arming.h

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#pragma once
 
#include <stdbool.h>
#include <stdint.h>
 
#ifdef __cplusplus
extern "C" {
#endif

#define ARMING_TOUCH_DEAD_MS 500u

#define ARMING_LINE_WAIT_MS 200u

typedef enum {
    ARMING_QUIET_NOTHING = 0,
    ARMING_QUIET_LINK_DOWN,
    ARMING_QUIET_STOP,
} arming_quiet_t;

typedef enum {
    ARMING_ACT_NONE = 0,
    ARMING_ACT_DISARM,   
    ARMING_ACT_ARM,      
    ARMING_ACT_GIVE_UP,
} arming_action_t;
 
typedef struct {
    bool     armed;
    bool     stopped;         
    uint32_t stops;
    uint32_t pressed;
    bool     touch_was_dead;  
    bool     disarm_pending;
    bool     arming;          
    uint8_t  roles;
    bool     switching;
    uint32_t settle_ms;       
    uint32_t settle_until_ms;           
    uint32_t line_wait_ms;
    bool     line_trusted;    
    bool     line_nobody;     
    uint32_t handshake_until_ms;
    bool     handshake_bounded;
    uint32_t last_touch_ms;
    bool     in_run;          
    uint32_t run_start_ms;    
    uint32_t run_seconds;     
} arming_t;

void arming_init(arming_t *a, uint32_t now_ms, uint32_t settle_ms);

void arming_set_line_wait(arming_t *a, uint32_t wait_ms);

bool arming_line_wanted(const arming_t *a, uint32_t now_ms);

void arming_line_report(arming_t *a, bool trusted);

void arming_line_nobody(arming_t *a);

void arming_touch_seen(arming_t *a, uint32_t now_ms);

bool arming_touch_dead(const arming_t *a, uint32_t now_ms);

bool arming_stopped(const arming_t *a);

uint32_t arming_stop_count(const arming_t *a);

void arming_stop_pressed(arming_t *a);

uint32_t arming_pressed_count(const arming_t *a);

void arming_touch_poll(arming_t *a, uint32_t now_ms);

void arming_stop(arming_t *a);

#define ARMING_ROLES_ALL 0xFFu

void arming_request_arm(arming_t *a, uint32_t now_ms);

void arming_request_arm_roles(arming_t *a, uint32_t now_ms, uint8_t roles);

uint8_t arming_roles(const arming_t *a);

void arming_request_disarm(arming_t *a);

void arming_refused(arming_t *a);

bool arming_handshake_open(arming_t *a, uint32_t now_ms, bool cleared);

bool arming_write_failed(arming_t *a, bool answered);

typedef enum {
    ARMING_HS_HANDED = 0,
    ARMING_HS_PREPARED,
    ARMING_HS_CLEARED,
    ARMING_HS_ARMED,
} arming_hs_at_t;

typedef struct {
    bool link_up;       
    bool port_taken;    
    bool release_owed;  
    bool rate_settled;
    bool disarm_asked;  
    bool endpoints_blocked;
} arming_hs_facts_t;

typedef enum {
    ARMING_HS_GO = 0,
    ARMING_HS_LOCAL,
    ARMING_HS_PROG,
    ARMING_HS_SERVO_HELD,
    ARMING_HS_SERVO_RATE,
    ARMING_HS_ENDPOINTS,
    ARMING_HS_CLOSED,
    ARMING_HS_WITHDRAWN,
} arming_hs_t;

arming_hs_t arming_handshake_step(arming_t *a, arming_hs_at_t at,
                                  const arming_hs_facts_t *f,
                                  uint32_t now_ms);

bool arming_stop_unserved(const arming_t *a, uint32_t *served);

void arming_stop_from_far_end(arming_t *a);

arming_quiet_t arming_exchange_unanswered(arming_t *a, bool link_up,
                                          bool bank_armed);

bool arming_link_needed(const arming_t *a, bool bank_armed);

bool arming_link_lost(arming_t *a, bool bank_armed);

bool arming_link_found(arming_t *a, bool bank_armed);

arming_action_t arming_step(arming_t *a, uint32_t now_ms);

bool arming_heartbeat(const arming_t *a, uint32_t now_ms);

uint32_t arming_run_seconds(const arming_t *a);
 
#ifdef __cplusplus
}
#endif