/**********************************************************************//**
 *
 *  Copyright (c) 2019-2020 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 SafetyShutdown.c
 *
 *  @date 20-Sep-2019
 *  @author S. Nash
 *
 *  @brief Controller for the safety shutdown signal.
 *
 **************************************************************************/

#include <HDCommon.h>
#include "gio.h"

#include "SystemCommMessages.h"
#include "SafetyShutdown.h"

/**
 *  @addtogroup SafetyShutdown
 *  @{
 */

// ********** private definitions **********

// GIO port A pin assignments for pins connected to CPLD
#define SAFETY_GIO_PORT_PIN         3U

// CPLD pin I/O macros
#define SET_SAFETY_SHUTDOWN()       gioSetBit( gioPORTB, SAFETY_GIO_PORT_PIN, PIN_SIGNAL_HIGH )
#define CLR_SAFETY_SHUTDOWN()       gioSetBit( gioPORTB, SAFETY_GIO_PORT_PIN, PIN_SIGNAL_LOW )

// ********** private definitions **********

static BOOL safetyShutdownActivated = FALSE;            ///< Status of safety shutdown signal.
static BOOL safetyShutdownOverrideResetState = FALSE;   ///< Natural status of safety shutdown signal.  Used to restore state on override reset.

/*********************************************************************//**
 * @brief
 * The initSafetyShutdown function initializes the Buttons module.
 * @details
 * Inputs : none
 * Outputs : Safety Shutdown module signal output set to initial state.
 * @return none
 *************************************************************************/
void initSafetyShutdown( void )
{
    CLR_SAFETY_SHUTDOWN();
}

/*********************************************************************//**
 * @brief
 * The activateSafetyShutdown function activates the safety shutdown signal.
 * @details
 * Inputs : none
 * Outputs : Safety Shutdown signal output set to active state.
 * @return none
 *************************************************************************/
void activateSafetyShutdown( void )
{
    safetyShutdownActivated = TRUE;
    SET_SAFETY_SHUTDOWN();
}

/*********************************************************************//**
 * @brief
 * The isSafetyShutdownActivated function returns whether the safety shutdown \n
 * signal has been activated.
 * @details
 * Inputs : none
 * Outputs : none
 * @return safetyShutdownActivated
 *************************************************************************/
BOOL isSafetyShutdownActivated( void )
{
    return safetyShutdownActivated;
}

/*********************************************************************//**
 * @brief
 * The testSetSafetyShutdownOverride function overrides the HD safety \n
 * shutdown.
 * @details
 * Inputs : none
 * Outputs : HD safety shutdown overridden
 * @param value : TRUE to activate safety shutdown, FALSE to de-activate it.
 * @return TRUE if override successful, FALSE if not
 *************************************************************************/
BOOL testSetSafetyShutdownOverride( U32 value )
{
    BOOL result = FALSE;

    if ( TRUE == isTestingActivated() )
    {
        MOTOR_DIR_T dir;

        // remember natural state before override so we can reset
        safetyShutdownOverrideResetState = safetyShutdownActivated;
        // override safety shutdown signal
        if ( value > 0 )
        {
            activateSafetyShutdown();
        }
        else
        {
            safetyShutdownActivated = FALSE;
            CLR_SAFETY_SHUTDOWN();
        }
        result = TRUE;
    }

    return result;
}

/*********************************************************************//**
 * @brief
 * The testResetSafetyShutdownOverride function resets the override of the \n
 * HD safety shutdown.
 * @details
 * Inputs : none
 * Outputs : shutdown override reset
 * @return TRUE if override reset successful, FALSE if not
 *************************************************************************/
BOOL testResetSafetyShutdownOverride( void )
{
    BOOL result = FALSE;

    if ( TRUE == isTestingActivated() )
    {
        if ( TRUE == safetyShutdownOverrideResetState )
        {
            activateSafetyShutdown();
        }
        else
        {
            safetyShutdownActivated = FALSE;
            CLR_SAFETY_SHUTDOWN();
        }
        result = TRUE;
    }

    return result;
}

/**@}*/