/*
 * printable.cpp
 *
 *  Created on: Aug 30, 2023
 *      Author: Dario
 */


#include <sta/tacos/startup.hpp>
#include <sta/debug/debug.hpp>

#include <sta/tacos/manager.hpp>
#include <sta/tacos/statemachine.hpp>
#include <tasks/dummy.hpp>
#include <gpio.h>
#include <sta/devices/stm32/gpio_pin.hpp>

#include <memory>


namespace sta
{
	namespace tacos
	{
		void onStatemachineInit()
		{
			Statemachine::instance()->setStateFunction([](uint16_t state) -> uint16_t {
				// ###### Implement your state transition function here! ######

				/**
				 * This function should return some state within 0 and STA_TACOS_NUM_STATES (specified in the config.hpp).
				 * Return the same state as given as the argument for no state transition. Make sure, that this function is not
				 * computationally expensive.
				 */

				return state;
			});

			Statemachine::instance()->setTimerFunction([](uint16_t state, uint16_t lastState, uint32_t event) {
				// ###### Set the failsafe and lockout timers here ######

				/**
				 * This function is called after a state transition from lastState to state. Event corresponds to EventFlag enum in the Statemachine
				 * and encode how the state change happened.
				 *
				 * Setting a timer here is fully optional and depends on your system's specifications.
				 */

				uint32_t someFailsafeMillis = 42;
				uint16_t someNextState = STA_TACOS_INITIAL_STATE;
				uint32_t someLockoutMillis = 21;

				// Start the failsafe timer to force a state transition to someNextState after someFailsafeMillis milliseconds.
				Statemachine::instance()->setFailsafeTimer(someFailsafeMillis, someNextState);

				// Start the lockout timer to block a state transition for the first someLockoutMillis milliseconds.
				Statemachine::instance()->setLockoutTimer(someLockoutMillis);
			});

		}

		void onManagerInit()
		{
			// ###### Register different threads for different states here. ######

			// The dummy task runs for state 0.
			Manager::instance()->registerThread(std::make_shared<demo::DummyTask>("Dummy"), {0});
		}
	} // namespace tacos
} // namespace sta