add blinker debug

306-controller_interface.X/app/drive.c

@@ -13,7 +13,7 @@
 
 void DRIVE_init(DRIVE* me){
     me->state = STDR_INIT;
-    ALIVE_init(&me->myChecker);
+    ALIVE_init(&me->myChecker, 2);
     ALIVE_onSetup(&me->myChecker, CM_DRIVE_SETUP, &ALWAYSTRUE);
     ALIVE_onWait(&me->myChecker, DRIVE_emitStart, me);
     ALIVE_onDead(&me->myChecker, DRIVE_emitStop, me);

306-controller_interface.X/app/factory/factory.c

@@ -5,24 +5,6 @@
 static Factory theFactory;
 
 //all the getters
-LED* l1() {
-    return &theFactory.l1_;
-}
-LED* l2()  {
-    return &theFactory.l2_;
-}
-LED* l3()  {
-    return &theFactory.l3_;
-}
-LED* l4()  {
-    return &theFactory.l4_;
-}
-LED* l5()  {
-    return &theFactory.l5_;
-}
-LED* l6()  {
-    return &theFactory.l6_;
-}
 LED* l7()  {
     return &theFactory.l7_;
 }
@@ -30,10 +12,6 @@ LED* l8()  {
     return &theFactory.l8_;
 }
 
-BLINKER* b1() {
-    return &theFactory.b1_;
-}
-
 ALIVE* ALcontroller(){
     return &theFactory.ALcontroller_;
 }
@@ -53,36 +31,20 @@ STEERING* steering(){
 
 //initialize all objects
 void Factory_init() {
-    LED_init(l1(), 1);
-    LED_init(l2(), 2);
-    LED_init(l3(), 3);
-    LED_init(l4(), 4);
-    LED_init(l5(), 5);
-    LED_init(l6(), 6);
     LED_init(l7(), 7);
     LED_init(l8(), 8);
-
-    LED_initHW(l1());
-    LED_initHW(l2());
-    LED_initHW(l3());
-    LED_initHW(l4());
-    LED_initHW(l5());
-    LED_initHW(l6());
     LED_initHW(l7());
     LED_initHW(l8());
 
-    BLINKER_init(b1());
-
     CAN_init();
     CAN_setSender(1);
-    LED_off(l1());
     
     MEM_init();
     
-    ALIVE_init(ALcontroller());
+    ALIVE_init(ALcontroller(), 6);
     ALIVE_setAliveTime(ALcontroller(), KART_CST.CONTROL_ALIVE_TIME);
     
-    ALIVE_init(ALjoy());
+    ALIVE_init(ALjoy(), 1);
     DRIVE_init(drive());
     STEERING_init(steering());
 }
@@ -94,19 +56,16 @@ void Factory_build() {
     
     ALIVE_onAlive(ALcontroller(), CM_CONTROLLER_ALIVE, NULL);
     
-    //BLINKER_onOn(b1(), LED_on, l6());
-    //BLINKER_onOff(b1(), LED_off, l6());
-    
     ALIVE_onSetup(ALjoy(), CM_JOY_SETUP, NULL);
     ALIVE_setAliveTime(ALjoy(), KART_CST.JOYSTICK_ALIVE_TIME);
-    ALIVE_onBorn(ALjoy(), LED_on, l1());
+    //ALIVE_onBorn(ALjoy(), LED_on, l1());
-    ALIVE_onDead(ALjoy(), LED_off, l1());
+    //ALIVE_onDead(ALjoy(), LED_off, l1());
     
-    DRIVE_onRun(drive(), LED_on, l2());
+    //DRIVE_onRun(drive(), LED_on, l2());
-    DRIVE_onDead(drive(), LED_off, l2());
+    //DRIVE_onDead(drive(), LED_off, l2());
     
-    STEERING_onRun(steering(), LED_on, l3());
+    //STEERING_onRun(steering(), LED_on, l3());
-    STEERING_onDead(steering(), LED_off, l3());
+    //STEERING_onDead(steering(), LED_off, l3());
     
 }
 

306-controller_interface.X/app/factory/factory.h

@@ -25,17 +25,9 @@
 
 
 typedef struct {
-    LED l1_;
-    LED l2_;
-    LED l3_;
-    LED l4_;
-    LED l5_;
-    LED l6_;
     LED l7_;
     LED l8_;
     
-    BLINKER b1_;
-    
     ALIVE ALcontroller_;
     ALIVE ALjoy_;
     DRIVE drive_;
@@ -49,17 +41,9 @@ void Factory_build();
 void Factory_start();
 
