/**************************************************************************
*
* Copyright (c) 2025-2025 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    Ejector.h
*
* @author  (last)      Sean
* @date    (last)      17-Sep-2024
*
* @author  (original)  Sean
* @date    (original)  17-Sep-2024
*
***************************************************************************/

#ifndef __EJECTOR_H__
#define __EJECTOR_H__

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

#include "TDCommon.h"
#include "EjectorMotor.h"

/**
 *  @defgroup Ejector Ejector
 *  @brief Ejector controller unit. Provides higher level control of the ejector.
 *
 *  @addtogroup Ejector
 *  @{
 */

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

#pragma pack(push, 1)
/// Payload record structure for air pump data broadcast message
typedef struct
{
    U32 h5State;                   ///< Ejector state
    F32 h5SetSpeed;                ///< Ejector motor set speed
} EJECTOR_PAYLOAD_T;
#pragma pack(pop)

/// Enumeration of ejector states.
typedef enum EjectorStates
{
    EJECTOR_STATE_INIT = 0,         ///< Ejector Initial (un-homed) state
    EJECTOR_STATE_HOMING,           ///< Ejector Homing state
    EJECTOR_STATE_RETRACTED,        ///< Ejector Retracted state
    EJECTOR_STATE_EXTENDED,         ///< Ejector Extended state
    EJECTOR_STATE_RETRACTING,       ///< Ejector Retracting state
    EJECTOR_STATE_EXTENDING,        ///< Ejector Extending state
    EJECTOR_STATE_DIR_CHANGE_STOP,  ///< Ejector Direction Change Stop state
    EJECTOR_STATE_RETRACT_BACKOFF,  ///< Ejector Backing Off Retracted state
    EJECTOR_STATE_ABORT,            ///< Ejector abort state
    NUM_OF_EJECTOR_STATES,          ///< Number of ejector states
} EJECTOR_STATE_T;

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

void initEjector(void);
void execEjectorController(void);
EJECTOR_STATE_T getEjectorState( void );
BOOL homeEjector( void );
BOOL retractEjector( void );
BOOL extendEjector( void );
void abortEjectorOperation( void );

BOOL testEjectorDataPublishIntervalOverride( MESSAGE_T *message );
BOOL testEjectorCommand( MESSAGE_T *message );

/**@}*/

#endif