implement watchdog

306-controller_interface.X/middleware/watchdog.c

@@ -0,0 +1,90 @@
+/**
+ * @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;
+}

306-controller_interface.X/middleware/watchdog.h

@@ -0,0 +1,83 @@
+/**
+ * @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