98 lines
2.0 KiB
C
98 lines
2.0 KiB
C
#include "factory.h"
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//the factory object containing all objects of our system
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static Factory theFactory;
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//all the getters
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LED* l1() {
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return &theFactory.l1_;
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}
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LED* l2() {
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return &theFactory.l2_;
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}
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LED* l3() {
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return &theFactory.l3_;
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}
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LED* l4() {
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return &theFactory.l4_;
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}
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LED* l5() {
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return &theFactory.l5_;
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}
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LED* l6() {
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return &theFactory.l6_;
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}
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LED* l7() {
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return &theFactory.l7_;
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}
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LED* l8() {
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return &theFactory.l8_;
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}
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WATCHDOG* WDcontroller(){
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return &theFactory.WDcontroller_;
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}
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ALIVE_CHECKER* ACjoy() {
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return &theFactory.ACjoy_;
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}
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//initialize all objects
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void Factory_init() {
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LED_init(l1(), 1);
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LED_init(l2(), 2);
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LED_init(l3(), 3);
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LED_init(l4(), 4);
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LED_init(l5(), 5);
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LED_init(l6(), 6);
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LED_init(l7(), 7);
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LED_init(l8(), 8);
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LED_initHW(l1());
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LED_initHW(l2());
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LED_initHW(l3());
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LED_initHW(l4());
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LED_initHW(l5());
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LED_initHW(l6());
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LED_initHW(l7());
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LED_initHW(l8());
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CAN_init();
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CAN_setSender(1);
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LED_off(l1());
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// TODO init EPROM interface
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MEM_init();
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// TODO init watchdog with EPROM CST
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WATCHDOG_init(WDcontroller());
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WATCHDOG_setTime(WDcontroller(), CAR_CST.CONTROL_ALIVE_TIME);
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ALIVE_CHECKER_init(ACjoy());
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}
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//connect objects if required
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void Factory_build() {
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ECAN_SetRXBnInterruptHandler(CAN_newMsg);
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CAN_onReceiveCan(CM_processIncome);
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WATCHDOG_onAlive(WDcontroller(), CM_CONTROLLER_ALIVE, NULL);
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ALIVE_CHECKER_onSetup(ACjoy(), CM_JOY_SETUP, NULL);
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ALIVE_CHECKER_setAliveTime(ACjoy(), CAR_CST.JOYSTICK_ALIVE_TIME);
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ALIVE_CHECKER_onBorn(ACjoy(), LED_on, l1());
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ALIVE_CHECKER_onDead(ACjoy(), LED_off, l1());
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}
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//start all state machines
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void Factory_start() {
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CAN_startBehaviour();
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WATCHDOG_startBehaviour(WDcontroller());
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ALIVE_CHECKER_startBehaviour(ACjoy());
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ALIVE_CHECKER_emitBorn(ACjoy(), 100, 0);
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ALIVE_CHECKER_emitReady(ACjoy(), 200, 0);
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}
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