/*
 * AddPwmOverrideTermination.h
 *
 *  Created on: 8 окт. 2019 г.
 *      Author: titov
 */

#ifndef SOURCE_APPLICATION_SAFETY_ADDPWMOVERRIDETERMINATION_H_
#define SOURCE_APPLICATION_SAFETY_ADDPWMOVERRIDETERMINATION_H_

#include "../ISetupStep.hh"

#include "../../driver/safety/FailureTermination.hh"
#include "../../peripheral/IPwmOverride.hh"

namespace application { namespace safety {

//!Добавить выход ШИМ для перезаписи.
struct AddPwmOverrideTermination : public ISetupStep {

    typedef driver::safety::FailureTermination FT;

    FT * terminator = nullptr;
    peripheral::IPwmOverride * pwm_override = nullptr;

    struct Links {
        Environment::Id     failure_term_id;    //!<Идентификатор прерывателя работы по отказу.
        Environment::Id     pwm_override_id;    //!<Канал шим, который необходимо перезаписать при отказе.
    };

    bool input( Environment & env );
    void build( Environment & env );

    const Links & links;

    AddPwmOverrideTermination( const Links & links ) : links(links) {}

};

}
}

inline bool application::safety::AddPwmOverrideTermination::input(
        Environment & env ) {

    return grab( terminator, env.rholder.getShared<FT>(links.failure_term_id) )
            and grab( pwm_override, env.rholder.getShared<peripheral::IPwmOverride>(links.pwm_override_id) );

}

inline void application::safety::AddPwmOverrideTermination::build(
        Environment & env ) {

    Local<FT> term( terminator, *env.rholder.getShared<FT>(links.failure_term_id) );
    Local<peripheral::IPwmOverride> pwm( pwm_override, *env.rholder.getShared<peripheral::IPwmOverride>(links.pwm_override_id) );

    term->addTerminate( pwm_override );

}

#endif /* SOURCE_APPLICATION_SAFETY_ADDPWMOVERRIDETERMINATION_H_ */