controller.c File Reference

Implementation of the system orchestration layer. More...

#include "controller.h"
#include "esp_err.h"
#include "esp_timer.h"
#include "metrics.h"
#include "runtime_tasks.h"
#include "slab_pool.h"
#include "system_init.h"
#include "telemetry_service.h"

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Macros
#define	CONTROLLER_WAIT_ON_LOCK_TIME_US   (100U)
#define	CONTROLLER_YIELD_TIME_US   (1000000U)

Functions
static void	set_state_helper (controller_state_t new_state)
	Set controller state.
static esp_err_t	handle_init_helper (void)
	Handles system initialization.
static void	handle_deinit_helper (void)
	Handles system deinitialization.
void	controller_run (void)
	Start controller.
controller_state_t	controller_get_state (void)
	Get current controller state.
void	controller_request_stop (void)
	Stop controller.

Variables
static controller_state_t	current_state = CONTROLLER_STATE_UNINITIALIZED
static SemaphoreHandle_t	state_mutex = NULL

Detailed Description

Implementation of the system orchestration layer.

Author

Abanoub Salah

• Goes through different controller states throughout application life
  • Initialization: Initialize system and start tasks
  • Running: System is running
  • Fault: System is in critical error state
  • Stopping: System is stopping (reversing init step)
• Provides APIs to get/set current controller state

Macro Definition Documentation

CONTROLLER_WAIT_ON_LOCK_TIME_US

#define CONTROLLER_WAIT_ON_LOCK_TIME_US   (100U)

State lock wait timeout in micro seconds

CONTROLLER_YIELD_TIME_US

#define CONTROLLER_YIELD_TIME_US   (1000000U)

Yield time of control loop in micro seconds

Function Documentation

controller_get_state()

controller_state_t controller_get_state

(

void

)

Get current controller state.

Returns

Controller state

< State lock wait timeout in micro seconds

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controller_request_stop()

void controller_request_stop

(

void

)

Stop controller.

Request deinitialize and stopping of different system components

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controller_run()

void controller_run

(

void

)

Start controller.

Initialize, setup and start different system components

< Yield time of control loop in micro seconds

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handle_deinit_helper()

static void handle_deinit_helper ( void  )

static

Handles system deinitialization.

• Deinitialize different system components
• Stop different system tasks

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handle_init_helper()

static esp_err_t handle_init_helper ( void  )

static

Handles system initialization.

• Initialize different system components
• Start different system tasks

Returns

esp_err_t Handle result

Return values

ESP_OK	Handle success
any	Any error from down layers propagates upward

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set_state_helper()

static void set_state_helper ( controller_state_t  new_state )

static

Set controller state.

Parameters

new_state

Controller state

< State lock wait timeout in micro seconds

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Variable Documentation

current_state

controller_state_t current_state = CONTROLLER_STATE_UNINITIALIZED

static

Current controller state

state_mutex

SemaphoreHandle_t state_mutex = NULL

static

State lock handle