" displayName="middleware" projectFiles="true">
         <itemPath>middleware/can_interface.h</itemPath>
         <itemPath>middleware/alive.h</itemPath>
+        <itemPath>middleware/blinker.h</itemPath>
       </logicalFolder>
       <logicalFolder name="xf" displayName="xf" projectFiles="true">
         <itemPath>xf/event.h</itemPath>
@@ -63,6 +64,7 @@
       <logicalFolder name="middleware" displayName="middleware" projectFiles="true">
         <itemPath>middleware/can_interface.c</itemPath>
         <itemPath>middleware/alive.c</itemPath>
+        <itemPath>middleware/blinker.c</itemPath>
       </logicalFolder>
       <logicalFolder name="xf" displayName="xf" projectFiles="true">
         <itemPath>xf/event.c</itemPath>
@@ -214,6 +216,7 @@
         <property key="debugoptions.debug-startup" value="Use system settings"/>
         <property key="debugoptions.reset-behaviour" value="Use system settings"/>
         <property key="debugoptions.useswbreakpoints" value="false"/>
+        <property key="firmware.download.all" value="false"/>
         <property key="hwtoolclock.frcindebug" value="false"/>
         <property key="memories.aux" value="false"/>
         <property key="memories.bootflash" value="true"/>