sapi_dual_channel.h

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#ifndef SAPI_DUAL_CHANNEL_H
#define SAPI_DUAL_CHANNEL_H
 
#include <stdint.h>
#include <stdbool.h>
 
#include "safeapi/redundancy/dual/sapi_dual_frames.h"
#include "safeapi/redundancy/dual/sapi_dual_msgchannel.h"
#include "safeapi/redundancy/dual/sapi_dual_types.h"
#include "safeapi/oal/netlink/sapi_netlink.h"
#include "safeapi/utils/status/sapi_status.h"
#include "safeapi/utils/types/sapi_types.h"
 
#ifdef __cplusplus
extern "C" {
#endif

#define SAPI_DUAL_CHANNEL_MAX_LINKS 4U

#define SAPI_DUAL_CHANNEL_MAX_PAYLOAD (SAPI_DUAL_MSGCHANNEL_MAX_PAYLOAD - 4U)

typedef void (*sapi_dual_channel_status_callback_t)(sapi_dual_channel_status_t new_status,
                                                      sapi_dual_channel_status_t old_status,
                                                      void *user_ctx);

typedef struct sapi_dual_channel_s
{
    sapi_dual_msgchannel_t links[SAPI_DUAL_CHANNEL_MAX_LINKS];
    uint32_t                link_count;
    bool                    link_up[SAPI_DUAL_CHANNEL_MAX_LINKS];
    sapi_dual_channel_status_t last_status;
    sapi_dual_channel_status_callback_t status_callback;
    void                   *status_callback_ctx;
    sapi_duration_ms_t      ack_timeout_ms;
 
    bool    pending_data_valid;
    uint8_t pending_data[SAPI_DUAL_CHANNEL_MAX_PAYLOAD];
    uint8_t pending_data_size;
 
    bool                    pending_state_valid;
    sapi_dual_state_frame_t pending_state;
} sapi_dual_channel_t;

typedef struct sapi_dual_channel_config_s
{
    sapi_netlink_handle_t links[SAPI_DUAL_CHANNEL_MAX_LINKS];
    uint32_t link_count;
    uint32_t sender_id;
    uint32_t expected_peer_id;
    sapi_duration_ms_t ack_timeout_ms;
    sapi_dual_channel_status_callback_t status_callback;
    void *status_callback_ctx;
} sapi_dual_channel_config_t;

sapi_status_t sapi_dual_channel_init(sapi_dual_channel_t *channel, const sapi_dual_channel_config_t *config);

sapi_status_t sapi_dual_channel_send(sapi_dual_channel_t *channel,
                                      const uint8_t *payload,
                                      uint8_t payload_size,
                                      uint32_t *out_ack_link_count);

sapi_status_t sapi_dual_channel_receive(sapi_dual_channel_t *channel,
                                         uint8_t *out_payload,
                                         uint8_t max_size,
                                         sapi_duration_ms_t timeout_ms,
                                         uint8_t *out_size);

sapi_status_t sapi_dual_channel_send_heartbeat(sapi_dual_channel_t *channel, uint32_t *out_ack_count);
 
sapi_status_t sapi_dual_channel_send_state_frame(sapi_dual_channel_t *channel, sapi_dual_state_t state,
                                                   bool channel_degraded, uint64_t timestamp_ms);

sapi_status_t sapi_dual_channel_receive_state_frame(sapi_dual_channel_t *channel, sapi_duration_ms_t timeout_ms,
                                                      sapi_dual_state_frame_t *out_frame);

sapi_dual_channel_status_t sapi_dual_channel_get_status(const sapi_dual_channel_t *channel);

bool sapi_dual_channel_is_link_up(const sapi_dual_channel_t *channel, uint32_t link_index);
 
#ifdef __cplusplus
}
#endif
 
#endif /* SAPI_DUAL_CHANNEL_H */