merge alive_checker and watchdog to alive class
This commit is contained in:
259
306-controller_interface.X/middleware/alive.c
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259
306-controller_interface.X/middleware/alive.c
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@@ -0,0 +1,259 @@
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/**
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* @author R<>mi Heredero
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* @version 1.0.0
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* @date August 2023
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* @file alive.c
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*/
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#include "alive.h"
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void ALIVE_init(ALIVE* me){
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me->state = STAL_INIT;
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me->isAlive = false;
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me->checker = false;
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me->sender = false;
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me->haveBreak = true;
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me->aliveTime = 10;
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me->setup.f = NULL;
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me->born.f = NULL;
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me->wait.f = NULL;
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me->dead.f = NULL;
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me->alive.f = NULL;
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me->break_cb.f = NULL;
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}
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void ALIVE_startBehaviourChecker(ALIVE* me){
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POST(me, &ALIVE_processEvent, evALinitChecker, 0, 0);
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}
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void ALIVE_startBehaviourSender(ALIVE* me){
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POST(me, &ALIVE_processEvent, evALinitSender, 0, 0);
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}
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bool ALIVE_processEvent(Event* ev) {
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bool processed = false;
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ALIVE* me = (ALIVE*)Event_getTarget(ev);
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ALIVE_STATES oldState = me->state;
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evIDT evid = Event_getId(ev);
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uint64_t data = Event_getData(ev);
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switch (me->state) { // onState
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case STAL_INIT:
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if (ev->id == evALinitChecker) {
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me->state = STAL_SETUP;
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}
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if (ev->id == evALinitSender) {
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me->state = STAL_ALIVE;
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ALIVE_emitPoll(me, me->aliveTime*10, 0);
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}
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break;
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case STAL_SETUP:
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if (ev->id == evALborn) {
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me->state = STAL_BORN;
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}
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break;
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case STAL_BORN:
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if (ev->id == evALready) {
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me->state = STAL_WAIT;
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ALIVE_emitPoll(me, me->aliveTime*10, 0);
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}
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break;
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case STAL_WAIT:
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if (ev->id == evALpoll) {
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if (me->aliveTime == 0) {
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if (me->haveBreak){
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me->state = STAL_BREAK;
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}
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} else if (me->isAlive){
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me->state = STAL_WAIT;
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ALIVE_emitPoll(me, me->aliveTime*10, 0);
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} else {
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me->state = STAL_DEAD;
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}
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me->isAlive = false;
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}
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break;
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case STAL_DEAD:
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if (ev->id == evALborn) {
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me->state = STAL_BORN;
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}
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break;
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case STAL_ALIVE:
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if (ev->id == evALpoll) {
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if (me->alive.f != NULL) {
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me->alive.f(me->alive.p);
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}
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if (me->aliveTime == 0) {
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if (me->haveBreak){
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me->state == STAL_BREAK;
