add alive_checker

2023-08-24 15:25:23 +02:00
parent 6b8e797744
commit 6b9d3953bc
3 changed files with 488 additions and 0 deletions
--- a/306-controller_interface.X/middleware/alive_checker.c
+++ b/306-controller_interface.X/middleware/alive_checker.c
@@ -0,0 +1,176 @@
+/**
+ * @author R<>mi Heredero
+ * @version 1.0.0
+ * @date August 2023
+ * @file alive_checker.c
+ */
+
+#include "alive_checker.h"
+
+void ALIVE_CHECKER_init(ALIVE_CHECKER* me){
+    me->state = STAC_INIT;
+    me->isAlive = false;
+    me->aliveTime = 10;
+    me->setup.f = NULL;
+    me->born.f = NULL;
+    me->wait.f = NULL;
+    me->dead.f = NULL;
+}
+
+void ALIVE_CHECKER_startBehaviour(ALIVE_CHECKER* me){
+    POST(me, &ALIVE_CHECKER_processEvent, evACinit, 0, 0);
+}
+
+bool ALIVE_CHECKER_processEvent(Event* ev) {
+    bool processed = false;
+    ALIVE_CHECKER* me = (ALIVE_CHECKER*)Event_getTarget(ev);
+    ALIVE_CHECKER_STATES oldState = me->state;
+    evIDT evid = Event_getId(ev);
+    uint64_t data = Event_getData(ev);
+    
+    switch (me->state) {        // onState
+        case STAC_INIT:
+            if (ev->id == evACinit) {
+                me->state = STAC_SETUP;
+            }
+            break;
+        
+        case STAC_SETUP:
+            if (ev->id = evACborn) {
+                me->state = STAC_BORN;
+            }
+            break;
+        
+        case STAC_BORN:
+            if (ev->id = evACready) {
+                me->state = STAC_WAIT;
+                ALIVE_CHECKER_emitPoll(me, me->aliveTime*10, 0);
+            } 
+            break;
+        
+        case STAC_WAIT:
+            if (ev->id = evACpoll) {
+                if (me->isAlive) {
+                    me->state = STAC_WAIT;
+                    ALIVE_CHECKER_emitPoll(me, me->aliveTime*10, 0);
+                } else {
+                    me->state = STAC_DEAD;
+                }
+            }
+            break;
+        
+        case STAC_DEAD:
+            if(ev->id = evACborn) {
+                me->state = STAC_BORN;
+            }
+            break;
+    }
+
+    if(oldState != me->state){
+        switch (oldState) {     // onExit
+            case STAC_INIT:
+                break;
+            
+            case STAC_SETUP:
+                break;
+            
+            case STAC_BORN:
+                break;
+            
+            case STAC_WAIT:
+                break;
+            
+            case STAC_DEAD:
+                break;
+        }
+
+        switch (me->state) {    // onEntry
+            case STAC_INIT:
+                break;
+            
+            case STAC_SETUP:
+                if (me->setup.f != NULL) {
+                    me->setup.f(me->setup.p);
+                }
+                break;
+            
+            case STAC_BORN:
+                if (me->born.f != NULL) {
+                    me->born.f(me->born.p);
+                }
+                break;
+            
+            case STAC_WAIT:
+                me->isAlive = false;
+                if (me->wait.f != NULL) {
+                    me->wait.f(me->wait.p);
+                }
+                break;
+            
+            case STAC_DEAD:
+                if (me->dead.f != NULL) {
+                    me->dead.f(me->dead.p);
+                }
+                break;
+        }
+
+        processed = true;
+    }
+    return processed;
+}
+
+/*************
+ * Callbacks *
+ *************/
+
+void ALIVE_CHECKER_onSetup(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p) {
+    me->setup.f = f;
+    me->setup.p = p;
+}
+
+void ALIVE_CHECKER_onBorn(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p) {
+    me->born.f = f;
+    me->born.p = p;
+}
+
+void ALIVE_CHECKER_onWait(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p) {
+    me->wait.f = f;
+    me->wait.p = p;
+}
+
+void ALIVE_CHECKER_onDead(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p) {
+    me->dead.f = f;
+    me->dead.p = p;
+}
+
+/************
+ * EMITTERS *
+ ************/
+
+void ALIVE_CHECKER_emitBorn(ALIVE_CHECKER* me, uint16_t t, int64_t data) {
+    POST(me, &ALIVE_CHECKER_processEvent, evACborn, t, data);
+}
+
+void ALIVE_CHECKER_emitReady(ALIVE_CHECKER* me, uint16_t t, int64_t data) {
+    POST(me, &ALIVE_CHECKER_processEvent, evACready, t, data);
+}
+
+void ALIVE_CHECKER_emitPoll(ALIVE_CHECKER* me, uint16_t t, int64_t data) {
+    POST(me, &ALIVE_CHECKER_processEvent, evACpoll, t, data);
+}
+
+/***********
+ * SETTERS *
+ ***********/
+
+void ALIVE_CHECKER_setAliveTime(ALIVE_CHECKER* me, uint8_t v) {
+    me->aliveTime = v;
+}
+
+void ALIVE_CHECKER_setIsAlive(ALIVE_CHECKER* me, bool v) {
+    me->aliveTime = v;
+}
+
+void ALIVE_CHECKER_ISALIVE(ALIVE_CHECKER* me) {
+    ALIVE_CHECKER_setIsAlive(me, true);
+}