main.cpp

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#include "comm/communicator.hpp"
#include "debugUtils.hpp"
#include "embedded/digitalReceiver.hpp"
#include "embedded/digitalSender.hpp"
#include "enum_utils.hpp"
#include "logic/stateLogic.hpp"
#include "model/systemData.hpp"
#include "timings.hpp"
 
SystemData system_data;                                  // Model
Communicator communicator = Communicator(&system_data);  // CAN
DigitalReceiver digital_receiver =
    DigitalReceiver(&system_data.digital_data_, &system_data.mission_);  // Digital inputs
DigitalSender digital_sender = DigitalSender();                          // Digital outputs
ASState as_state = ASState(&system_data, &communicator, &digital_sender);
 
Metro rl_rpm_timer = Metro{LEFT_WHEEL_PUBLISH_INTERVAL};
Metro mission_timer = Metro(MISSION_PUBLISH_INTERVAL);
Metro state_timer = Metro(STATE_PUBLISH_INTERVAL);
IntervalTimer state_calculation_timer;
// only publih debug log if there is a change in one of the states
uint8_t master_state_helper = static_cast<uint8_t>(15);
uint8_t checkup_state_helper = static_cast<uint8_t>(15);
uint8_t mission_helper = static_cast<uint8_t>(15);
 
void setup() {
  Serial.begin(9600);
  Communicator::_systemData = &system_data;
  communicator.init();
  rl_rpm_timer.reset();
  mission_timer.reset();
  state_timer.reset();
  DEBUG_PRINT("Starting up...");
}
 
void loop() {
  digital_receiver.digital_reads();
  as_state.calculate_state();
  if (master_state_helper != to_underlying(as_state.state_) ||
      checkup_state_helper != to_underlying(as_state._checkup_manager_.checkup_state_) ||
      mission_helper != to_underlying(system_data.mission_)) {
    master_state_helper = to_underlying(as_state.state_);
    checkup_state_helper = to_underlying(as_state._checkup_manager_.checkup_state_);
    mission_helper = to_underlying(system_data.mission_);
    Communicator::publish_debug_log(
        system_data, to_underlying(as_state.state_),
        to_underlying(
            as_state._checkup_manager_.checkup_state_));  // mudar pointer se problemas de memória
  }
  if (mission_timer.check()) {
    Communicator::publish_mission(to_underlying(system_data.mission_));
    mission_timer.reset();
  }
  if (state_timer.check()) {
    Communicator::publish_state(to_underlying(as_state.state_));
    state_timer.reset();
  }
}