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}
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} else {
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ALIVE_emitPoll(me, me->aliveTime*10, 0);
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}
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}
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break;
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case STAL_BREAK:
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if (ev->id == evALstart) {
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ALIVE_emitPoll(me, me->aliveTime*10, 0);
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if (me->checker) {
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me->state = STAL_WAIT;
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}
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if (me->sender) {
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me->state = STAL_ALIVE;
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}
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}
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break;
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}
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if(oldState != me->state){
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switch (oldState) { // onExit
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case STAL_INIT:
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break;
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case STAL_SETUP:
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break;
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case STAL_BORN:
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break;
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case STAL_WAIT:
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break;
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case STAL_DEAD:
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break;
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case STAL_ALIVE:
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break;
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case STAL_BREAK:
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break;
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}
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switch (me->state) { // onEntry
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case STAL_INIT:
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break;
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case STAL_SETUP:
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if (me->setup.f != NULL) {
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me->setup.f(me->setup.p);
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}
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break;
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case STAL_BORN:
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if (me->born.f != NULL) {
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me->born.f(me->born.p);
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}
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break;
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case STAL_WAIT:
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if (me->wait.f != NULL) {
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me->wait.f(me->wait.p);
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}
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break;
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case STAL_DEAD:
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if (me->dead.f != NULL) {
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me->dead.f(me->dead.p);
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}
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break;
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case STAL_ALIVE:
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break;
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case STAL_BREAK:
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if (me->break_cb.f != NULL) {
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me->break_cb.f(me->break_cb.p);
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}
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break;
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}
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processed = true;
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}
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return processed;
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}
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/*************
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* Callbacks *
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*************/
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void ALIVE_onSetup(ALIVE* me, ALIVE_CALLBACK_FUNCTION f, void* p) {
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me->setup.f = f;
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me->setup.p = p;
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}
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void ALIVE_onBorn(ALIVE* me, ALIVE_CALLBACK_FUNCTION f, void* p) {
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me->born.f = f;
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me->born.p = p;
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}
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void ALIVE_onWait(ALIVE* me, ALIVE_CALLBACK_FUNCTION f, void* p) {
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me->wait.f = f;
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me->wait.p = p;
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}
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void ALIVE_onDead(ALIVE* me, ALIVE_CALLBACK_FUNCTION f, void* p) {
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me->dead.f = f;
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me->dead.p = p;
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}
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void ALIVE_onAlive(ALIVE* me, ALIVE_CALLBACK_FUNCTION f, void* p) {
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me->alive.f = f;
