safety_manager.h

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/**
 * @file safety_manager.h
 * @brief Safety Manager — Hill-Hold, Auto-Apply, Drive-Away-Assist.
 *
 * @arch SWA-001
 * @reqs SWE-007 SWE-008 SWE-009 SWE-010 SWE-011 SWE-012
 *
 * ASIL: D.
 *
 * State Machine:
 *   IDLE  --(engine_off & v<0.5 & !APPLIED)--> AUTO_APPLY_ARMED
 *   AUTO_APPLY_ARMED --(40 * 50ms = 2s)--> AUTO_APPLY_TRIGGERED
 *   AUTO_APPLY_TRIGGERED --(state==APPLIED)--> IDLE
 *
 *   IDLE  --(grade>5% & v<0.5 & brake)--> HILL_HOLD_ARMED
 *   HILL_HOLD_ARMED --(!brake)--> HILL_HOLD_ACTIVE
 *   HILL_HOLD_ACTIVE --(v>2 km/h | state==APPLIED)--> IDLE
 *
 *   IDLE  --(APPLIED & gas>10% & gear_drive & engine & door & belt)--> DRIVE_AWAY
 *   DRIVE_AWAY --(state==RELEASED|RELEASING)--> IDLE
 */
#ifndef SAFETY_MANAGER_H
#define SAFETY_MANAGER_H
 
#include "epb_types.h"
 
typedef enum {
    SAFETY_IDLE                 = 0,
    SAFETY_HILL_HOLD_ARMED      = 1,
    SAFETY_HILL_HOLD_ACTIVE     = 2,
    SAFETY_AUTO_APPLY_ARMED     = 3,
    SAFETY_AUTO_APPLY_TRIGGERED = 4,
    SAFETY_DRIVE_AWAY           = 5
} SafetyState;
 
typedef struct {
    bool     engine_running;
    bool     brake_pedal_pressed;
    float    vehicle_speed_kmh;
    float    grade_percent;
    EpbState current_state;          /* aus Apply Controller */
    /* Drive-Away-Assist Inputs (SWE-011, SWE-012) */
    float    gas_pedal_percent;       /* 0..100 */
    bool     gear_in_drive;           /* Vorwaerts oder Rueckwaerts */
    bool     door_closed;             /* Fahrertuer */
    bool     seatbelt_fastened;       /* Fahrer-Gurt */
} SafetyInputs;
 
/* Schwellwerte als Konstanten, damit Tests darauf zugreifen koennen. */
#define SAFETY_AUTO_APPLY_DELAY_50MS  40U   /* 40 * 50ms = 2.0 s */
#define SAFETY_STANDSTILL_KMH         0.5f
#define SAFETY_RELEASE_KMH            2.0f
#define SAFETY_HILLHOLD_GRADE_PCT     5.0f
#define SAFETY_DRIVE_INTENT_GAS_PCT  10.0f  /* Gaspedal > 10% = Anfahrabsicht */
 
EpbStatus   safety_mgr_init(void);
void        safety_mgr_step_50ms(const SafetyInputs* in);
bool        safety_mgr_apply_requested(void);
bool        safety_mgr_release_requested(void);    /* Drive-Away-Assist */
SafetyState safety_mgr_get_state(void);
 
#endif /* SAFETY_MANAGER_H */