el_trigger.h

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/*

embedded system library for e-puck

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code distribution:
https://github.com/jianingchen/epucklib

online documentation:
http://jianingchen.github.io/epucklib/html/

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This file is released under the terms of the MIT license (see "el.h").

*/

#ifndef EL_TRIGGER_H
#define EL_TRIGGER_H

#include "el_common.h"
#include "el_process.h"

typedef bool (*el_condition)(void*);


typedef enum {
    EL_EVENT_NONE = 0,          
    EL_EVENT_INTERNAL_A = 1,    
    EL_EVENT_INTERNAL_B = 2,    
    EL_EVENT_INTERNAL_C = 3,    
    EL_EVENT_INTERNAL_D = 4,    
    EL_EVENT_INTERNAL_E = 5,    
    EL_EVENT_INTERNAL_F = 6,    
    EL_EVENT_IR_RECEIVER_INCOME = 10,   
    EL_EVENT_UART1_RECEIVED = 11,       
    EL_EVENT_UART2_RECEIVED = 12,       
    EL_EVENT_ACCELEROMETER_UPDATE = 20, 
    EL_EVENT_IR_PROXIMITY_UPDATE = 21,  
    EL_EVENT_CAMERA_FRAME_UPDATE = 22,  
} el_trigger_event_type;

/*
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*/

el_handle el_create_trigger();


void el_delete_trigger(el_handle trigger);


void el_trigger_enable(el_handle h);


void el_trigger_disable(el_handle h);


el_bool el_trigger_is_enabled(el_handle h);


void el_trigger_set_event(el_handle h,el_trigger_event_type e);


void el_trigger_set_condition(el_handle h,el_condition f);


void el_trigger_set_process(el_handle h,el_process func);


el_uint32 el_trigger_get_counter(el_handle h);


void el_trigger_issue_internal_event(el_enum e);


/*
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*/


#ifdef EL_INCLUDE_LIB_INTERNAL_CONTEXT

#include "el_clock.h"

#define EL_TRIGGER_DIM   12

typedef struct{
    el_uint32 counter;
    el_enum event_type;
    void *event_data;
    el_condition condition;
    el_process process;
    bool enabled:1;
    bool remove:1;
    bool auto_disable:1;
    bool allow_recursive:1;
} el_trigger;

extern el_bool el_is_in_trigger_condition;
extern el_uint16 el_trigger_overwatch;
extern volatile el_uint8 el_trg_event_flag_in[6];
extern volatile el_uint8 el_trg_event_flag_ex_uart1;
extern volatile el_uint8 el_trg_event_flag_ex_uart2;
extern volatile el_uint8 el_trg_event_flag_ex_irrc;
extern volatile el_uint8 el_trg_event_flag_ex_cam;
extern volatile el_uint8 el_trg_event_flag_ex_acc;
extern volatile el_uint8 el_trg_event_flag_ex_irps;

void el_init_triggers();
void el_routine_triggers();

#endif

#endif  /* EL_TRIGGER_H */