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me->alive.p = p;
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}
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void ALIVE_onBreak(ALIVE* me, ALIVE_CALLBACK_FUNCTION f, void* p) {
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me->break_cb.f = f;
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me->break_cb.p = p;
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}
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/************
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* EMITTERS *
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************/
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void ALIVE_emitInitSender(ALIVE* me, uint16_t t, int64_t data) {
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POST(me, &ALIVE_processEvent, evALinitSender, t, data);
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}
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void ALIVE_emitBorn(ALIVE* me, uint16_t t, int64_t data) {
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POST(me, &ALIVE_processEvent, evALborn, t, data);
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}
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void ALIVE_emitReady(ALIVE* me, uint16_t t, int64_t data) {
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POST(me, &ALIVE_processEvent, evALready, t, data);
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}
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void ALIVE_emitPoll(ALIVE* me, uint16_t t, int64_t data) {
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POST(me, &ALIVE_processEvent, evALpoll, t, data);
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}
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void ALIVE_emitStart(ALIVE* me, uint16_t t, int64_t data) {
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POST(me, &ALIVE_processEvent, evALstart, t, data);
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}
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/***********
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* SETTERS *
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***********/
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void ALIVE_setIsAlive(ALIVE* me, bool v) {
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me->isAlive = v;
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}
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void ALIVE_setHaveBreak(ALIVE* me, bool v) {
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me->haveBreak = v;
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}
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void ALIVE_setAliveTime(ALIVE* me, uint8_t v) {
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me->aliveTime = v;
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}
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void ALIVE_ISALIVE(ALIVE* me) {
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ALIVE_setIsAlive(me, true);
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}
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178
306-controller_interface.X/middleware/alive.h
Normal file
178
306-controller_interface.X/middleware/alive.h
Normal file
@@ -0,0 +1,178 @@
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/**
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* @author R<>mi Heredero
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* @version 1.0.0
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* @date August 2023
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* @file alive.h
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*/
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#ifndef ALIVE_H
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#define ALIVE_H
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#include "../xf/xf.h"
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typedef enum {
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STAL_INIT,
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STAL_SETUP,
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STAL_BORN,
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STAL_WAIT,
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STAL_DEAD,
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STAL_ALIVE,
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STAL_BREAK
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} ALIVE_STATES;
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typedef enum {
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evALinitChecker = 15,
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evALinitSender,
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evALborn,
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evALready,
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evALpoll,
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evALstart
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} ALIVE_EVENTS;
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typedef void (*ALIVE_CALLBACK_FUNCTION)(void*);
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typedef struct {
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ALIVE_CALLBACK_FUNCTION f; // function
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void* p; // param(s)
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} ALIVE_CALLBACK;
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typedef struct {
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ALIVE_STATES state;
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bool isAlive;
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bool checker;
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bool sender;
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bool haveBreak;
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uint8_t aliveTime;
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ALIVE_CALLBACK setup;
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ALIVE_CALLBACK born;
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ALIVE_CALLBACK wait;
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ALIVE_CALLBACK dead;
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ALIVE_CALLBACK alive;
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ALIVE_CALLBACK break_cb;
