digitalSender.hpp

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#pragma once
 
#include "metro.h"
#include <Arduino.h>
#include "digitalSettings.hpp"
 
class DigitalSender {
private:
    Metro _blinkTimer{LED_BLINK_INTERVAL}; 
    Metro _watchdogTimer{WD_PULSE_INTERVAL_MS}; 
 
    static void turnOffASSI();
 
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 openSDC();
 
    static void closeSDC();
 
    static void activateEBS();
 
    static void deactivateEBS();
 
    void enterEmergencyState();
 
    static void enterManualState();
 
    static void enterOffState();
 
    static void enterReadyState();
 
    void enterDrivingState();
 
    static void enterFinishState();
 
    void blinkLED(int pin);
 
    void toggleWatchdog();
};
 
inline void DigitalSender::openSDC() {
    digitalWrite(SDC_LOGIC_CLOSE_SDC_PIN, LOW);
    digitalWrite(MASTER_SDC_OUT_PIN, LOW);
}
 
inline void DigitalSender::closeSDC() {
    digitalWrite(SDC_LOGIC_CLOSE_SDC_PIN, HIGH);
    digitalWrite(MASTER_SDC_OUT_PIN, HIGH);
}
 
inline void DigitalSender::activateEBS() {
    digitalWrite(EBS_VALVE_1_PIN, HIGH);
    digitalWrite(EBS_VALVE_2_PIN, HIGH);
}
 
inline void DigitalSender::deactivateEBS() {
    digitalWrite(EBS_VALVE_1_PIN, LOW);
    digitalWrite(EBS_VALVE_2_PIN, LOW);
}
 
inline void DigitalSender::turnOffASSI() {
    analogWrite(ASSI_YELLOW_PIN, LOW);
    analogWrite(ASSI_BLUE_PIN, LOW);
}
 
inline void DigitalSender::enterEmergencyState() {
    turnOffASSI();
    _blinkTimer.reset();
    activateEBS();
    openSDC();
}
 
inline void DigitalSender::enterManualState() {
    turnOffASSI();
    deactivateEBS();
    closeSDC();
}
 
inline void DigitalSender::enterOffState() {
    turnOffASSI();
    deactivateEBS();
    openSDC();
}
 
inline void DigitalSender::enterReadyState() {
    turnOffASSI();
    analogWrite(ASSI_YELLOW_PIN, 1023); // Analog works better
    activateEBS(); 
    closeSDC(); 
}
 
inline void DigitalSender::enterDrivingState() {
    turnOffASSI();
    _blinkTimer.reset();
    deactivateEBS();
    closeSDC();
}
 
inline void DigitalSender::enterFinishState() {
    turnOffASSI();
    analogWrite(ASSI_BLUE_PIN, 1023); // Analog works better
    activateEBS();
    openSDC();
}
 
inline void DigitalSender::blinkLED(const int pin) {
    static bool blinkState = false;
    if (_blinkTimer.check()) {
        blinkState = !blinkState;
        analogWrite(pin, blinkState * 1023); // Analog works better
    }
}
 
inline void DigitalSender::toggleWatchdog() {
    static bool watchdogState = false;
    if (_watchdogTimer.check()) {
        watchdogState = !watchdogState;
        digitalWrite(SDC_LOGIC_WATCHDOG_OUT_PIN, watchdogState);
        _watchdogTimer.reset();
    }
}