add alive_checker

306-controller_interface.X/middleware/alive_checker.h

@@ -0,0 +1,134 @@
+/**
+ * @author R<>mi Heredero
+ * @version 1.0.0
+ * @date August 2023
+ * @file alive_checker.h
+ */
+#ifndef ALIVE_CHECKER_H
+#define ALIVE_CHECKER_H
+
+#include "../xf/xf.h"
+
+typedef enum {
+    STAC_INIT,
+    STAC_SETUP,
+    STAC_BORN,
+    STAC_WAIT,
+    STAC_DEAD
+} ALIVE_CHECKER_STATES;
+
+typedef enum {
+    evACinit = 100, // TODO change this number (< 256)
+    evACborn,
+    evACready,
+    evACpoll
+} ALIVE_CHECKER_EVENTS;
+
+typedef void (*ALIVE_CHECKER_CALLBACK_FUNCTION)(void*);
+typedef struct {
+    ALIVE_CHECKER_CALLBACK_FUNCTION f; // function
+    void* p; // param(s)
+} ALIVE_CHECKER_CALLBACK;
+
+typedef struct {
+    ALIVE_CHECKER_STATES state;
+    bool isAlive;
+    uint8_t aliveTime;
+    ALIVE_CHECKER_CALLBACK setup;
+    ALIVE_CHECKER_CALLBACK born;
+    ALIVE_CHECKER_CALLBACK wait;
+    ALIVE_CHECKER_CALLBACK dead;
+} ALIVE_CHECKER;
+
+/**
+ * Initialize the ALIVE_CHECKER
+ * @param me the ALIVE_CHECKER itself
+ */
+void ALIVE_CHECKER_init(ALIVE_CHECKER* me);
+
+/**
+ * Start the ALIVE_CHECKER state machine
+ * @param me the ALIVE_CHECKER itself
+ */
+void ALIVE_CHECKER_startBehaviour(ALIVE_CHECKER* me);
+
+/**
+ * Process the event
+ * @param ev the event to process
+ * @return true if the event is processed
+ */
+bool ALIVE_CHECKER_processEvent(Event* ev);
+
+/*************
+ * Callbacks *
+ *************/
+
+/**
+ * Set the callback function to call when the ALIVE_CHECKER is entering state setup
+ * @param me the ALIVE_CHECKER itself
+ * @param f the function to call
+ * @param p the param(s) to pass to the function
+ */
+void ALIVE_CHECKER_onSetup(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p);
+
+/**
+ * Set the callback function to call when the ALIVE_CHECKER is entering state born
+ * @param me the ALIVE_CHECKER itself
+ * @param f the function to call
+ * @param p the param(s) to pass to the function
+ */
+void ALIVE_CHECKER_onBorn(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p);
+
+/**
+ * Set the callback function to call when the ALIVE_CHECKER is entering state wait
+ * @param me the ALIVE_CHECKER itself
+ * @param f the function to call
+ * @param p the param(s) to pass to the function
+ */
+void ALIVE_CHECKER_onWait(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p);
+
+/**
+ * Set the callback function to call when the ALIVE_CHECKER is entering state dead
+ * @param me the ALIVE_CHECKER itself
+ * @param f the function to call
+ * @param p the param(s) to pass to the function
+ */
+void ALIVE_CHECKER_onDead(ALIVE_CHECKER* me, ALIVE_CHECKER_CALLBACK_FUNCTION f, void* p);
+
+/************
+ * EMITTERS *
+ ************/
+
+/**
+ * Emit the born event
+ * @param me the ALIVE_CHECKER itself
+ * @param t time to wait in ms before triggering event
+ * @param data data to put on the event for XF
+ */
+void ALIVE_CHECKER_emitBorn(ALIVE_CHECKER* me, uint16_t t, int64_t data);
+
+/**
+ * Emit the ready event
+ * @param me the ALIVE_CHECKER itself
+ * @param t time to wait in ms before triggering event
+ * @param data data to put on the event for XF
+ */
+void ALIVE_CHECKER_emitReady(ALIVE_CHECKER* me, uint16_t t, int64_t data);
+
+/**
+ * Emit the poll event
+ * @param me the ALIVE_CHECKER itself
+ * @param t time to wait in ms before triggering event
+ * @param data data to put on the event for XF
+ */
+void ALIVE_CHECKER_emitPoll(ALIVE_CHECKER* me, uint16_t t, int64_t data);
+
+/***********
+ * SETTERS *
+ ***********/
+
+void ALIVE_CHECKER_setAliveTime(ALIVE_CHECKER* me, uint8_t v);
+void ALIVE_CHECKER_setIsAlive(ALIVE_CHECKER* me, bool v);
+void ALIVE_CHECKER_ISALIVE(ALIVE_CHECKER* me); // Use this one when you receive CAN message
+
+#endif