/**
 * @file apply_controller.h
 * @brief Apply/Hold/Release control of the EPB.
 *
 * @arch SWA-002
 * @reqs SWE-001 SWE-002 SWE-003 SWE-004
 *
 * ASIL: D
 */
#ifndef APPLY_CONTROLLER_H
#define APPLY_CONTROLLER_H

#include "epb_types.h"

typedef struct {
    SwitchState  sw_state;        /* aus SwitchDebouncer            */
    bool         standstill;      /* aus Wheel-Speed-Plausi          */
    bool         engine_running;
    bool         brake_pedal_pressed;
    bool         gear_engaged;
    bool         safety_apply_request; /* aus SafetyManager          */
    uint16_t     left_force_n;
    uint16_t     right_force_n;
} ApplyInputs;

#define APPLY_TARGET_FORCE_N   12000U  /* Target clamping force per actuator   */
#define APPLY_TIMEOUT_50MS     30U     /* 30 * 50ms = 1500 ms        */
#define HOLD_TOLERANCE_N       1200U   /* 10% of target               */

EpbStatus apply_ctrl_init(void);

/**
 * @brief 50 ms step function.
 *
 * @reqs SWE-001 SWE-002 SWE-003 SWE-004
 */
void      apply_ctrl_step_50ms(const ApplyInputs* in);

EpbState  apply_ctrl_get_state(void);
EpbStatus apply_ctrl_last_error(void);
uint32_t  apply_ctrl_get_step_count(void);  /* Watchdog alive counter */

#endif /* APPLY_CONTROLLER_H */