ControllerSystem.h

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#ifndef RENSSELAERMOTORSPORT_CONTROLLER_SYSTEM_H
#define RENSSELAERMOTORSPORT_CONTROLLER_SYSTEM_H
 
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
 
#include "System.h"
#include "MonitorSystem.h"
#include "../Utils/Constants.h"
#include "../Utils/Updateable.h"
#include "../Scheduler/Task.h"
 
typedef enum {
    c_TORQUE,
    c_APPS,
    c_BRAKES,
    c_RTD
} ControllerType;
 
typedef enum {
    c_idle,
    c_computed,
    c_validated
} ControllerState;
 
// Need to do this because of circular dependency
typedef struct ControllerSystem ControllerSystem;
struct ControllerSystem {
    System system;
    ControllerType type;
    ControllerState state;
    MonitorSystem* monitors[MAX_MONITORS]; // What monitors are associated with this controller?
    int num_monitors;
    int (*safety)(struct ControllerSystem* controller); // Check if the controller is operating safely
    int (*addMonitor)(struct ControllerSystem* controller, MonitorSystem* monitor); // Add a monitor to the controller
    int (*removeMonitor)(struct ControllerSystem* controller, MonitorSystem* monitor); // Remove a monitor from the controller
    int (*updateController)(struct ControllerSystem* controller); // Update the controller
    void* child;
};
 
void initControllerSystem(ControllerSystem* controller, const char* name, int hz,
                          ControllerType type, int (*updateController)(ControllerSystem* controller),
                          void* child);
 
int c_defaultAddMonitor(ControllerSystem* controller, MonitorSystem* monitor);
 
int c_defaultRemoveMonitor(ControllerSystem* controller, MonitorSystem* monitor);
 
int c_defaultUpdate(Updateable* updateable);
 
int c_defaultSafety(ControllerSystem* controller);
 
#endif // RENSSELAERMOTORSPORT_CONTROLLER_SYSTEM_H