174 lines
4.3 KiB
C
174 lines
4.3 KiB
C
/**
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* @author Rémi Heredero
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* @version 1.0.0
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* @date September 2023
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* @file steering.c
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*/
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#include "steering.h"
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#include "can_message.h"
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#include "car.h"
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//#include "drive.h"
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void alive_born(void* p){
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STEERING* me = (STEERING*) p;
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STEERING_emitResurrect(me);
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//CM_STEERING_SETUP(&ALWAYS3);
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}
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void STEERING_init(STEERING* me){
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me->state = STST_INIT;
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ALIVE_init(&me->myChecker, 3);
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ALIVE_onSetup(&me->myChecker, CM_STEERING_SETUP, &ALWAYS2);
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ALIVE_onWait(&me->myChecker, STEERING_emitStart, me);
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ALIVE_onDead(&me->myChecker, STEERING_emitStop, me);
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ALIVE_onBorn(&me->myChecker, alive_born, me);
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me->wait.f = NULL;
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me->run.f = NULL;
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me->dead.f = NULL;
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eKart.center = 560024;
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}
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void STEERING_startBehaviour(STEERING* me){
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POST(me, &STEERING_processEvent, evSTinit, 3000, 0);
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}
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bool STEERING_processEvent(Event* ev) {
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bool processed = false;
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STEERING* me = (STEERING*)Event_getTarget(ev);
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STEERING_STATES oldState = me->state;
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evIDT evid = Event_getId(ev);
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uint64_t data = Event_getData(ev);
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switch (me->state) { // onState
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case STST_INIT:
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if (ev->id == evSTinit) {
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me->state = STST_WAIT;
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ALIVE_startBehaviourChecker(&me->myChecker); // Start alive checker
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}
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break;
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case STST_WAIT:
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if (ev->id == evSTstart) {
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me->state = STST_RUN;
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}
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// ALIVE_setAliveTime(&me->myChecker, KART_CST.STEERING_ALIVE_TIME);
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// ALIVE_emitBorn(&me->myChecker, 500, 0);
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// ALIVE_emitReady(&me->myChecker, 1000, 0);
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break;
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case STST_RUN:
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if (ev->id == evSTstop) {
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me->state = STST_DEAD;
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}
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if (ev->id == evSTpollDir) {
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//if(drive()->state == STDR_RUN) {
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CM_STEERING_SET(&eKart.position);
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//}
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}
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break;
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case STST_DEAD:
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if (ev->id == evSTresurrect) {
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me->state = STST_WAIT;
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}
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break;
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}
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if(oldState != me->state){
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switch (oldState) { // onExit
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case STST_INIT:
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break;
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case STST_WAIT:
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break;
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case STST_RUN:
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break;
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case STST_DEAD:
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break;
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}
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switch (me->state) { // onEntry
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case STST_INIT:
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break;
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case STST_WAIT:
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if (me->wait.f != NULL) {
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me->wait.f(me->wait.p);
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}
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ALIVE_setAliveTime(&me->myChecker, KART_CST.STEERING_ALIVE_TIME);
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ALIVE_emitBorn(&me->myChecker, 500, 0);
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break;
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case STST_RUN:
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if (me->run.f != NULL) {
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me->run.f(me->run.p);
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}
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break;
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case STST_DEAD:
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if (me->dead.f != NULL) {
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me->dead.f(me->dead.p);
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}
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break;
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}
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processed = true;
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}
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return processed;
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}
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/*************
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* Callbacks *
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*************/
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void STEERING_onWait(STEERING* me, STEERING_CALLBACK_FUNCTION f, void* p) {
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me->wait.f = f;
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me->wait.p = p;
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}
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void STEERING_onRun(STEERING* me, STEERING_CALLBACK_FUNCTION f, void* p) {
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me->run.f = f;
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me->run.p = p;
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}
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void STEERING_onDead(STEERING* me, STEERING_CALLBACK_FUNCTION f, void* p) {
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me->dead.f = f;
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me->dead.p = p;
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}
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/************
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* EMITTERS *
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************/
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void STEERING_emitStart(void* p) {
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STEERING* me = (STEERING*) p;
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POST(me, &STEERING_processEvent, evSTstart, 0, 0);
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}
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void STEERING_emitStop(void* p) {
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STEERING* me = (STEERING*) p;
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POST(me, &STEERING_processEvent, evSTstop, 0, 0);
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}
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void STEERING_emitResurrect(void* p) {
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STEERING* me = (STEERING*) p;
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POST(me, &STEERING_processEvent, evSTresurrect, 0, 0);
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}
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void STEERING_emitPollDir(void* p) {
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STEERING* me = (STEERING*) p;
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POST(me, &STEERING_processEvent, evSTpollDir, 0, 0);
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}
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/***********
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* SETTERS *
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***********/
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void STEERING_setMyChecker(STEERING* me, ALIVE v) {
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me->myChecker = v;
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}
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