/**
 * @file	   sdl.c
 *
 * @copyright  Nehemis SARL reserves all rights even in the event of industrial
 *             property rights. We reserve all rights of disposal such as
 *             copying and passing on to third parties.
 *
 * @brief	   This file contains the initialization and execution logic for
 *             the Valve Controller and CANopen stack. It defines the main
 *             scheduler loop for running these components within the firmware.
 *
 * @todo	   SDL_MIN_OPERATIONAL_NODES to be changed to 20, are the node is fixed.
 * 			   (electronic issue in the board)
 *
 */

/******************************************************************************
 * Include Header Files
 ******************************************************************************/
/* User includes */
#include "sdl.h"
#include "nms_can.h"
#include "processBoard.h"
#include "enduranceTestBench.h"
#include "stdlib.h"
#include "hal_system.h"
/******************************************************************************
 * Macro constant declarations
 ******************************************************************************/
#define SDL_MIN_OPERATIONAL_NODES			18u		/* To be 20, one node not in working state currently */
#define SDL_LSS_NODE_COUNT					20u
/******************************************************************************
 * Type Declarations
 ******************************************************************************/

/******************************************************************************
 * Global Declarations
 ******************************************************************************/
static CO_NMT_STATE_T nodeNMTState_gaen[SDL_LSS_NODE_COUNT];
/******************************************************************************
 * Static function Declarations
 ******************************************************************************/
/* Supress warnings for implicit declaration.
 * Need this function for overwriting the manual COB ids
 * for the TPDO. */
extern void userOverwriteCobIdSettings(void);
static bool SdlAreAllNodesOperational(void);

/******************************************************************************
 * Public Function Definitions
 ******************************************************************************/
void SdlInit(void)
{
	HalSystemInit();
	NmsCanInit();
}


void SdlRun(void)
{
	NmsCanRun();
	if (SdlAreAllNodesOperational())
	{
		EnduranceTestBenchRun();
		ProcessBoardRun();
	}
}

/******************************************************************************
 * Private Function Definitions
 ******************************************************************************/

/**
 * @brief	Checks if all nodes are in OPERATIONAL state.
 *
 * @return	CO_TRUE if all nodes are OPERATIONAL, CO_FALSE otherwise.
 */
static bool SdlAreAllNodesOperational(void)
{
	uint8 operationalNodeNb_u8 = 0u;

    for (uint8 i_u8 = 0u; i_u8 < SDL_LSS_NODE_COUNT ; i_u8++)
    {
        if (nodeNMTState_gaen[i_u8] == CO_NMT_STATE_OPERATIONAL)
        {
        	operationalNodeNb_u8++;
        }
    }

    return (operationalNodeNb_u8 >= SDL_MIN_OPERATIONAL_NODES) ? CO_TRUE : CO_FALSE;
}