/**************************************************************************
*
* Copyright (c) 2024-2024 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    Valves.h
*
* @author  (last)      Sean
* @date    (last)      08-Oct-2024
*
* @author  (original)  Sean
* @date    (original)  08-Oct-2024
*
***************************************************************************/

#ifndef __VALVES_H__
#define __VALVES_H__

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

#include "TDCommon.h"
#include "RotaryValve.h"

/**
 *  @defgroup Valves Valves
 *  @brief Valves controller unit. Provides higher level control of the pinch valves.
 *
 *  @addtogroup Valves
 *  @{
 */

// ********** 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
    VALVE_POSITION_D_VENOUS,            ///< Position D, Venous
    NUM_OF_VALVE_POSITIONS,             ///< Number of valve positions
} VALVE_POSITION_T;

#pragma pack(push, 1)
/// TD valves broadcast data
typedef struct
{
    U32 valveID;                       ///< Valve ID
    U32 state;                         ///< Current state of the state machine
    U32 currentPosID;                  ///< Current position (enum)
    S16 currentPos;                    ///< Current position in encoder counts
    S16 cmdPos;                        ///< Commanded position (enum)
    S16 posA;                          ///< Position A (count)
    S16 posB;                          ///< Position B (count)
    S16 posC;                          ///< Position C (count)
} TD_VALVE_DATA_T;
#pragma pack(pop)

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

void initValves(void);
void execValvesController(void);
SELF_TEST_STATUS_T execValvesSelfTest( void );

BOOL homeValve( VALVE_T valve, BOOL force, BOOL cartridge );
BOOL setValvePosition( VALVE_T valve, VALVE_POSITION_T position );
VALVE_POSITION_T getValvePosition( VALVE_T valve );

BOOL testValvesDataPublishIntervalOverride( MESSAGE_T *message );
BOOL testValveSetABCCmdPosition( MESSAGE_T *message );
BOOL testHomeValve( MESSAGE_T *message );

/**@}*/

#endif