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} ALIVE;
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/**
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* Initialize the ALIVE
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* @param me the ALIVE itself
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*/
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void ALIVE_init(ALIVE* me);
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/**
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* Start the ALIVE state machine for checker part
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* @param me the ALIVE itself
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*/
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void ALIVE_startBehaviourChecker(ALIVE* me);
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/**
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* Start the ALIVE state machine for sender part
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* @param me the ALIVE itself
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*/
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void ALIVE_startBehaviourSender(ALIVE* me);
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/**
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* Process the event
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* @param ev the event to process
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* @return true if the event is processed
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*/
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bool ALIVE_processEvent(Event* ev);
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/*************
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* Callbacks *
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*************/
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/**
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* Set the callback function to call when the ALIVE is entering state setup
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* @param me the ALIVE itself
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* @param f the function to call
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* @param p the param(s) to pass to the function
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*/
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void ALIVE_onSetup(ALIVE* me, ALIVE_CALLBACK_FUNCTION f, void* p);
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/**
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* Set the callback function to call when the ALIVE is entering state born
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* @param me the ALIVE itself
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* @param f the function to call
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* @param p the param(s) to pass to the function
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*/
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void ALIVE_onBorn(ALIVE* me, ALIVE_CALLBACK_FUNCTION f, void* p);
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/**
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* Set the callback function to call when the ALIVE is entering state wait
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* @param me the ALIVE itself
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* @param f the function to call
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* @param p the param(s) to pass to the function
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*/
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void ALIVE_onWait(ALIVE* me, ALIVE_CALLBACK_FUNCTION f, void* p);
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/**
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* Set the callback function to call when the ALIVE is entering state dead
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* @param me the ALIVE itself
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* @param f the function to call
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* @param p the param(s) to pass to the function
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*/
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void ALIVE_onDead(ALIVE* me, ALIVE_CALLBACK_FUNCTION f, void* p);
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/**
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* Set the callback function to call when the ALIVE is entering state alive
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* @param me the ALIVE itself
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* @param f the function to call
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* @param p the param(s) to pass to the function
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*/
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void ALIVE_onAlive(ALIVE* me, ALIVE_CALLBACK_FUNCTION f, void* p);
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/**
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* Set the callback function to call when the ALIVE is entering state break
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* @param me the ALIVE itself
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* @param f the function to call
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* @param p the param(s) to pass to the function
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*/
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void ALIVE_onBreak(ALIVE* me, ALIVE_CALLBACK_FUNCTION f, void* p);
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/************
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* EMITTERS *
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************/
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/**
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* Emit the born event
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* @param me the ALIVE itself
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* @param t time to wait in ms before triggering event
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* @param data data to put on the event for XF
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*/
