digitalSender.hpp

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#pragma once
 
#include <Arduino.h>
 
#include "digitalSettings.hpp"
#include "metro.h"
 
class DigitalSender {
private:
  Metro blink_imer_{LED_BLINK_INTERVAL};  
 
  static void turn_off_assi();
 
public:
  // Array of valid output pins
  static constexpr std::array<int, 9> validOutputPins = {
      ASSI_BLUE_PIN,   ASSI_YELLOW_PIN,    EBS_VALVE_1_PIN,
      EBS_VALVE_2_PIN, MASTER_SDC_OUT_PIN, SDC_LOGIC_CLOSE_SDC_PIN,
      // SDC_LOGIC_WATCHDOG_OUT_PIN
  };
 
  DigitalSender() {
    for (const auto pin : validOutputPins) {
      pinMode(pin, OUTPUT);
    }
  }
 
  static void open_sdc();
 
  static void close_sdc();
 
  static void activate_ebs();
 
  static void deactivate_ebs();
 
  void enter_emergency_state();
 
  static void enter_manual_state();
 
  static void enter_off_state();
 
  static void enter_ready_state();
 
  void enter_driving_state();
 
  static void enter_finish_state();
 
  void blink_led(int pin);
};
 
inline void DigitalSender::open_sdc() {
  digitalWrite(SDC_LOGIC_CLOSE_SDC_PIN, LOW);
  digitalWrite(MASTER_SDC_OUT_PIN, LOW);
}
 
inline void DigitalSender::close_sdc() {
  digitalWrite(SDC_LOGIC_CLOSE_SDC_PIN, HIGH);
  digitalWrite(MASTER_SDC_OUT_PIN, HIGH);
}
 
inline void DigitalSender::activate_ebs() {
  digitalWrite(EBS_VALVE_1_PIN, HIGH);
  digitalWrite(EBS_VALVE_2_PIN, HIGH);
}
 
inline void DigitalSender::deactivate_ebs() {
  digitalWrite(EBS_VALVE_1_PIN, LOW);
  digitalWrite(EBS_VALVE_2_PIN, LOW);
}
 
inline void DigitalSender::turn_off_assi() {
  analogWrite(ASSI_YELLOW_PIN, LOW);
  analogWrite(ASSI_BLUE_PIN, LOW);
}
 
inline void DigitalSender::enter_emergency_state() {
  turn_off_assi();
  blink_imer_.reset();
  activate_ebs();
  open_sdc();
}
 
inline void DigitalSender::enter_manual_state() {
  turn_off_assi();
  deactivate_ebs();
  close_sdc();
}
 
inline void DigitalSender::enter_off_state() {
  turn_off_assi();
  deactivate_ebs();
  open_sdc();
}
 
inline void DigitalSender::enter_ready_state() {
  turn_off_assi();
  analogWrite(ASSI_YELLOW_PIN, 1023);  // Analog works better
  activate_ebs();  
  close_sdc();     
}
 
inline void DigitalSender::enter_driving_state() {
  turn_off_assi();
  blink_imer_.reset();
  deactivate_ebs();
  close_sdc();
}
 
inline void DigitalSender::enter_finish_state() {
  turn_off_assi();
  analogWrite(ASSI_BLUE_PIN, 1023);  // Analog works better
  activate_ebs();
  open_sdc();
}
 
inline void DigitalSender::blink_led(const int pin) {
  static bool blink_state = false;
  if (blink_imer_.check()) {
    blink_state = !blink_state;
    analogWrite(pin, blink_state * 1023);  // Analog works better
  }
}