Heartbeat.cpp

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//@cond
 
#include "Heartbeat.h"
#include "Canbus.h"
#include "ECUGlobalConfig.h"
#include "Heartbeat.def"
#include "Log.h"
#include "Pins.h"
#include "stdint.h"
#include "stdlib.h"
#include <set>
 
namespace Heartbeat {
static IntervalTimer canbusPinUpdate;
static elapsedMillis lastBeat;
static volatile int lastTime = 0;
 
static LOG_TAG ID = "HeartBeat";
 
static std::set<beatFunc> funcs;
 
static void toggleLED() {
    static bool on = false;
    on = !on;
    Pins::setPinValue(PINS_BOTH_LED, on);
}
 
static void beat() {
    Canbus::sendData(ADD_HEART);
    toggleLED();
 
    for (auto f : funcs) {
        f();
    }
}
 
void beginBeating() {
    canbusPinUpdate.priority(10);
    canbusPinUpdate.begin(beat, CONF_HEARTBEAT_INTERVAL_MILLIS * 1000);
}
 
static void receiveBeat(uint32_t, volatile uint8_t *) {
    lastTime = lastBeat;
    lastBeat = 0;
    toggleLED();
}
 
void beginReceiving() {
    Canbus::addCallback(ADD_HEART, receiveBeat);
}
 
int checkBeat() {
    if (lastBeat > (CONF_HEARTBEAT_INTERVAL_MILLIS) + CONF_HEARTBEAT_TIMEOUT_MILLI) {
        Log.w(ID, "Heartbeat is taking too long", lastBeat);
        Log.p("lag", "Heartbeat is taking too long", lastBeat);
        return 0;
    }
    return 1;
}
 
void addCallback(beatFunc func) {
    funcs.insert(func);
}
 
} // namespace Heartbeat
  //@endcond