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void ALIVE_emitBorn(ALIVE* me, uint16_t t, int64_t data);
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/**
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* Emit the ready event
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* @param me the ALIVE itself
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* @param t time to wait in ms before triggering event
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* @param data data to put on the event for XF
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*/
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void ALIVE_emitReady(ALIVE* me, uint16_t t, int64_t data);
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/**
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* Emit the poll event
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* @param me the ALIVE itself
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* @param t time to wait in ms before triggering event
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* @param data data to put on the event for XF
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*/
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void ALIVE_emitPoll(ALIVE* me, uint16_t t, int64_t data);
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/**
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* Emit the start event
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* @param me the ALIVE itself
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* @param t time to wait in ms before triggering event
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* @param data data to put on the event for XF
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*/
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void ALIVE_emitStart(ALIVE* me, uint16_t t, int64_t data);
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/***********
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* SETTERS *
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***********/
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void ALIVE_setIsAlive(ALIVE* me, bool v);
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void ALIVE_setHaveBreak(ALIVE* me, bool v);
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void ALIVE_setAliveTime(ALIVE* me, uint8_t v);
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void ALIVE_ISALIVE(ALIVE* me);
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#endif
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@@ -1,176 +0,0 @@
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/**
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* @author R<>mi Heredero
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* @version 1.0.0
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* @date August 2023
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* @file alive_checker.c
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*/
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#include "alive_checker.h"
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void ALIVE_CHECKER_init(ALIVE_CHECKER* me){
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me->state = STAC_INIT;
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me->isAlive = false;
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me->aliveTime = 10;
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me->setup.f = NULL;
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me->born.f = NULL;
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me->wait.f = NULL;
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me->dead.f = NULL;
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}
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void ALIVE_CHECKER_startBehaviour(ALIVE_CHECKER* me){
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POST(me, &ALIVE_CHECKER_processEvent, evACinit, 0, 0);
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}
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bool ALIVE_CHECKER_processEvent(Event* ev) {
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bool processed = false;
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ALIVE_CHECKER* me = (ALIVE_CHECKER*)Event_getTarget(ev);
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ALIVE_CHECKER_STATES oldState = me->state;
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evIDT evid = Event_getId(ev);
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uint64_t data = Event_getData(ev);
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switch (me->state) { // onState
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case STAC_INIT:
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if (ev->id == evACinit) {
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me->state = STAC_SETUP;
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}
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break;
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case STAC_SETUP:
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if (ev->id == evACborn) {
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me->state = STAC_BORN;
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}
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break;
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case STAC_BORN:
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if (ev->id == evACready) {
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me->state = STAC_WAIT;
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ALIVE_CHECKER_emitPoll(me, me->aliveTime*10, 0);
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}
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break;
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case STAC_WAIT:
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if (ev->id == evACpoll) {
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if (me->isAlive) {
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me->state = STAC_WAIT;
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ALIVE_CHECKER_emitPoll(me, me->aliveTime*10, 0);
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} else {
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me->state = STAC_DEAD;
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}
