WIP CAN sender

2023-08-22 17:50:49 +02:00
parent 146fc9011e
commit 6734467031
5 changed files with 222 additions and 4 deletions
--- a/306-controller_interface.X/middleware/can/can_sender.c
+++ b/306-controller_interface.X/middleware/can/can_sender.c
@@ -0,0 +1,107 @@
+/**
+ * @author R<>mi Heredero
+ * @version 1.0.0
+ * @date August 2023
+ * @file can_sender.c
+ */
+
+#include "can_sender.h"
+
+void CAN_SENDER_init(CAN_SENDER* me){
+    me->state = STCS_INIT;
+    me->sendingTime = 1;
+    me->wait.f = NULL;
+    me->send.f = NULL;
+}
+
+void CAN_SENDER_startBehaviour(CAN_SENDER* me){
+    POST(me, &CAN_SENDER_processEvent, evCSinit, 0, 0);
+}
+
+bool CAN_SENDER_processEvent(Event* ev) {
+    bool processed = false;
+    CAN_SENDER* me = (CAN_SENDER*)Event_getTarget(ev);
+    CAN_SENDER_STATES oldState = me->state;
+    evIDT evid = Event_getId(ev);
+    
+    switch (me->state) {        // onState
+        case STCS_INIT:
+            if (ev->id == evCSinit) {
+                
+            }
+            break;
+        
+        case STCS_WAIT:
+            break;
+        
+        case STCS_SEND:
+            break;
+    }
+
+    if(oldState != me->state){
+        switch (oldState) {     // onExit
+            case STCS_INIT:
+                break;
+            
+            case STCS_WAIT:
+                break;
+            
+            case STCS_SEND:
+                break;
+        }
+
+        switch (me->state) {    // onEntry
+            case STCS_INIT:
+                break;
+            
+            case STCS_WAIT:
+                if (me->wait.f != NULL) {
+                    me->wait.f(me->wait.p);
+                }
+                break;
+            
+            case STCS_SEND:
+                if (me->send.f != NULL) {
+                    me->send.f(me->send.p);
+                }
+                break;
+        }
+
+        processed = true;
+    }
+    return processed;
+}
+
+/*************
+ * Callbacks *
+ *************/
+
+void CAN_SENDER_onWait(CAN_SENDER* me, CAN_SENDER_CALLBACK_FUNCTION f, void* p) {
+    me->wait.f = f;
+    me->wait.p = p;
+}
+
+void CAN_SENDER_onSend(CAN_SENDER* me, CAN_SENDER_CALLBACK_FUNCTION f, void* p) {
+    me->send.f = f;
+    me->send.p = p;
+}
+
+/************
+ * EMITTERS *
+ ************/
+
+void CAN_SENDER_emitSend(CAN_SENDER* me, uint16_t t) {
+    POST(me, &CAN_SENDER_processEvent, evCSsend, t, 0);
+}
+
+void CAN_SENDER_emitDone(CAN_SENDER* me, uint16_t t) {
+    POST(me, &CAN_SENDER_processEvent, evCSdone, t, 0);
+}
+
+/***********
+ * SETTERS *
+ ***********/
+
+void CAN_SENDER_setSendingTime(CAN_SENDER* me, uint8_t v) {
+    me->sendingTime = v;
+}