/**
 * @file brake_control.h
 * @brief Brake control module interface
 */

#ifndef BRAKE_CONTROL_H
#define BRAKE_CONTROL_H

#include "kernel.h"

/* Brake Control Parameters */
#define BRAKE_CONTROL_PERIOD_MS     5
#define ABS_CONTROL_PERIOD_MS       1
#define WHEEL_SPEED_SENSOR_COUNT    4
#define MAX_BRAKE_PRESSURE          20000  /* kPa */
#define ABS_SLIP_THRESHOLD          0.2f
#define ABS_DECELERATION_THRESHOLD  -10.0f  /* m/s² */

/* Brake States */
typedef enum {
    BRAKE_STATE_IDLE = 0,
    BRAKE_STATE_NORMAL_BRAKING = 1,
    BRAKE_STATE_ABS_ACTIVE = 2,
    BRAKE_STATE_EMERGENCY = 3,
    BRAKE_STATE_FAULT = 4
} BrakeState_t;

/* Wheel Speed Data */
typedef struct {
    float wheel_speed[WHEEL_SPEED_SENSOR_COUNT];  /* km/h */
    float wheel_acceleration[WHEEL_SPEED_SENSOR_COUNT];  /* m/s² */
    uint16_t wheel_sensor_raw[WHEEL_SPEED_SENSOR_COUNT];
    bool sensor_fault[WHEEL_SPEED_SENSOR_COUNT];
} WheelSpeedData_t;

/* Brake System Data */
typedef struct {
    uint16_t brake_pedal_position;
    uint16_t brake_pressure;
    float vehicle_speed;
    float vehicle_deceleration;
    bool abs_active;
    bool brake_light;
    uint8_t abs_fault_code;
} BrakeSystemData_t;

/* Brake Control Functions */
KernelStatus_t brake_control_init(void);
KernelStatus_t brake_control_start(void);
KernelStatus_t brake_control_stop(void);
KernelStatus_t brake_control_get_data(BrakeSystemData_t* data);
KernelStatus_t brake_control_get_wheel_data(WheelSpeedData_t* data);
BrakeState_t brake_control_get_state(void);
void brake_control_task(void* parameters);
void abs_control_task(void* parameters);

#endif /* BRAKE_CONTROL_H */