SafetySystem.cpp

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#include "SafetySystem.h"
 
/* 
    Initialize SafetySystem
    write software_ok high, write wd_input high, set software ok state true
*/
void SafetySystem::init() {
    // Initialize interface output
    ams_->set_start_state();    
    wd_->set_start_state();
    // Initial state is ok
    software_is_ok = true;
}
 
/* Monitor AMS heartbeat and kick watchdog */
void SafetySystem::software_shutdown(const SysTick_s &tick) {
    software_is_ok = true;
 
    // If AMS heartbeat is not received within reasonable interval
    // Set software is not ok
    if (!ams_->heartbeat_received(tick.millis)) {
        // Serial.println("heartbeat not received");
        software_is_ok = false;
    }
    if (software_is_ok) {
        ams_->set_state_ok_high(true);
    }
    else {
        ams_->set_state_ok_high(false);
    }
 
    // Kick watchdog every software cycle
    wd_->kick_watchdog(tick.millis);
}
 
/* Return software ok */
bool SafetySystem::get_software_is_ok() {
    return software_is_ok;
}