 //these are global getters for our objects
-LED* l1();
-LED* l2();
-LED* l3();
-LED* l4();
-LED* l5();
-LED* l6();
 LED* l7();
 LED* l8();
 
-BLINKER* b1();
-
 ALIVE* ALcontroller();
 ALIVE* ALjoy();
 DRIVE* drive();

306-controller_interface.X/app/steering.c

@@ -12,7 +12,7 @@
 
 void STEERING_init(STEERING* me){
     me->state = STST_INIT;
-    ALIVE_init(&me->myChecker);
+    ALIVE_init(&me->myChecker, 3);
     ALIVE_onSetup(&me->myChecker, CM_STEERING_SETUP, &ALWAYSFALSE);
     ALIVE_onWait(&me->myChecker, STEERING_emitStart, me);
     ALIVE_onDead(&me->myChecker, STEERING_emitStop, me);

306-controller_interface.X/middleware/alive.c

@@ -7,7 +7,7 @@
 
 #include "alive.h"
 
-void ALIVE_init(ALIVE* me){
+void ALIVE_init(ALIVE* me, uint8_t led){
     me->state = STAL_INIT;
     me->isAlive = false;
     me->checker = false;
@@ -20,14 +20,23 @@ void ALIVE_init(ALIVE* me){
     me->dead.f = NULL;
     me->alive.f = NULL;
     me->break_cb.f = NULL;
+    LED_init(&me->debugLed, led);
+    LED_initHW(&me->debugLed);
+    BLINKER_init(&me->debugBlinker);
+    BLINKER_setTimeOn(&me->debugBlinker, 50);
+    BLINKER_setTimeOff(&me->debugBlinker, 50);
+    BLINKER_onOn(&me->debugBlinker, LED_on, &me->debugLed);
+    BLINKER_onOff(&me->debugBlinker, LED_off, &me->debugLed);
 }
 
 void ALIVE_startBehaviourChecker(ALIVE* me){
-    POST(me, &ALIVE_processEvent, evALinitChecker, 0, 0);
+    BLINKER_startBehaviour(&me->debugBlinker);
+    POST(me, &ALIVE_processEvent, evALinitChecker, 10, 0);
 }
 
 void ALIVE_startBehaviourSender(ALIVE* me){
-    POST(me, &ALIVE_processEvent, evALinitSender, 0, 0);
+    BLINKER_startBehaviour(&me->debugBlinker);
+    POST(me, &ALIVE_processEvent, evALinitSender, 10, 0);
 }
 
 bool ALIVE_processEvent(Event* ev) {
@@ -39,6 +48,7 @@ bool ALIVE_processEvent(Event* ev) {
     
     switch (me->state) {        // onState
         case STAL_INIT:
+            LED_on(&me->debugLed);
             if (ev->id == evALinitChecker) {
                 me->state = STAL_SETUP;
             }
@@ -125,12 +135,14 @@ bool ALIVE_processEvent(Event* ev) {
                 break;
             
             case STAL_WAIT:
+                BLINKER_endBlink(&me->debugBlinker);
                 break;
             
             case STAL_DEAD:
                 break;
             
             case STAL_ALIVE:
+                BLINKER_endBlink(&me->debugBlinker);
                 break;
             
             case STAL_BREAK:
@@ -155,6 +167,8 @@ bool ALIVE_processEvent(Event* ev) {
                 break;
             
             case STAL_WAIT:
+                LED_off(&me->debugLed);
+                BLINKER_emitBlink(&me->debugBlinker, 0);
                 if (me->wait.f != NULL) {
                     me->wait.f(me->wait.p);
                 }
@@ -167,6 +181,8 @@ bool ALIVE_processEvent(Event* ev) {
                 break;
             
             case STAL_ALIVE:
+                LED_off(&me->debugLed);
+                BLINKER_emitBlink(&me->debugBlinker, 0);
                 me->sender = true;
                 break;
             

306-controller_interface.X/middleware/alive.h

@@ -8,6 +8,8 @@
 #define ALIVE_H
 
 #include "../xf/xf.h"
+#include "../board/led/led.h"
+#include "../middleware/blinker.h"
 
 typedef enum {
     STAL_INIT = 20,
@@ -37,6 +39,8 @@ typedef struct {
 
 typedef struct {
     ALIVE_STATES state;
+    LED debugLed;
+    BLINKER debugBlinker;
     bool isAlive;
     bool checker;
     bool sender;
@@ -54,7 +58,7 @@ typedef struct {
  * Initialize the ALIVE
  * @param me the ALIVE itself
  */
-void ALIVE_init(ALIVE* me);
+void ALIVE_init(ALIVE* me, uint8_t led);
 
 /**
  * Start the ALIVE state machine for checker part