132 lines
3.0 KiB
C
132 lines
3.0 KiB
C
/**
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* @author Rémi Heredero
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* @version 1.0.0
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* @date August 2023
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* @file can_sender.c
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*/
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#include "can_sender.h"
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void CANSENDER_init(CANSENDER* me){
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me->state = STCS_INIT;
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me->sendingTime = 1;
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me->wait.f = NULL;
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me->send.f = NULL;
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}
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void CANSENDER_startBehaviour(CANSENDER* me){
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POST(me, &CANSENDER_processEvent, evCSinit, 0, 0);
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}
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bool CANSENDER_processEvent(Event* ev) {
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bool processed = false;
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CANSENDER* me = (CANSENDER*)Event_getTarget(ev);
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CANSENDER_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 STCS_INIT:
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if (ev->id == evCSinit) {
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CANSENDER.state = STCS_WAIT;
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}
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break;
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case STCS_WAIT:
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if (ev->id == evCSsend) {
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CANSENDER.state = STCS_SEND;
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}
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break;
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case STCS_SEND:
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if (ev->id == evCSdone) {
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CANSENDER.state = STCS_WAIT;
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}
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uCAN_MSG canMsg;
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canMsg.frame.data0 = (uint8_t) data;
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data = data >> 8;
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canMsg.frame.data1 = (uint8_t) data;
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data = data >> 8;
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canMsg.frame.data2 = (uint8_t) data;
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data = data >> 8;
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canMsg.frame.data3 = (uint8_t) data;
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data = data >> 8;
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canMsg.frame.id = (uint32_t) data;
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CAN_transmit(&canMsg);
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CANSENDER_emitDone(me, 0);
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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 STCS_INIT:
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break;
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case STCS_WAIT:
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break;
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case STCS_SEND:
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break;
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}
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switch (me->state) { // onEntry
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case STCS_INIT:
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break;
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case STCS_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 STCS_SEND:
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if (me->send.f != NULL) {
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me->send.f(me->send.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 CANSENDER_onWait(CANSENDER* me, CANSENDER_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 CANSENDER_onSend(CANSENDER* me, CANSENDER_CALLBACK_FUNCTION f, void* p) {
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me->send.f = f;
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me->send.p = p;
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}
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/************
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* EMITTERS *
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************/
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void CANSENDER_emitSend(CANSENDER* me, uint16_t t) {
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POST(me, &CANSENDER_processEvent, evCSsend, t, 0);
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}
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void CANSENDER_emitDone(CANSENDER* me, uint16_t t) {
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POST(me, &CANSENDER_processEvent, evCSdone, t, 0);
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}
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CANSENDER_sendCanMsg(CANSENDER* me, uint8_t id, uint32_t data)
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/***********
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* SETTERS *
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***********/
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void CANSENDER_setSendingTime(CANSENDER* me, uint8_t v) {
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me->sendingTime = v;
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}
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