Klagarge/SummerSchool2-Controller
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add blinker debug

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This commit is contained in:
Rémi Heredero
2023-09-05 08:52:27 +02:00
parent 6edca8bb82
commit 32f1bd73b4
6 changed files with 34 additions and 71 deletions
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22
306-controller_interface.X/middleware/alive.c
View File

@@ -7,7 +7,7 @@
#include "alive.h"
void ALIVE_init(ALIVE* me){
void ALIVE_init(ALIVE* me, uint8_t led){
me->state = STAL_INIT;
me->isAlive = false;
me->checker = false;
@@ -20,14 +20,23 @@ void ALIVE_init(ALIVE* me){
me->dead.f = NULL;
me->alive.f = NULL;
me->break_cb.f = NULL;
LED_init(&me->debugLed, led);
LED_initHW(&me->debugLed);
BLINKER_init(&me->debugBlinker);
BLINKER_setTimeOn(&me->debugBlinker, 50);
BLINKER_setTimeOff(&me->debugBlinker, 50);
BLINKER_onOn(&me->debugBlinker, LED_on, &me->debugLed);
BLINKER_onOff(&me->debugBlinker, LED_off, &me->debugLed);
}
void ALIVE_startBehaviourChecker(ALIVE* me){
POST(me, &ALIVE_processEvent, evALinitChecker, 0, 0);
BLINKER_startBehaviour(&me->debugBlinker);
POST(me, &ALIVE_processEvent, evALinitChecker, 10, 0);
}
void ALIVE_startBehaviourSender(ALIVE* me){
POST(me, &ALIVE_processEvent, evALinitSender, 0, 0);
BLINKER_startBehaviour(&me->debugBlinker);
POST(me, &ALIVE_processEvent, evALinitSender, 10, 0);
}
bool ALIVE_processEvent(Event* ev) {
@@ -39,6 +48,7 @@ bool ALIVE_processEvent(Event* ev) {
switch (me->state) { // onState
case STAL_INIT:
LED_on(&me->debugLed);
if (ev->id == evALinitChecker) {
me->state = STAL_SETUP;
}
@@ -125,12 +135,14 @@ bool ALIVE_processEvent(Event* ev) {
break;
case STAL_WAIT:
BLINKER_endBlink(&me->debugBlinker);
break;
case STAL_DEAD:
break;
case STAL_ALIVE:
BLINKER_endBlink(&me->debugBlinker);
break;
case STAL_BREAK:
@@ -155,6 +167,8 @@ bool ALIVE_processEvent(Event* ev) {
break;
case STAL_WAIT:
LED_off(&me->debugLed);
BLINKER_emitBlink(&me->debugBlinker, 0);
if (me->wait.f != NULL) {
me->wait.f(me->wait.p);
}
@@ -167,6 +181,8 @@ bool ALIVE_processEvent(Event* ev) {
break;
case STAL_ALIVE:
LED_off(&me->debugLed);
BLINKER_emitBlink(&me->debugBlinker, 0);
me->sender = true;
break;

6
306-controller_interface.X/middleware/alive.h
View File

@@ -8,6 +8,8 @@
#define ALIVE_H
#include "../xf/xf.h"
#include "../board/led/led.h"
#include "../middleware/blinker.h"
typedef enum {
STAL_INIT = 20,
@@ -37,6 +39,8 @@ typedef struct {
typedef struct {
ALIVE_STATES state;
LED debugLed;
BLINKER debugBlinker;
bool isAlive;
bool checker;
bool sender;
@@ -54,7 +58,7 @@ typedef struct {
* Initialize the ALIVE
* @param me the ALIVE itself
*/
void ALIVE_init(ALIVE* me);
void ALIVE_init(ALIVE* me, uint8_t led);
/**
* Start the ALIVE state machine for checker part