VehicleIO.h

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#ifndef DW_VEHICLEIO_H__
#define DW_VEHICLEIO_H__

#include <dw/core/Config.h>
#include <dw/core/Exports.h>
#include <dw/core/Context.h>
#include <dw/core/Types.h>
#include <dw/sensors/Sensors.h>
#include <dw/sensors/canbus/CAN.h>
#include <dw/rigconfiguration/RigConfiguration.h>

#include <stdint.h>

#ifdef __cplusplus
extern "C" {
#endif

typedef struct dwVehicleIOObject *dwVehicleIOHandle_t;

typedef enum dwVehicleIODrivingMode {
    DW_VEHICLEIO_DRIVING_LIMITED = 0x000,

    DW_VEHICLEIO_DRIVING_LIMITED_ND = 0x100,

    DW_VEHICLEIO_DRIVING_COLLISION_AVOIDANCE = 0x200,

    DW_VEHICLEIO_DRIVING_NO_SAFETY = 0x300
} dwVehicleIODrivingMode;

typedef enum{
    DW_VEHICLEIO_DATASPEED = 0,
    DW_VEHICLEIO_GENERIC   = 1
} dwVehicleIOType;

typedef enum {
    DW_VEHICLEIO_FAULT_NONE        = 0,
    DW_VEHICLEIO_FAULT_BRAKE       = 1 << 0,
    DW_VEHICLEIO_FAULT_STEERING    = 1 << 1,
    DW_VEHICLEIO_FAULT_THROTTLE    = 1 << 2,
    DW_VEHICLEIO_FAULT_GEAR        = 1 << 3,
    DW_VEHICLEIO_FAULT_SAFETY      = 1 << 4,
} dwVehicleIOFaults;

typedef enum {
    DW_VEHICLEIO_OVERRIDE_NONE     = 0,
    DW_VEHICLEIO_OVERRIDE_BRAKE    = 1 << 0,
    DW_VEHICLEIO_OVERRIDE_STEERING = 1 << 1,
    DW_VEHICLEIO_OVERRIDE_THROTTLE = 1 << 2,
    DW_VEHICLEIO_OVERRIDE_GEAR     = 1 << 3
} dwVehicleIOOverrides;

typedef enum {
    DW_VEHICLEIO_GEAR_UNKNOWN         = 0,

    // Automatic vehicles
    DW_VEHICLEIO_GEAR_PARK            = 1,
    DW_VEHICLEIO_GEAR_REVERSE         = 2,
    DW_VEHICLEIO_GEAR_NEUTRAL         = 3,
    DW_VEHICLEIO_GEAR_DRIVE           = 4,
    DW_VEHICLEIO_GEAR_LOW             = 5,

    // Stick shift vehicles
    DW_VEHICLEIO_GEAR_MANUAL_REVERSE  = 100,
    DW_VEHICLEIO_GEAR_1               = 101,
    DW_VEHICLEIO_GEAR_2               = 102,
    DW_VEHICLEIO_GEAR_3               = 103,
    DW_VEHICLEIO_GEAR_4               = 104,
    DW_VEHICLEIO_GEAR_5               = 105,
    DW_VEHICLEIO_GEAR_6               = 106,
    DW_VEHICLEIO_GEAR_7               = 107,
    DW_VEHICLEIO_GEAR_8               = 108,
    DW_VEHICLEIO_GEAR_9               = 109,
} dwVehicleIOGear;

typedef enum{
    DW_VEHICLEIO_TURNSIGNAL_UNKNOWN   = 0,

    DW_VEHICLEIO_TURNSIGNAL_OFF       = 1,
    DW_VEHICLEIO_TURNSIGNAL_LEFT      = 2,
    DW_VEHICLEIO_TURNSIGNAL_RIGHT     = 3,
    DW_VEHICLEIO_TURNSIGNAL_EMERGENCY = 4
}dwVehicleIOTurnSignal;

typedef struct dwVehicleIOCommand {

    dwBool             enable;          

    // Steering command
    float32_t          steering;        
    float32_t          steeringSpeed;   

    // Throttle command
    dwBool             throttlePercent; 
    float32_t          throttleValue;   

    // Brake command
    dwBool             brakePercent;    
    float32_t          brakeValue;      
    float32_t          brakeTorque;     

    // Other commands
    dwVehicleIOGear       gear;         
    dwVehicleIOTurnSignal turnSig;      

