unisasa.h

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#ifndef _UNISASA_HEADER_
#define _UNISASA_HEADER_

#include "unisasa_types.h"

//===================     CONFIGURATION     ==========================//
// Custom:
#define NUMSENS         64 
#define NUMACTS         64 
#define FIRST_ID_SEN        0
#define FIRST_ID_ACT        0
#define BYTES_ADDRESS_DEVICE    1 
#define ADDR_ANY        0 
#define BYTES_UNSIGNED_INT 4    
#define BYTES_MESSAGE 8  
//#define BIG_ENDIAN
#define LITTLE_ENDIAN    
//====================================================================//

//--------------------------------------------------
// Check ENDIAN
#if defined(BIG_ENDIAN) && defined(LITTLE_ENDIAN)
#error "Please define: BIG_ENDIAN or LITTLE_ENDIAN, not both"
#endif

#if !defined(BIG_ENDIAN) && !defined(LITTLE_ENDIAN)
#error "Please define: BIG_ENDIAN or LITTLE_ENDIAN"
#endif

// Macro to send in big endian
#ifdef LITTLE_ENDIAN
#define SEND(array,size,converter) _reverseArray(array, size, converter); send(converter, size)
#define RECV(array,size,converter) receive(converter, size); _reverseArray(converter, size, array)
#else
#define SEND(array,size,converter) send(array,size)
#define RECV(array,size,converter) receive(array,size)
#endif

//--------------------------------------------------

typedef unsigned char byte_t;

typedef union converter_t {
    unsigned int integer;
    unsigned char byte[BYTES_MESSAGE];
} converter_t;

//------------------------------------------------------------------//


/***    Device  ***/

typedef union deviceAddress_t {
    unsigned int integer;
    unsigned char byte[BYTES_ADDRESS_DEVICE];
} deviceAddress_t;

typedef void (*messageHandlerFunc)(unsigned char *);

typedef void (*messageAndAnswerHandlerFunc)(unsigned char *request, unsigned char*reply);

void createDevice(unsigned int address,unsigned char sizeIOmsg,messageHandlerFunc callback1,messageAndAnswerHandlerFunc callback2);

typedef struct device_t{
    deviceAddress_t address;
    unsigned char sizeIOMsg;  // 1 byte
    unsigned char sizeIDSen;  // 1 byte
    unsigned char sizeIDAct;  // 1 byte
    messageHandlerFunc messageHandler;
    messageAndAnswerHandlerFunc messageAndAnswerHandler;
} device_t;


//--------------------------------------------------------------------//

/***    Sensor      ***/

typedef void (*getSensorValueFunc)(unsigned char *sensor_value);

typedef union sensorType_t {
    unsigned int integer;
    unsigned char byte[SIZE_TYPE_SENSOR];
} sensorType_t;

typedef struct sensor_t{
    converter_t ID;
    sensorType_t typeSensor;
    unsigned char sizeOutput;   // 1 byte
    unsigned char typeOutput;   // 1 byte
    getSensorValueFunc getValue;
} sensor_t;

void addSensor(unsigned int typeSensor, unsigned char sizeOutput, unsigned char typeOutput, getSensorValueFunc getValue);

//--------------------------------------------------------------------//

/***    Actuator    ***/

// Actuator struct, addActuator, functionCallBack

typedef void (*setActuatorValueFunc)(unsigned char* act_value);

typedef union actuatorType_t {
    unsigned int integer;
    unsigned char byte[SIZE_TYPE_ACTUATOR];
} actuatorType_t;

typedef struct actuator_t {
    converter_t ID;
    actuatorType_t typeActuator;
    unsigned char sizeInput;      // 1 byte
    unsigned char typeInput;      // 1 byte
    setActuatorValueFunc setValue;
} actuator_t;


void addActuator(unsigned int typeActuator,unsigned char sizeInput, unsigned char typeInput, setActuatorValueFunc setValue) ;


//-------------------------------------------------------------------//


/*  Communication Handler       */

typedef void(*receiveUnisasa)(unsigned char* message,unsigned int size);

typedef void (*sendUnisasa)(unsigned char* message,unsigned int size);

void communication(receiveUnisasa recvFunc, sendUnisasa sendFunc );


#endif