main.cpp

Go to the documentation of this file.

#include "comm/communicator.hpp"
#include "debugUtils.hpp"
#include "embedded/digitalReceiver.hpp"
#include "embedded/digitalSender.hpp"
#include "enum_utils.hpp"
#include "logic/outputCoordinator.hpp"
#include "logic/stateLogic.hpp"
#include "model/systemData.hpp"
#include "timings.hpp"
 
SystemData system_data;
Communicator communicator = Communicator(&system_data);  // CAN
DigitalReceiver digital_receiver = DigitalReceiver(&system_data);
DigitalSender digital_sender = DigitalSender();
OutputCoordinator output_coordinator =
    OutputCoordinator(&system_data, &communicator, &digital_sender);
ASState as_state = ASState(&system_data, &communicator, &output_coordinator);
TeensyTimerTool::PeriodicTimer watchdog_timer_;
bool is_first_loop = true;
void setup() {
  Serial.begin(9600);
  Communicator::_systemData = &system_data;
  communicator.init();
  output_coordinator.init();
  DEBUG_PRINT("Starting up...");
  delay(100);
}
 
void loop() {
  digital_receiver.digital_reads();
  noInterrupts();
  system_data.updated_timestamps_ = system_data.updatable_timestamps_;
  interrupts();
 
  as_state.calculate_state();
  uint8_t current_master_state = to_underlying(as_state.state_);
  uint8_t current_checkup_state = to_underlying(as_state._checkup_manager_.checkup_state_);
  uint8_t ebs_state = to_underlying(as_state._checkup_manager_.pressure_test_phase_);
 
  output_coordinator.process(current_master_state, current_checkup_state, ebs_state);
 
  delay(LOOP_DELAY);
}