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me->isAlive = false;
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}
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break;
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case STAC_DEAD:
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if(ev->id == evACborn) {
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me->state = STAC_BORN;
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}
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break;
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}
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if(oldState != me->state){
|
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switch (oldState) { // onExit
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case STAC_INIT:
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break;
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||||
case STAC_SETUP:
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break;
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||||
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case STAC_BORN:
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break;
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||||
|
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case STAC_WAIT:
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break;
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||||
case STAC_DEAD:
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break;
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||||
}
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||||
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||||
switch (me->state) { // onEntry
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||||
case STAC_INIT:
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break;
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||||
|
||||
case STAC_SETUP:
|
||||
if (me->setup.f != NULL) {
|
||||
me->setup.f(me->setup.p);
|
||||
}
|
||||
break;
|
||||
|
||||
case STAC_BORN:
|
||||
if (me->born.f != NULL) {
|
||||
me->born.f(me->born.p);
|
||||
}
|
||||
break;
|
||||
|
||||
case STAC_WAIT:
|
||||
if (me->wait.f != NULL) {
|
||||
me->wait.f(me->wait.p);
|
||||
}
|
||||
break;
|
||||
|
||||
case STAC_DEAD:
|
||||
if (me->dead.f != NULL) {
|
||||
me->dead.f(me->dead.p);
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
processed = true;
|
||||
}
|
||||
return processed;
|
||||
}
|
||||
|
||||
/*************
|
||||
* Callbacks *
|
||||
*************/
|
||||
|
||||
void ALIVE_CHECKER_onSetup(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p) {
|
||||
me->setup.f = f;
|
||||
me->setup.p = p;
|
||||
}
|
||||
|
||||
void ALIVE_CHECKER_onBorn(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p) {
|
||||
me->born.f = f;
|
||||
me->born.p = p;
|
||||
}
|
||||
|
||||
void ALIVE_CHECKER_onWait(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p) {
|
||||
me->wait.f = f;
|
||||
me->wait.p = p;
|
||||
}
|
||||
|
||||
void ALIVE_CHECKER_onDead(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p) {
|
||||
me->dead.f = f;
|
||||
me->dead.p = p;
|
||||
}
|
||||
|
||||
/************
|
||||
* EMITTERS *
|
||||
************/
|
||||
|
||||
void ALIVE_CHECKER_emitBorn(ALIVE_CHECKER* me, uint16_t t, int64_t data) {
|
||||
POST(me, &ALIVE_CHECKER_processEvent, evACborn, t, data);
|
||||
}
|
||||
|
||||
void ALIVE_CHECKER_emitReady(ALIVE_CHECKER* me, uint16_t t, int64_t data) {
|
||||
POST(me, &ALIVE_CHECKER_processEvent, evACready, t, data);
|
||||
}
|
||||
|
||||
void ALIVE_CHECKER_emitPoll(ALIVE_CHECKER* me, uint16_t t, int64_t data) {
|
||||
POST(me, &ALIVE_CHECKER_processEvent, evACpoll, t, data);
|
||||
}
|
||||
|
||||
/***********
|
||||
* SETTERS *
|
||||
***********/
|
||||
|
||||
void ALIVE_CHECKER_setAliveTime(ALIVE_CHECKER* me, uint8_t v) {
|
||||
me->aliveTime = v;
|
||||
}
|
||||
|
||||
void ALIVE_CHECKER_setIsAlive(ALIVE_CHECKER* me, bool v) {
|
||||
me->isAlive = v;
|
||||
}
|
||||
|
||||
void ALIVE_CHECKER_ISALIVE(ALIVE_CHECKER* me) {
|
||||
ALIVE_CHECKER_setIsAlive(me, true);
|
||||
}
|
||||
@@ -1,134 +0,0 @@
|
||||
/**
|
||||
* @author R<>mi Heredero
|
||||
* @version 1.0.0
|
||||
* @date August 2023
|
||||
* @file alive_checker.h
|
||||
*/
|
||||
#ifndef ALIVE_CHECKER_H
|
||||
#define ALIVE_CHECKER_H
|
||||
|
||||
#include "../xf/xf.h"
|
||||
|
||||
typedef enum {
|
||||
STAC_INIT,
|
||||
STAC_SETUP,
|
||||
STAC_BORN,
|
||||
STAC_WAIT,
|
||||
STAC_DEAD
|
||||
} ALIVE_CHECKER_STATES;
|
||||
|
||||
typedef enum {
|
||||
evACinit = 15,
|
||||
evACborn,
|
||||
evACready,
|
||||
evACpoll
|
||||
} ALIVE_CHECKER_EVENTS;
|
||||
|
||||
typedef void (*ALIVE_CHECKER_CALLBACK_FUNCTION)(void*);
|
||||
typedef struct {
|
||||
ALIVE_CHECKER_CALLBACK_FUNCTION f; // function
|
||||
void* p; // param(s)
|
||||
} ALIVE_CHECKER_CALLBACK;
|
||||
|
||||
typedef struct {
|
||||
ALIVE_CHECKER_STATES state;
|
||||
bool isAlive;
|
||||
uint8_t aliveTime;
|
||||
ALIVE_CHECKER_CALLBACK setup;
|
||||
ALIVE_CHECKER_CALLBACK born;
|
||||
ALIVE_CHECKER_CALLBACK wait;
|
||||
ALIVE_CHECKER_CALLBACK dead;
|
||||
} ALIVE_CHECKER;
|
||||
|
||||
/**
|
||||
* Initialize the ALIVE_CHECKER
|
||||
* @param me the ALIVE_CHECKER itself
|
||||
*/
|
||||
void ALIVE_CHECKER_init(ALIVE_CHECKER* me);
|
||||
|
||||
/**
|
||||
* Start the ALIVE_CHECKER state machine
|
||||
* @param me the ALIVE_CHECKER itself
|
||||
*/
|
||||
void ALIVE_CHECKER_startBehaviour(ALIVE_CHECKER* me);
|
||||
|
||||
/**
|
||||
* Process the event
|
||||
* @param ev the event to process
|
||||
* @return true if the event is processed
|
||||
*/
|
||||
bool ALIVE_CHECKER_processEvent(Event* ev);
|
||||
|
||||
/*************
|
||||
* Callbacks *
|
||||
*************/
|
||||
|
||||
/**
|
||||
* Set the callback function to call when the ALIVE_CHECKER is entering state setup
|
||||
* @param me the ALIVE_CHECKER itself
|
||||
* @param f the function to call
|
||||
* @param p the param(s) to pass to the function
|
||||
*/
|
||||
void ALIVE_CHECKER_onSetup(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p);
|
||||
|
||||
/**
|
||||
* Set the callback function to call when the ALIVE_CHECKER is entering state born
|
||||
* @param me the ALIVE_CHECKER itself
|
||||
* @param f the function to call
|
||||
* @param p the param(s) to pass to the function
|
||||
*/
|
||||
