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Signed-off-by: Gerson Fernando Budke <[email protected]>
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/* | ||
* Copyright (c) 2024 O.S. Systems Software LTDA. | ||
* Copyright (c) 2024 Freedom Veiculos Eletricos | ||
* | ||
* SPDX-License-Identifier: Apache-2.0 | ||
*/ | ||
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#include <zephyr/zephyrbt/zephyrbt.h> | ||
#include <zephyr/logging/log.h> | ||
LOG_MODULE_REGISTER(zephyrbt_action_sleep, CONFIG_ZEPHYR_BEHAVIOUR_TREE_LOG_LEVEL); | ||
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struct zephyrbt_action_sleep_context { | ||
struct zephyrbt_blackboard_item *msec; | ||
}; | ||
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enum zephyrbt_child_status zephyrbt_action_sleep_init(struct zephyrbt_context *ctx, | ||
struct zephyrbt_node *self) | ||
{ | ||
#if defined(CONFIG_ZEPHYR_BEHAVIOUR_TREE_NODE_INFO) | ||
LOG_DBG("init: %s", self->name); | ||
#endif | ||
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struct zephyrbt_action_sleep_context *sleep; | ||
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sleep = k_malloc(sizeof(struct zephyrbt_action_sleep_context)); | ||
self->ctx = sleep; | ||
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if (sleep == NULL) { | ||
LOG_ERR("Context can not be allocate."); | ||
return ZEPHYRBT_CHILD_FAILURE_STATUS; | ||
} | ||
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memset(sleep, 0, sizeof(struct zephyrbt_action_sleep_context)); | ||
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sleep->msec = zephyrbt_search_blackboard(ctx, self->index, ZEPHYRBT_SLEEP_ATTRIBUTE_MSEC); | ||
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if (sleep->msec == NULL) { | ||
LOG_ERR("Invalid sleep msec value."); | ||
return ZEPHYRBT_CHILD_FAILURE_STATUS; | ||
} | ||
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return ZEPHYRBT_CHILD_SUCCESS_STATUS; | ||
} | ||
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enum zephyrbt_child_status zephyrbt_action_sleep(struct zephyrbt_context *ctx, | ||
struct zephyrbt_node *self) | ||
{ | ||
#if defined(CONFIG_ZEPHYR_BEHAVIOUR_TREE_NODE_INFO) | ||
LOG_DBG("%s", self->name); | ||
#endif | ||
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struct zephyrbt_action_sleep_context *sleep; | ||
sleep = (struct zephyrbt_action_sleep_context *)self->ctx; | ||
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if (sleep == NULL) { | ||
LOG_ERR("Undefined behaviour on zephyrbt_action_sleep."); | ||
return ZEPHYRBT_CHILD_FAILURE_STATUS; | ||
} | ||
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k_msleep((uintptr_t)sleep->msec->item); | ||
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return ZEPHYRBT_CHILD_SUCCESS_STATUS; | ||
} |