//
// Created by ilya on 05.04.24.
//
#include "CrashDetection.h"
#include "CmsisRtosThreadUtils.h"
#include "SystemDelayInterface.h"

#define LOG_SIGN "Опр.Авар."
#define LOGGER env->logger

void CrashDetection_Init(
        tCrashDetection *env,
        tAccelDataFlowInterface *accelData,
        float *asi15threshold,
        tCarFlipDetectionSettings *settings,
        tLoggerInterface *logger
) {
    env->logger = logger;

    CarCrashDetection_Init(&env->carCrashDetection, accelData, asi15threshold, settings);
    env->emergencyEvents = CarCrashDetection_GetInterface(&env->carCrashDetection);
    env->simulationInterface = CarCrashDetection_GetSimInterface(&env->carCrashDetection);

    InitThreadAtrStatic(
            &env->thread.attr,
            "CrashDetection",
            env->thread.controlBlock,
            env->thread.stack,
            osPriorityNormal
    );

    env->thread.id = 0;
}


static _Noreturn void CrashDetection_Thread(tCrashDetection *env) {
    for (;;) {
        CarCrashDetection_Processing(&env->carCrashDetection, SystemWaitForever);
    }
}

void CrashDetection_StopThread(tCrashDetection *env) {
    if(env->thread.id != NULL) {
        if (osThreadTerminate(env->thread.id) == osOK) {
            SystemDelayMs(100);
            env->thread.id = NULL;
            LoggerInfoStatic(LOGGER, LOG_SIGN, "Поток обработки данных акселерометра остановлен")
            SystemDelayMs(500);
        }
    }
}

void CrashDetection_StartThread(tCrashDetection *env) {
    if (env->thread.id == NULL) {
        env->thread.id = osThreadNew((osThreadFunc_t) (CrashDetection_Thread), (void *) (env), &env->thread.attr);
    }
}