void ALIVE_CHECKER_onBorn(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p);
|
||||
|
||||
/**
|
||||
* Set the callback function to call when the ALIVE_CHECKER is entering state wait
|
||||
* @param me the ALIVE_CHECKER itself
|
||||
* @param f the function to call
|
||||
* @param p the param(s) to pass to the function
|
||||
*/
|
||||
void ALIVE_CHECKER_onWait(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p);
|
||||
|
||||
/**
|
||||
* Set the callback function to call when the ALIVE_CHECKER is entering state dead
|
||||
* @param me the ALIVE_CHECKER itself
|
||||
* @param f the function to call
|
||||
* @param p the param(s) to pass to the function
|
||||
*/
|
||||
void ALIVE_CHECKER_onDead(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p);
|
||||
|
||||
/************
|
||||
* EMITTERS *
|
||||
************/
|
||||
|
||||
/**
|
||||
* Emit the born event
|
||||
* @param me the ALIVE_CHECKER itself
|
||||
* @param t time to wait in ms before triggering event
|
||||
* @param data data to put on the event for XF
|
||||
*/
|
||||
void ALIVE_CHECKER_emitBorn(ALIVE_CHECKER* me, uint16_t t, int64_t data);
|
||||
|
||||
/**
|
||||
* Emit the ready event
|
||||
* @param me the ALIVE_CHECKER itself
|
||||
* @param t time to wait in ms before triggering event
|
||||
* @param data data to put on the event for XF
|
||||
*/
|
||||
void ALIVE_CHECKER_emitReady(ALIVE_CHECKER* me, uint16_t t, int64_t data);
|
||||
|
||||
/**
|
||||
* Emit the poll event
|
||||
* @param me the ALIVE_CHECKER itself
|
||||
* @param t time to wait in ms before triggering event
|
||||
* @param data data to put on the event for XF
|
||||
*/
|
||||
void ALIVE_CHECKER_emitPoll(ALIVE_CHECKER* me, uint16_t t, int64_t data);
|
||||
|
||||
/***********
|
||||
* SETTERS *
|
||||
***********/
|
||||
|
||||
void ALIVE_CHECKER_setAliveTime(ALIVE_CHECKER* me, uint8_t v);
|
||||
void ALIVE_CHECKER_setIsAlive(ALIVE_CHECKER* me, bool v);
|
||||
void ALIVE_CHECKER_ISALIVE(ALIVE_CHECKER* me); // Use this one when you receive CAN message
|
||||
|
||||
#endif
|
||||
@@ -1,90 +0,0 @@
|
||||
/**
|
||||
* @author R<>mi Heredero
|
||||
* @version 1.0.0
|
||||
* @date August 2023
|
||||
* @file watchdog.c
|
||||
*/
|
||||
|
||||
#include "watchdog.h"
|
||||
|
||||
void WATCHDOG_init(WATCHDOG* me){
|
||||
me->state = STWD_INIT;
|
||||
me->time = 10;
|
||||
me->alive.f = NULL;
|
||||
}
|
||||
|
||||
void WATCHDOG_startBehaviour(WATCHDOG* me){
|
||||
POST(me, &WATCHDOG_processEvent, evWDinit, 0, 0);
|
||||
}
|
||||
|
||||
bool WATCHDOG_processEvent(Event* ev) {
|
||||
bool processed = false;
|
||||
WATCHDOG* me = (WATCHDOG*)Event_getTarget(ev);
|
||||
WATCHDOG_STATES oldState = me->state;
|
||||
evIDT evid = Event_getId(ev);
|
||||
uint64_t data = Event_getData(ev);
|
||||
|
||||
switch (me->state) { // onState
|
||||
case STWD_INIT:
|
||||
if (ev->id == evWDinit) {
|
||||
me->state = STWD_ALIVE;
|
||||
WATCHDOG_emitPoll(me, 10*me->time, 0);
|
||||
}
|
||||
break;
|
||||
|
||||
case STWD_ALIVE:
|
||||
if (ev->id == evWDpoll) {
|
||||
WATCHDOG_emitPoll(me, 10*me->time, 0);
|
||||
if (me->alive.f != NULL) {
|
||||
me->alive.f(me->alive.p);
|
||||
}
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
if(oldState != me->state){
|
||||
switch (oldState) { // onExit
|
||||
case STWD_INIT:
|
||||
break;
|
||||
|
||||
case STWD_ALIVE:
|
||||
break;
|
||||
}
|
||||
|
||||
switch (me->state) { // onEntry
|
||||
case STWD_INIT:
|
||||
break;
|
||||
|
||||
case STWD_ALIVE:
|
||||
break;
|
||||
}
|
||||
|
||||
processed = true;
|
||||
}
|
||||
return processed;
|
||||
}
|
||||
|
||||
/*************
|
||||
* Callbacks *
|
||||
*************/
|
||||
|
||||
void WATCHDOG_onAlive(WATCHDOG* me, WATCHDOG_CALLBACK_FUNCTION f, void* p) {
|
||||
me->alive.f = f;
|
||||
me->alive.p = p;
|
||||
}
|
||||
|
||||
/************
|
||||
* EMITTERS *
|
||||
************/
|
||||
|
||||
void WATCHDOG_emitPoll(WATCHDOG* me, uint16_t t, int64_t data) {
|
||||
POST(me, &WATCHDOG_processEvent, evWDpoll, t, data);
|
||||
}
|
||||
|
||||
/***********
|
||||
* SETTERS *
|
||||
***********/
|
||||
|
||||
void WATCHDOG_setTime(WATCHDOG* me, uint8_t v) {
|
||||
me->time = v;
|
||||
}
|
||||
@@ -1,83 +0,0 @@
|
||||
/**
|
||||
* @author R<>mi Heredero
|
||||
* @version 1.0.0
|
||||
* @date August 2023
|
||||
* @file watchdog.h
|
||||
*/
|
||||
#ifndef WATCHDOG_H
|
||||
#define WATCHDOG_H
|
||||
|
||||
#include "../xf/xf.h"
|
||||
|
||||
typedef enum {
|
||||
STWD_INIT,
|
||||
STWD_ALIVE
|
||||
} WATCHDOG_STATES;
|
||||
|
||||
typedef enum {
|
||||
evWDinit = 20,
|
||||
evWDpoll
|
||||
} WATCHDOG_EVENTS;
|
||||
|
||||
typedef void (*WATCHDOG_CALLBACK_FUNCTION)(void*);
|
||||
typedef struct {
|
||||
WATCHDOG_CALLBACK_FUNCTION f; // function
|
||||
void* p; // param(s)
|
||||
} WATCHDOG_CALLBACK;
|
||||
|
||||
typedef struct {
|
||||
WATCHDOG_STATES state;
|
||||
uint8_t time;
|
||||
WATCHDOG_CALLBACK alive;
|
||||
} WATCHDOG;
|
||||
|
||||
/**
|
||||
* Initialize the WATCHDOG
|
||||
* @param me the WATCHDOG itself
|
||||
*/
|
||||
void WATCHDOG_init(WATCHDOG* me);
|
||||
|
||||
/**
|
||||
* Start the WATCHDOG state machine
|
||||
* @param me the WATCHDOG itself
|
||||
*/
|
||||
void WATCHDOG_startBehaviour(WATCHDOG* me);
|
||||
|
||||
/**
|
||||
* Process the event
|
||||
* @param ev the event to process
|
||||
* @return true if the event is processed
|
||||
*/
|
||||
bool WATCHDOG_processEvent(Event* ev);
|
||||
|
||||
/*************
|
||||
* Callbacks *
|
||||
*************/
|
||||
|
||||
/**
|
||||
* Set the callback function to call when the WATCHDOG is entering state alive
|
||||
* @param me the WATCHDOG itself
|
||||
* @param f the function to call
|
||||
* @param p the param(s) to pass to the function
|
||||
*/
|
||||
void WATCHDOG_onAlive(WATCHDOG* me, WATCHDOG_CALLBACK_FUNCTION f, void* p);
|
||||
|
||||
/************
|
||||
* EMITTERS *
|
||||
************/
|
||||
|
||||
/**
|
||||
* Emit the poll event
|
||||
* @param me the WATCHDOG itself
|
||||
* @param t time to wait in ms before triggering event
|
||||
* @param data data to put on the event for XF
|
||||
*/
|
||||
void WATCHDOG_emitPoll(WATCHDOG* me, uint16_t t, int64_t data);
|
||||
|
||||
/***********
|
||||
* SETTERS *
|
||||
***********/
|
||||
|
||||
void WATCHDOG_setTime(WATCHDOG* me, uint8_t v);
|
||||
|
||||
#endif
|
||||
Reference in New Issue
Block a user