/**************************************************************************
*
* Copyright (c) 2024-2025 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    RotaryValve.h
*
* @author  (last)      Dara Navaei
* @date    (last)      09-Nov-2025
*
* @author  (original)  Sean Nash
* @date    (original)  24-Oct-2024
*
***************************************************************************/

#ifndef __ROTARY_VALVE_H__
#define __ROTARY_VALVE_H__

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

#include "TDCommon.h"

/**
 *  @defgroup RotaryValve RotaryValve
 *  @brief Rotary valve driver unit. Provides low level functions
 *  to control a rotary (driven/turned by DC motor) valve.
 *
 *  @addtogroup RotaryValve
 *  @{
 */

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

#define ROTARY_VALVE_MICROSTEP_FRACTION         8               ///< Rotary valve motors configured for 1/8 step microstepping.
#define ROTARY_VALVE_GEAR_RATIO                 3.7F            ///< Rotary valve motor gear ratio is 3.7:1.
#define ROTARY_VALVE_INIT_FULL_SWING_COUNTS     1880            ///< Rotary valve swing arm travel range is appx. micro steps.
#define ROTARY_VALVE_ENERGIZED_EDGE_MAX_COUNTS  1900            ///< Rotary valve energized edge maximum allowed counts.
#define ROTARY_VALVE_ENERGIZED_EDGE_MIN_COUNTS  1700            ///< Rotary valve energized edge minimum allowed counts.

/// 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 initRotaryValvesDriver( void );
void readValves( void );
void setValveCmdChangePosition( VALVE_T valve, U16 mag, MOTOR_DIR_T dir );
S16  getValveEncoderPosition( VALVE_T valve );

void resetValve( VALVE_T valve );
void resetValveEncoder( VALVE_T valve );
void enableValve( VALVE_T valve );
void setValveZeroEncoderPosition( VALVE_T valve );
void setValveHomingEnableDisable( VALVE_T valve, BOOL enableHoming );
S16  getValveMaximumEncoderPosition( VALVE_T valve );

BOOL testValveEncoderPositionOverride( MESSAGE_T *message );
BOOL testValveStatusOverride( MESSAGE_T *message );
BOOL testSetValve( MESSAGE_T *message );

/**@}*/

#endif