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Changing how the pstop_application is stored by the machine #6

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Merged
johnpolymath merged 1 commit into from
May 1, 2026
Merged

Changing how the pstop_application is stored by the machine #6

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4 changes: 2 additions & 2 deletions pstop_c/pstop/include/pstop/machine.h
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Original file line number Diff line number Diff line change
Expand Up @@ -69,13 +69,13 @@ typedef struct pstop_machine_t {

pstop_clients_t pstops;

pstop_application_t application;
pstop_application_t *application;

robot_state_t robot_state;

} pstop_machine_t;

void machine_init(pstop_machine_t *machine, const pstop_application_t *app, pstop_client_data_t *clients, uint16_t max_clients);
void machine_init(pstop_machine_t *machine, pstop_application_t *app, pstop_client_data_t *clients, uint16_t max_clients);

void machine_stop_robot(pstop_machine_t *machine, pstop_client_data_t *client);

Expand Down
24 changes: 11 additions & 13 deletions pstop_c/pstop/src/pstop/machine.c
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Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,7 @@ pstop_error_t
add_new_client(pstop_machine_t *machine, const device_id_t *id, pstop_client_data_t **client)
{
// no client found, can we add it?
if(!machine->application.operator_allowed_cb(id)) {
if(!machine->application->operator_allowed_cb(id)) {
// This ID is not allowed
*client = NULL;
return PSTOP_OPERATOR_NOT_ALLOWED;
Expand Down Expand Up @@ -106,7 +106,7 @@ handle_ok_msg(pstop_machine_t *machine, pstop_client_data_t *client, const pstop

resp->message = PSTOP_MESSAGE_OK;

machine->application.status_cb(PSTOP_STATUS_OK);
machine->application->status_cb(PSTOP_STATUS_OK);

return PSTOP_OK;
}
Expand Down Expand Up @@ -153,7 +153,7 @@ handle_stop_msg(pstop_machine_t *machine, pstop_client_data_t *client, const pst
machine->robot_state.restart_state = ROBOT_RESTART_STATE_STOP_RECEIVED;
}

machine->application.status_cb(PSTOP_STATUS_STOP);
machine->application->status_cb(PSTOP_STATUS_STOP);

return PSTOP_OK;
}
Expand Down Expand Up @@ -190,19 +190,17 @@ machine_handle_message(pstop_machine_t *machine, const pstop_msg_t *req, pstop_m
if(resp == NULL) {
return PSTOP_FATAL;
}

if(*resp == NULL) {
return PSTOP_FATAL;
}

// validate that the message parameters are correct
pstop_error_t result = pstop_is_message_valid(req);
if(result != PSTOP_OK) {
*resp = NULL;
return result;
}

(*resp)->heartbeat_timeout = machine->application.app_config.default_timeout_ms;
(*resp)->heartbeat_timeout = machine->application->app_config.default_timeout_ms;

// can we find this client?
pstop_client_data_t *client = pstop_client_get(&(machine->pstops), &(req->id));
Expand All @@ -222,10 +220,10 @@ machine_handle_message(pstop_machine_t *machine, const pstop_msg_t *req, pstop_m
return result;
}
// brand new client, let's initialize it
init_new_client(&(machine->application), client, req);
init_new_client(machine->application, client, req);
}

uint64_t now = machine->application.get_time_cb();
uint64_t now = machine->application->get_time_cb();
client->last_timestamp = now;

switch(req->message) {
Expand All @@ -247,7 +245,7 @@ static
pstop_error_t
machine_check_heartbeats(pstop_machine_t *machine)
{
uint64_t now = machine->application.get_time_cb();
uint64_t now = machine->application->get_time_cb();

int needsStop = 0;

Expand Down Expand Up @@ -278,7 +276,7 @@ machine_check_heartbeats(pstop_machine_t *machine)
// if we're still within the window of missed heartbeats then we're OK

client->missed_heartbeats_counter = (uint16_t)(diff / client->heartbeat_ms);
if(client->missed_heartbeats_counter >= machine->application.app_config.max_missed_heartbeats) {
if(client->missed_heartbeats_counter >= machine->application->app_config.max_missed_heartbeats) {
// trigger a stop!
client->client_state = PSTOP_CLIENT_UNKNOWN;
needsStop = 1;
Expand All @@ -294,13 +292,13 @@ machine_check_heartbeats(pstop_machine_t *machine)
}

void
machine_init(pstop_machine_t *machine, const pstop_application_t *app, pstop_client_data_t *clients, uint16_t max_clients)
machine_init(pstop_machine_t *machine, pstop_application_t *app, pstop_client_data_t *clients, uint16_t max_clients)
{
machine->handle_machine_message_cb = machine_handle_message;
machine->handle_protocol_message_cb = protocol_handle_message;
machine->check_heartbeats_cb = machine_check_heartbeats;

machine->application = *app;
machine->application = app;
machine->pstops.clients = clients;
machine->pstops.max_clients = max_clients;

Expand All @@ -324,5 +322,5 @@ machine_stop_robot(pstop_machine_t *machine, pstop_client_data_t *client)
machine->robot_state.client_stop_id = 0U;
}

machine->application.status_cb(PSTOP_STATUS_STOP);
machine->application->status_cb(PSTOP_STATUS_STOP);
}
2 changes: 1 addition & 1 deletion pstop_c/pstop/src/pstop/protocol.c
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Original file line number Diff line number Diff line change
Expand Up @@ -45,7 +45,7 @@ validate_message(pstop_machine_t *machine, pstop_client_data_t *client, const ps
// check for lost messages
if(req->counter != (client->msg_counter - 1U)) {
client->lost_message_counter++;
if(client->lost_message_counter >= machine->application.app_config.max_lost_messages) {
if(client->lost_message_counter >= machine->application->app_config.max_lost_messages) {
// too many lost messages
// clean up this client
*resp = NULL;
Expand Down
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