//int errorcode[2] = {0,0}; 1 Bit per error
#include <stdint.h>
#include <stdbool.h>

// Minimum vehicle side voltage to exit precharge
#define MIN_VEHICLE_SIDE_VOLTAGE 150000 // mV
// Time to wait after reaching 95% of battery voltage before exiting precharge
// Set this to 1000 in scruti to demonstrate the voltage on the multimeter
#define PRECHARGE_95_DURATION 0 // ms
// Time to wait for discharge
#define DISCHARGE_DURATION 5000 // ms
// Time to wait after there is no more error condition before exiting TS_ERROR
#define NO_ERROR_TIME 1000 // ms
// Time to wait for charger voltage before going to TS_ERROR
#define MAX_CHARGING_CHECK_DURATION 2000 // ms
// Time to wait between closing relays
#define RELAY_CLOSE_WAIT 10 // ms

typedef enum {    // valid transitions: (all could transition to error)
  INACTIVE,       // INACTIVE   ->  PRECHARGE, CHARGING, ERROR  
  PRECHARGE,      // PRECHARGE  ->  INACTIVE, READY, DISCHARGE, ERROR
  READY,          // READY      ->  ACTIVE, DISCHARGE, ERROR
  ACTIVE,         // ACTIVE     ->  READY, DISCHARGE, ERROR
  DISCHARGE,      // DISCHARGE  ->  INACTIVE, PRECHARGE, ERROR
  CHARGING,       // CHARGING   ->  INACTIVE, DISCHARGE, ERROR
  ERROR,          // ERROR      ->  INACTIVE, DISCHARGE, ERROR
} State;
  
typedef enum { 
  ERRORKIND_NONE = 0x0,
  ERRORKIND_BMS_TIMEOUT = 0x1,
  ERRORKIND_OVERTEMPTURE = 0x2,
  ERRORKIND_OVERCURRENT = 0x3,
  ERRORKIND_OVERVOLTAGE = 0x4,
  ERRORKIND_MISSING_CURRENT_READING = 0x5,
  ERRORKIND_MISSING_VOLTAGE_READING = 0x6,
  ERRORKIND_MISSING_TEMP_READING = 0x7,
  ERRORKIND_PRECHARGE_FAIL = 0x8,
  ERRORKIND_POWERGROUND_FAIL = 0x9
} ErrorKind;

//typedef enum {} WarningKind;

typedef struct {
  State current_state;
  State target_state;
  uint16_t error_source; // TSErrorSource (bitmask)
  uint16_t error_type; // TSErrorKind
} StateHandle;

extern StateHandle state;

void sm_init();
void sm_update();

State sm_update_inactive();
State sm_update_active();
State sm_update_precharge();
State sm_update_discharge();
State sm_update_error();
State sm_update_charging_check();
State sm_update_charging();

typedef enum { RELAY_POS, RELAY_PRECHARGE } Relay;
void sm_set_relay_positions(State state);
void sm_set_relay_position(Relay relay, int closed);
void sm_check_close_wait(int *is_closed, int should_close);

void sm_handle_ams_in(const uint8_t *data);

void sm_set_error(ErrorKind error_kind, bool is_errored);