PedalsSystem.h

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#ifndef PEDALSSYSTEM
#define PEDALSSYSTEM
#include <math.h>
#include <tuple>
#include "AnalogSensorsInterface.h"
#include "SharedDataTypes.h"
#include "SysClock.h"
 
// struct PedalsSystemData_s
// {
//     bool accelImplausible : 1;
//     bool brakeImplausible : 1;
//     bool brakePressed : 1;
//     bool accelPressed : 1;
//     bool mechBrakeActive : 1;
//     bool brakeAndAccelPressedImplausibility : 1;
//     bool implausibilityExceededMaxDuration : 1;
//     float accelPercent;
//     float brakePercent;
//     float regenPercent;
// };
 
struct PedalsParams
{
    int min_pedal_1;
    int min_pedal_2;
    int max_pedal_1;
    int max_pedal_2;
    int min_sensor_pedal_1;
    int min_sensor_pedal_2;
    int max_sensor_pedal_1;
    int max_sensor_pedal_2;
    float activation_percentage;
    float deadzone_margin;
    float implausibility_margin;
    float mechanical_activation_percentage;
};
 
class PedalsSystem
{
public:
    PedalsSystem(const PedalsParams &accelParams,
                 const PedalsParams &brakeParams)
    {
        setParams(accelParams, brakeParams);
        implausibilityStartTime_ = 0;
    }
 
    void setParams(const PedalsParams &accelParams,
                   const PedalsParams &brakeParams)
    {
        accelParams_ = accelParams;
        brakeParams_ = brakeParams;
    }
 
    const PedalsSystemData_s &getPedalsSystemData()
    {
        return data_;
    }
 
    PedalsSystemData_s getPedalsSystemDataCopy()
    {
        return data_;
    }
 
    float getMechBrakeActiveThreshold()
    {
        return brakeParams_.mechanical_activation_percentage;
    }
 
    void tick(const SysTick_s &tick,
              const AnalogConversion_s &accel1,
              const AnalogConversion_s &accel2,
              const AnalogConversion_s &brake);
 
    void tick(const SysTick_s &tick,
              const AnalogConversion_s &accel1,
              const AnalogConversion_s &accel2,
              const AnalogConversion_s &brake1,
              const AnalogConversion_s &brake2);
 
    PedalsSystemData_s evaluate_pedals(const AnalogConversion_s &accel1,
                                       const AnalogConversion_s &accel2,
                                       const AnalogConversion_s &brake1,
                                       const AnalogConversion_s &brake2,
                                       unsigned long curr_time);
    PedalsSystemData_s evaluate_pedals(const AnalogConversion_s &accel1,
                                       const AnalogConversion_s &accel2,
                                       const AnalogConversion_s &brake,
                                       unsigned long curr_time);
 
private:
    PedalsSystemData_s data_{};
    PedalsParams accelParams_{};
    PedalsParams brakeParams_{};
    unsigned long implausibilityStartTime_;
    float remove_deadzone_(float conversion_input, float deadzone);
    bool max_duration_of_implausibility_exceeded_(unsigned long curr_time);
 
 
    bool evaluate_pedal_implausibilities_(const AnalogConversion_s &pedalData1,
                                          const AnalogConversion_s &pedalData2,
                                          const PedalsParams &params,
                                          float max_percent_diff);
 
    bool evaluate_pedal_implausibilities_(const AnalogConversion_s &pedalData, const PedalsParams &params);
 
    bool evaluate_brake_and_accel_pressed_(const AnalogConversion_s &accelPedalData1,
                                           const AnalogConversion_s &accelPedalData2,
                                           const AnalogConversion_s &brakePedalData1,
                                           const AnalogConversion_s &brakePedalData2);
 
    bool evaluate_brake_and_accel_pressed_(const AnalogConversion_s &accelPedalData1,
                                           const AnalogConversion_s &accelPedalData2,
                                           const AnalogConversion_s &brakePedalData);
    bool evaluate_pedal_oor(const AnalogConversion_s &pedalData,
                           int min,
                           int max);
    bool evaluate_min_max_pedal_implausibilities_(const AnalogConversion_s &pedalData,
                                                  int min,
                                                  int max,
                                                  float implaus_margin_scale);
 
    bool pedal_is_active_(float pedal1ConvertedData, float pedal2ConvertedData, const PedalsParams &params, bool check_mech_activation);
 
};
 
#endif /* PEDALSSYSTEM */