/**************************************************************************
*
* Copyright (c) 2026-2026 Diality Inc. - All Rights Reserved.
*
* THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN
* WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER.
*
* @file    PinchValve.h
*
* @author  (last)      Varshini Nagabooshanam
* @date    (last)      08-Jul-2026
*
* @author  (original)  Varshini Nagabooshanam
* @date    (original)  08-Jul-2026
*
***************************************************************************/

#ifndef __PINCHVALVE_H__
#define __PINCHVALVE_H__

#include "TDCommon.h"

/**
 *  @defgroup PinchValve PinchValve
 *  @brief pinch valve communication driver.
 *  This driver sends one generic command at a time through the FPGA
 *  interface. High level functions such as homing and movement to positions
 *  A, B, and C belong in the controller layer.
 *
 *  @addtogroup PinchValve
 *  @{
 */

// ********** public definitions **********

/// Valves positions
typedef enum valveStatesNames
{
    VALVE_POSITION_NOT_IN_POSITION = 0,                         ///< Valve position is unknown (cannot be used as a command)
    VALVE_POSITION_A_INSERT_EJECT,                              ///< Position A, Insert/Eject
    VALVE_POSITION_B_OPEN,                                      ///< Position B, Open
    VALVE_POSITION_C_CLOSE,                                     ///< Position C, Close
    NUM_OF_VALVE_POSITIONS,                                     ///< Number of valve positions
} VALVE_POSITION_T;

/// rotary pinch valve names
typedef enum valveNames
{
    H1_VALV = 0,                                                ///< Arterial rotary pinch valve
    FIRST_VALVE = H1_VALV,                                      ///< First valve
    H19_VALV,                                                   ///< Venous rotary pinch valve
    NUM_OF_VALVES                                               ///< Number of valves
} VALVE_T;

// ********** public function prototypes **********

void initPinchValveDriver( void );                                        ///< Initializes the pinch valve driver state, command data, and FPGA interface.
void execPinchValveFunction( void );                                      ///< Executes the pinch valve function state machine
void execPinchValveCommand( void );                                       ///< Executes the FPGA command state machine.

BOOL homePinchValve( VALVE_T valve );                                     ///< Starts the homing sequence for the selected pinch valve.

BOOL setPinchValvePosition( VALVE_T valve, VALVE_POSITION_T position );   ///< Starts a movement request to the selected stored valve position
S32  getPinchValvePosition( VALVE_T valve );                              ///< Returns the latest actual encoder position for the selected valve.

void setPinchValveEnableReset( VALVE_T valve, BOOL enable, BOOL reset );  ///< Sets the enable and reset control for the selected pinch valve
U08  getPinchValveEnableReset( VALVE_T valve );                           ///< Returns the last enable and reset value written for the selected valve.

BOOL isPinchValveBusy( VALVE_T valve );                                   ///< Returns TRUE when the selected valve is executing or waiting for a command.
BOOL isPinchValveHomed( VALVE_T valve );

S32 getPinchValveStoredPosition( VALVE_T valve, VALVE_POSITION_T position );      ///< Returns the stored encoder position for the selected valve position.
BOOL movePinchValveToStoredPosition( VALVE_T valve, VALVE_POSITION_T position );  ///< Starts movement to a previously stored valve position


/**@}*/

#endif