118 lines
2.2 KiB
C
118 lines
2.2 KiB
C
#include "factory.h"
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//the factory object containing all objects of our system
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static Factory theFactory;
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//all the getters
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LED* l1() {
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return &theFactory.l1_;
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}
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LED* l2() {
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return &theFactory.l2_;
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}
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LED* l3() {
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return &theFactory.l3_;
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}
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LED* l4() {
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return &theFactory.l4_;
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}
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LED* l5() {
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return &theFactory.l5_;
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}
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LED* l6() {
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return &theFactory.l6_;
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}
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LED* l7() {
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return &theFactory.l7_;
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}
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LED* l8() {
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return &theFactory.l8_;
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}
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BLINKER* b1() {
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return &theFactory.b1_;
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}
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ALIVE* ALcontroller(){
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return &theFactory.ALcontroller_;
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}
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ALIVE* ALjoy(){
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return &theFactory.ALjoy_;
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}
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DRIVE* drive(){
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return &theFactory.drive_;
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}
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//initialize all objects
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void Factory_init() {
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LED_init(l1(), 1);
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LED_init(l2(), 2);
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LED_init(l3(), 3);
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LED_init(l4(), 4);
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LED_init(l5(), 5);
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LED_init(l6(), 6);
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LED_init(l7(), 7);
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LED_init(l8(), 8);
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LED_initHW(l1());
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LED_initHW(l2());
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LED_initHW(l3());
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LED_initHW(l4());
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LED_initHW(l5());
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LED_initHW(l6());
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LED_initHW(l7());
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LED_initHW(l8());
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BLINKER_init(b1());
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CAN_init();
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CAN_setSender(1);
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LED_off(l1());
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MEM_init();
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ALIVE_init(ALcontroller());
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ALIVE_setAliveTime(ALcontroller(), KART_CST.CONTROL_ALIVE_TIME);
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ALIVE_init(ALjoy());
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DRIVE_init(drive());
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}
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//connect objects if required
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void Factory_build() {
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ECAN_SetRXBnInterruptHandler(CAN_newMsg);
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CAN_onReceiveCan(CM_processIncome);
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ALIVE_onAlive(ALcontroller(), CM_CONTROLLER_ALIVE, NULL);
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//BLINKER_onOn(b1(), LED_on, l6());
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//BLINKER_onOff(b1(), LED_off, l6());
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ALIVE_onSetup(ALjoy(), CM_JOY_SETUP, NULL);
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ALIVE_setAliveTime(ALjoy(), KART_CST.JOYSTICK_ALIVE_TIME);
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ALIVE_onBorn(ALjoy(), LED_on, l1());
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ALIVE_onDead(ALjoy(), LED_off, l1());
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DRIVE_onRun(drive(), LED_on, l2());
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DRIVE_onDead(drive(), LED_off, l2());
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}
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//start all state machines
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void Factory_start() {
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CAN_startBehaviour();
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//ALIVE_startBehaviourSender(ALcontroller());
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//ALIVE_startBehaviourChecker(ALjoy());
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ALIVE_emitBorn(ALjoy(), 100, 0);
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ALIVE_emitReady(ALjoy(), 200, 0);
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DRIVE_startBehaviour(drive());
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}
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