    // Clear CAN bus errors
    dwBool             clearFaults;     

    // Booleans validating commands
    dwBool             throttleValid;   
    dwBool             brakeValid;      
    dwBool             steeringValid;   
    dwBool             speedValid;      
    dwBool             gearValid;       
    dwBool             turnSigValid;    

} dwVehicleIOCommand;


typedef enum dwVehicleIOWheels
{
    DW_VEHICLEIO_WHEELS_FRONT_LEFT  = 0,
    DW_VEHICLEIO_WHEELS_FRONT_RIGHT = 1,
    DW_VEHICLEIO_WHEELS_REAR_LEFT   = 2,
    DW_VEHICLEIO_WHEELS_REAR_RIGHT  = 3,


    DW_VEHICLE_NUM_WHEELS           = 4
} dwVehicleIOWheels;


typedef struct dwVehicleIOState {

    float32_t          speed;                  
    dwTime_t           speedTimestamp;         

    float32_t          steeringWheelAngle;     
    float32_t          steeringWheelTorque;    

    float32_t          inverseSteeringR;       
    float32_t          steeringAngle;          

    float32_t          throttleValue;          
    float32_t          throttleCmd;            
    float32_t          brakeValue;             
    float32_t          brakeCmd;               
    float32_t          brakeTorqueRequested;   
    float32_t          brakeTorqueActual;      

    float32_t wheelSpeed[DW_VEHICLE_NUM_WHEELS];   
    float32_t suspension[DW_VEHICLE_NUM_WHEELS];   
    float32_t tirePressure[DW_VEHICLE_NUM_WHEELS]; 

    // Vehicle Miscellanoeus data
    dwBool buttonCruiseControlOnOff;
    dwBool buttonCruiseControlReset;
    dwBool buttonCruiseControlCancel;
    dwBool buttonCruiseControlResetCancel;
    dwBool buttonCruiseControlIncrement;
    dwBool buttonCruiseControlDecrement;
    dwBool buttonCruiseControlGapIncrement;
    dwBool buttonCruiseControlGapDecrement;
    dwBool buttonLaneAssistOnOff;
    dwBool doorDriver;
    dwBool doorPassenger;
    dwBool doorRearLeft;
    dwBool doorRearRight;
    dwBool doorHood;
    dwBool doorTrunk;
    dwBool passengerDetect;
    dwBool passengerAirbag;
    dwBool buckleDriver;
    dwBool bucklePassenger;
    dwBool highBeamHeadlights;
    dwBool wiper;

    float32_t fuelLevel;              
    dwVehicleIOGear gear;             
    dwVehicleIOGear gearCmd;          
    dwVehicleIOTurnSignal turnSignal; 

    dwVehicleIOOverrides overrides;     
    dwVehicleIOFaults faults;           

    dwVehicleIODrivingMode drivingMode;

    dwBool enabled;
} dwVehicleIOState;

DW_API_PUBLIC
dwStatus dwVehicleIO_initialize(dwVehicleIOHandle_t *obj, dwVehicleIOType type, const dwVehicle* properties,
                                dwContextHandle_t ctx);

DW_API_PUBLIC
dwStatus dwVehicleIO_reset(dwVehicleIOHandle_t obj);

DW_API_PUBLIC
dwStatus dwVehicleIO_release(dwVehicleIOHandle_t *obj);

DW_API_PUBLIC
dwStatus dwVehicleIO_selectDriverOverrides(dwBool throttleOverride, dwBool steeringOverride, dwBool brakeOverride, dwBool gearOverride, dwVehicleIOHandle_t obj);

DW_API_PUBLIC
dwStatus dwVehicleIO_consume(const dwCANMessage *msg, dwVehicleIOHandle_t obj);

DW_API_PUBLIC
dwStatus dwVehicleIO_sendVehicleCommand(const dwVehicleIOCommand *cmd,
                                        dwSensorHandle_t hsensor,
                                        dwVehicleIOHandle_t obj);

DW_API_PUBLIC
dwStatus dwVehicleIO_getVehicleState(dwVehicleIOState *state, dwVehicleIOHandle_t obj);

DW_API_PUBLIC
dwStatus dwVehicleIO_setDrivingMode(dwVehicleIODrivingMode mode, dwVehicleIOHandle_t obj);

#ifdef __cplusplus
}
#endif

#endif // DW_VehicleIO_ACTUATORS_H__