add drive management

306-controller_interface.X/app/drive.h

@@ -0,0 +1,130 @@
+/**
+ * @author R<>mi Heredero
+ * @version 1.0.0
+ * @date August 2023
+ * @file drive.h
+ */
+#ifndef DRIVE_H
+#define DRIVE_H
+
+#include "../xf/xf.h"
+#include "../middleware/alive.h"
+
+typedef enum {
+    STDR_INIT,
+    STDR_WAIT,
+    STDR_RUN,
+    STDR_DEAD
+} DRIVE_STATES;
+
+typedef enum {
+    evDRinit = 100,
+    evDRstart,
+    evDRstop,
+    evDRresurrect,
+    evDRpollSpeed,
+    evDRpollTorque
+} DRIVE_EVENTS;
+
+typedef void (*DRIVE_CALLBACK_FUNCTION)(void*);
+typedef struct {
+    DRIVE_CALLBACK_FUNCTION f; // function
+    void* p; // param(s)
+} DRIVE_CALLBACK;
+
+typedef struct {
+    DRIVE_STATES state;
+    ALIVE myChecker;
+    DRIVE_CALLBACK wait;
+    DRIVE_CALLBACK run;
+    DRIVE_CALLBACK dead;
+} DRIVE;
+
+/**
+ * Initialize the DRIVE
+ * @param me the DRIVE itself
+ */
+void DRIVE_init(DRIVE* me);
+
+/**
+ * Start the DRIVE state machine
+ * @param me the DRIVE itself
+ */
+void DRIVE_startBehaviour(DRIVE* me);
+
+/**
+ * Process the event
+ * @param ev the event to process
+ * @return true if the event is processed
+ */
+bool DRIVE_processEvent(Event* ev);
+
+/*************
+ * Callbacks *
+ *************/
+
+/**
+ * Set the callback function to call when the DRIVE is entering state wait
+ * @param me the DRIVE itself
+ * @param f the function to call
+ * @param p the param(s) to pass to the function
+ */
+void DRIVE_onWait(DRIVE* me, DRIVE_CALLBACK_FUNCTION f, void* p);
+
+/**
+ * Set the callback function to call when the DRIVE is entering state run
+ * @param me the DRIVE itself
+ * @param f the function to call
+ * @param p the param(s) to pass to the function
+ */
+void DRIVE_onRun(DRIVE* me, DRIVE_CALLBACK_FUNCTION f, void* p);
+
+/**
+ * Set the callback function to call when the DRIVE is entering state dead
+ * @param me the DRIVE itself
+ * @param f the function to call
+ * @param p the param(s) to pass to the function
+ */
+void DRIVE_onDead(DRIVE* me, DRIVE_CALLBACK_FUNCTION f, void* p);
+
+/************
+ * EMITTERS *
+ ************/
+
+/**
+ * Emit the start event
+ * @param p the DRIVE itself
+ */
+void DRIVE_emitStart(void* p);
+
+/**
+ * Emit the stop event
+ * @param p the DRIVE itself
+ */
+void DRIVE_emitStop(void* p);
+
+/**
+ * Emit the resurrect event
+ * @param p the DRIVE itself
+ */
+void DRIVE_emitResurrect(void* p);
+
+/**
+ * Emit the pollSpeed event
+ * @param p the DRIVE itself
+ */
+void DRIVE_emitPollSpeed(void* p);
+
+/**
+ * Emit the pollTorque event
+ * @param p the DRIVE itself
+ */
+void DRIVE_emitPollTorque(DRIVE* me, uint16_t t, int64_t data);
+
+/***********
+ * SETTERS *
+ ***********/
+
+
+
+#endif