ControllerSystem.h File Reference

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "System.h"
#include "MonitorSystem.h"

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Classes
struct	ControllerSystem

Macros
#define	MAX_MONITORS   10

Enumerations
enum	ControllerType { c_TORQUE , c_APPS , c_BRAKES }

Functions
void	initControllerSystem (ControllerSystem *controller, const char *name, int hz, ControllerType type)
	Initializes the Controller System with initial settings. More...
int	defaultAddMonitor (void *self, MonitorSystem *monitor)
	Adds a monitor to the controller. More...
int	defaultRemoveMonitor (void *self, MonitorSystem *monitor)
	Removes a monitor from the controller. More...

Macro Definition Documentation

MAX_MONITORS

#define MAX_MONITORS   10

Definition at line 11 of file ControllerSystem.h.

Enumeration Type Documentation

ControllerType

enum ControllerType

Enumerator
c_TORQUE
c_APPS
c_BRAKES

Definition at line 13 of file ControllerSystem.h.

             {
    c_TORQUE,
    c_APPS,
    c_BRAKES,
} ControllerType;

Function Documentation

defaultAddMonitor()

int defaultAddMonitor	(	void *	self,
		MonitorSystem *	monitor
	)

Adds a monitor to the controller.

Parameters

self	A pointer to the ControllerSystem structure.
monitor	A pointer to the MonitorSystem structure to add.

Returns

SUCCESS if the monitor was added, FAILURE otherwise.

Definition at line 12 of file ControllerSystem.c.

                                                          {
    ControllerSystem* controller = (ControllerSystem*)self;
    if (controller->num_monitors >= MAX_MONITORS) {
        printf("Cannot add more monitors to the controller\n");
        return FAILURE;
    }
    controller->monitors[controller->num_monitors++] = monitor;
    return SUCCESS;
}

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defaultRemoveMonitor()

int defaultRemoveMonitor	(	void *	self,
		MonitorSystem *	monitor
	)

Removes a monitor from the controller.

Parameters

self	A pointer to the ControllerSystem structure.
monitor	A pointer to the MonitorSystem structure to remove.

Returns

SUCCESS if the monitor was removed, FAILURE otherwise.

Definition at line 22 of file ControllerSystem.c.

                                                             {
    ControllerSystem* controller = (ControllerSystem*)self;
    for (int i = 0; i < controller->num_monitors; i++) {
        if (controller->monitors[i] == monitor) {
            for (int j = i; j < controller->num_monitors - 1; j++) {
                controller->monitors[j] = controller->monitors[j + 1];
            }
            controller->num_monitors--;
            return SUCCESS;
        }
    }
    printf("Monitor not found in the controller\n");
    return FAILURE;
}

initControllerSystem()

void initControllerSystem	(	ControllerSystem *	controller,
		const char *	name,
		int	hz,
		ControllerType	type
	)

Initializes the Controller System with initial settings.

Parameters

controller	A pointer to the ControllerSystem structure.
name	The name of the controller.
hz	Rate at which the controller is called (in hz).
type	The type of controller (per ControllerType).

Definition at line 4 of file ControllerSystem.c.

                                               {
    initSystem(&controller->system, name, hz, CONTROLLER);
    controller->type = type;
    controller->num_monitors = 0;
    controller->safety = NULL;
}

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