StatusManager.h

/*
 * Copyright (c) 2020 Teknic, Inc.
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
 */
 
#ifndef __STATUSMANAGER_H__
#define __STATUSMANAGER_H__
 
#include "ShiftRegister.h"
#include "BlinkCodeDriver.h"
#include "SysConnectors.h"
 
namespace ClearCore {
 
class StatusManager {
    friend class CcioBoardManager;
    friend class DigitalInOut;
 
public:
    union StatusRegister {
        uint32_t reg;
 
        struct {
            uint32_t VSupplyOverVoltage    : 1;
            uint32_t VSupplyUnderVoltage   : 1;
            uint32_t HBridgeOverloaded     : 1;
            uint32_t HBridgeReset          : 1;
            uint32_t Overloaded5V          : 1;
            uint32_t OutputOverloaded      : 1;
            uint32_t CcioOverloaded        : 1;
            uint32_t CcioLinkBroken        : 1;
            uint32_t AdcTimeout            : 1;
            uint32_t EthernetDisconnect    : 1;
            uint32_t EthernetRemoteFault   : 1;
            uint32_t EthernetPhyInitFailed : 1;
            uint32_t SdCardError           : 1;
            uint32_t NvmDesync      : 1;
        } bit;
 
        StatusRegister() {
            reg = 0;
        }
 
        StatusRegister(uint32_t val) {
            reg = val;
        }
 
        operator bool() const {
            return reg > 0;
        }
    };
 
#ifndef HIDE_FROM_DOXYGEN
    static StatusManager &Instance();
#endif
 
    StatusRegister StatusRT(StatusRegister mask = UINT32_MAX);
 
    StatusRegister StatusRisen(StatusRegister mask = UINT32_MAX);
 
    StatusRegister StatusFallen(StatusRegister mask = UINT32_MAX);
 
    StatusRegister StatusAccum(StatusRegister mask = UINT32_MAX);
 
    StatusRegister SinceStartupAccum(StatusRegister mask = UINT32_MAX);
 
    void BlinkCodeClear(uint8_t group, uint8_t code) {
        m_blinkMgr.BlinkCodeClear(group, code);
    }
 
    void HBridgeReset();
 
#ifndef HIDE_FROM_DOXYGEN
    bool Initialize(ShiftRegister::Masks faultLed);
 
    void Refresh();
 
    void HBridgeState(bool reset);
#endif
 
    bool AdcIsInTimeout();
 
    SysConnectorState IoOverloadRT(SysConnectorState mask = UINT32_MAX);
 
    SysConnectorState IoOverloadAccum(SysConnectorState mask = UINT32_MAX);
 
    SysConnectorState IoOverloadSinceStartupAccum(SysConnectorState mask =
                UINT32_MAX);
 
    void UserBlinkCode(uint8_t mask) {
        m_blinkMgr.CodeGroupAdd(
            BlinkCodeDriver::BLINK_GROUP_APPLICATION, mask);
    }
 
private:
    StatusRegister m_statusRegSinceStartup;
    StatusRegister m_statusRegRT;
    StatusRegister m_statusRegAccum;
    StatusRegister m_statusRegRisen;
    StatusRegister m_statusRegFallen;
 
    SysConnectorState m_overloadSinceStartup;
    SysConnectorState m_overloadAccum;
    SysConnectorState m_overloadRT;
 
    ShiftRegister::Masks m_faultLed;
    BlinkCodeDriver m_blinkMgr;
 
    bool m_disableMotors;
    volatile bool m_hbridgeResetting;
 
    StatusManager()
        : m_statusRegSinceStartup(),
          m_statusRegRT(),
          m_statusRegAccum(),
          m_statusRegRisen(),
          m_statusRegFallen(),
          m_faultLed(ShiftRegister::SR_NO_FEEDBACK_MASK),
          m_disableMotors(false),
          m_hbridgeResetting(false) {}
 
    void BlinkCode(BlinkCodeDriver::BlinkCodeGroups group, uint8_t mask);
 
    void UpdateBlinkCodes(StatusRegister status);
 
    void OverloadUpdate(uint32_t mask, bool inFault);
 
}; // StatusManager
 
} // ClearCore namespace
#endif // __STATUSMANAGER_H__