Klagarge/SummerSchool2-Controller
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merge alive_checker and watchdog to alive class

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This commit is contained in:
Rémi Heredero
2023-08-29 14:11:48 +02:00
parent 38d7936da7
commit 6bc73fa166
12 changed files with 650 additions and 624 deletions
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34
306-controller_interface.X/app/factory/factory.c
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@ -30,12 +30,12 @@ LED* l8() {
return &theFactory.l8_;
}
WATCHDOG* WDcontroller(){
return &theFactory.WDcontroller_;
ALIVE* ALcontroller(){
return &theFactory.ALcontroller_;
}
ALIVE_CHECKER* ACjoy() {
return &theFactory.ACjoy_;
ALIVE* ALjoy(){
return &theFactory.ALjoy_;
}
@ -67,10 +67,10 @@ void Factory_init() {
MEM_init();
// TODO init watchdog with EPROM CST
WATCHDOG_init(WDcontroller());
WATCHDOG_setTime(WDcontroller(), CAR_CST.CONTROL_ALIVE_TIME);
ALIVE_init(ALcontroller());
ALIVE_setAliveTime(ALcontroller(), CAR_CST.CONTROL_ALIVE_TIME);
ALIVE_CHECKER_init(ACjoy());
ALIVE_init(ALjoy());
}
//connect objects if required
@ -78,20 +78,22 @@ void Factory_build() {
ECAN_SetRXBnInterruptHandler(CAN_newMsg);
CAN_onReceiveCan(CM_processIncome);
WATCHDOG_onAlive(WDcontroller(), CM_CONTROLLER_ALIVE, NULL);
ALIVE_CHECKER_onSetup(ACjoy(), CM_JOY_SETUP, NULL);
ALIVE_CHECKER_setAliveTime(ACjoy(), CAR_CST.JOYSTICK_ALIVE_TIME);
ALIVE_CHECKER_onBorn(ACjoy(), LED_on, l1());
ALIVE_CHECKER_onDead(ACjoy(), LED_off, l1());
ALIVE_onAlive(ALcontroller(), CM_CONTROLLER_ALIVE, NULL);
ALIVE_onSetup(ALjoy(), CM_JOY_SETUP, NULL);
ALIVE_setAliveTime(ALjoy(), CAR_CST.JOYSTICK_ALIVE_TIME);
ALIVE_onBorn(ALjoy(), LED_on, l1());
ALIVE_onDead(ALjoy(), LED_off, l1());
}
//start all state machines
void Factory_start() {
CAN_startBehaviour();
WATCHDOG_startBehaviour(WDcontroller());
ALIVE_CHECKER_startBehaviour(ACjoy());
ALIVE_CHECKER_emitBorn(ACjoy(), 100, 0);
ALIVE_CHECKER_emitReady(ACjoy(), 200, 0);
ALIVE_startBehaviourSender(ALcontroller());
ALIVE_startBehaviourChecker(ALjoy());
ALIVE_emitBorn(ALjoy(), 100, 0);
ALIVE_emitReady(ALjoy(), 200, 0);
}

11
306-controller_interface.X/app/factory/factory.h
View File

@ -16,9 +16,8 @@
#include "../can_message.h"
#include "../../board/led/led.h"
#include "../../board/button/button.h"
#include "../../middleware/alive_checker.h"
#include "../../middleware/alive.h"
#include "../../middleware/can_interface.h"
#include "../../middleware/watchdog.h"
#include "../../middleware/eeprom.h"
@ -32,8 +31,8 @@ typedef struct {
LED l7_;
LED l8_;
WATCHDOG WDcontroller_;
ALIVE_CHECKER ACjoy_;
ALIVE ALcontroller_;
ALIVE ALjoy_;
} Factory;
@ -52,8 +51,8 @@ LED* l6();
LED* l7();
LED* l8();
WATCHDOG* WDcontroller();
ALIVE_CHECKER* ACjoy();
ALIVE* ALcontroller();
ALIVE* ALjoy();
#endif