safety_gate.h

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

typedef struct {
    bool off;
    bool arm;
    uint16_t roles;
} safety_gate_t;

bool safety_gate_may_arm(const heartbeat_mon_t *beat, const link_dev_t *dev);

bool safety_gate_supply_ok(const heartbeat_mon_t *beat,
                           const link_dev_t *dev);

safety_gate_t safety_gate_step(heartbeat_mon_t *beat, bool line_edge,
                               link_dev_t *dev, uint16_t *control,
                               uint32_t now_ms);

bool safety_gate_arm_now(bool gate_arm, uint16_t quiet_mask,
                         bool update_holds);

uint8_t safety_gate_control_write(uint16_t *control, uint8_t off, uint8_t n,
                                  const uint16_t *in,
                                  const heartbeat_mon_t *beat,
                                  link_dev_t *dev);

void safety_gate_status(const heartbeat_mon_t *beat, const link_dev_t *dev,
                        const uint16_t *control, uint16_t *state,
                        uint16_t *faults);

bool safety_gate_line_trusted(uint16_t faults);
 
#ifdef __cplusplus
}
#endif