/**
  ******************************************************************************
  * @file	: LimbsSftyLnFSwtch_Example_04.cpp
  * @brief  : Implements of a Limbs Safety switch using a LimbsSftyLnFSwtch class object
  * 
  * Example for the LimbsSftySw_ESP32 library LimbsSftyLnFSwtch class.
  * 
  * This example builds a Limbs Safety switch for a Launch and Forget device by
  * using the most basic resources provided by the LimbsSftyLnFSwtch class. 
  * 
  * The example creates ONE Task in the standard Arduino setup(), and makes the 
  * LoopTask to delete itself.
  * The task created as the Main Control Task will then proceed with the execution:
  * - Create SEVERAL Task to manage the output resources updates for the underlying DbncdMPBtt subclasses objects
  *    - A task to manage the left hand switch outputs hardware configuration and updates
  *    - A task to manage the right hand switch outputs hardware configuration and updates
  *    - A task to manage the foot switch outputs hardware configuration and updates
  * - Create ONE Task to manage the LimbsSftyLnFSwtch object's outputs' hardware configuration and updates
  * - LimbsSftyLnFSwtch **object instantiation** and timer activation (using the .begin() method)
  *
  * Framework: Arduino
  * Platform: ESP32
  * 
  * @author	: Gabriel D. Goldman
  *
  * @date First release: 28/01/2025 
  *       Last update:   22/02/2025 18:10 GMT+0200
  ******************************************************************************
  * @attention	This library gives no guarantees whatsoever about it's compliance
  * to any expectations but as those from it's own designers. Use under your own 
  * responsibility and risk.
  * 
  * Released into the public domain in accordance with "GPL-3.0-or-later" license terms.
  ******************************************************************************
  */
 #include <Arduino.h>
 #include <LimbsSafetySw_ESP32.h>
 
 //==============================================>> General use definitions BEGIN
 //* This definitions are placed here for easier testing of important implementation parameters, checking the change of behavior when playing around with different values, etc.
 #define LoopDlyTtlTm 25 // Time between task unblocking, time taken from the start of the task execution to the next execution 
 #define MainCtrlTskPrrtyLvl 5 // Task priority level
 #define UndrlyngMPBttnPollTm 25  // Timer setup time for the underlying MPBttns state update
 #define LsSwtchPollTm 50   // Timer setup time for the LsSwitch state update
 //================================================>> General use definitions END
 
 //======================================>> General use function prototypes BEGIN
 void Error_Handler();
 //========================================>> General use function prototypes END
 
 //====================================>> Task Callback function prototypes BEGIN
 void mainCtrlTsk(void *pvParameters);
 void leftHandCtrlTsk(void *pvParameters);
 void rghtHandCtrlTsk(void *pvParameters);
 void footCtrlTsk(void *pvParameters);
 void lmbSftyCtrlTsk(void *pvParameters);
 //======================================>> Task Callback function prototypes END
 
 //===========================================>> Tasks Handles declarations BEGIN
 TaskHandle_t mainCtrlTskHndl {NULL};
 TaskHandle_t lftHndSwtchTskHndl{NULL};
 TaskHandle_t rghtHndSwtchTskHndl{NULL};
 TaskHandle_t ftSwtchTskHndl{NULL};
 TaskHandle_t lmbSftySwtchTskHndl{NULL};
 //=============================================>> Tasks Handles declarations END
 
 limbSftyFwConf_t mnCtrlTskConf{
    .lsSwExecTskCore = xPortGetCoreID(),
    .lsSwExecTskPrrtyCnfg = MainCtrlTskPrrtyLvl, //! Arbitrary Task priority selected, chosen to be lower than the software timer update.
 };
 
 void setup() { 
   // Create the Main control task for setup and execution of the main code
    xReturned = xTaskCreatePinnedToCore(
       mainCtrlTsk,  // Callback function/task to be called
       "MainControlTask",  // Name of the task
       2048,   // Stack size (in bytes in ESP32, words in FreeRTOS), the minimum value is in the config file, for this is 768 bytes
       NULL,  // Pointer to the parameters for the function to work with
       mnCtrlTskConf.lsSwExecTskPrrtyCnfg, // Priority level given to the task
       &mainCtrlTskHndl, // Task handle
       mnCtrlTskConf.lsSwExecTskCore // Run in the App Core if it's a dual core mcu (ESP-FreeRTOS specific)
    );
    if(xReturned != pdPASS)
       Error_Handler();
 }
 
 void loop() {
    vTaskDelete(NULL); // Delete this task -the ESP-Arduino LoopTask()- and remove it from the execution list
 }  
 
 //===============================>> User Tasks Implementations BEGIN
 void mainCtrlTsk(void *pvParameters){
    delay(10);  //FTPO Part of the WOKWI simulator suggestions for simulation needs

    TickType_t loopTmrStrtTm{0};
    TickType_t* loopTmrStrtTmPtr{&loopTmrStrtTm};
    TickType_t totalDelay {LoopDlyTtlTm};


 
   // Create the Left Hand Switch output update control task
    xReturned = xTaskCreatePinnedToCore(
       leftHandCtrlTsk,  // Callback function/task to be called
       "LeftHandControlTask",  // Name of the task
       1716,   // Stack size (in bytes in ESP32, words in FreeRTOS), the minimum value is in the config file, for this is 768 bytes
       NULL,  // Pointer to the parameters for the function to work with
       mnCtrlTskConf.lsSwExecTskPrrtyCnfg, // Priority level given to the task
       &lftHndSwtchTskHndl, // Task handle
       mnCtrlTskConf.lsSwExecTskCore // Run in the App Core if it's a dual core mcu (ESP-FreeRTOS specific)
    );
    if(xReturned != pdPASS)
       Error_Handler();
 
   // Create the Right Hand Switch output update control task
    xReturned = xTaskCreatePinnedToCore(
       rghtHandCtrlTsk,  // Callback function/task to be called
       "RightHandControlTask",  // Name of the task
       1716,   // Stack size (in bytes in ESP32, words in FreeRTOS), the minimum value is in the config file, for this is 768 bytes
       NULL,  // Pointer to the parameters for the function to work with
       mnCtrlTskConf.lsSwExecTskPrrtyCnfg, // Priority level given to the task
       &rghtHndSwtchTskHndl, // Task handle
       mnCtrlTskConf.lsSwExecTskCore // Run in the App Core if it's a dual core mcu (ESP-FreeRTOS specific)
    );
    if(xReturned != pdPASS)
       Error_Handler();
 
   // Create the Foot Switch output update control task
    xReturned = xTaskCreatePinnedToCore(
       footCtrlTsk,  // Callback function/task to be called
       "FootControlTask",  // Name of the task
       1716,   // Stack size (in bytes in ESP32, words in FreeRTOS), the minimum value is in the config file, for this is 768 bytes
       NULL,  // Pointer to the parameters for the function to work with
       mnCtrlTskConf.lsSwExecTskPrrtyCnfg, // Priority level given to the task
       &ftSwtchTskHndl, // Task handle
       mnCtrlTskConf.lsSwExecTskCore // Run in the App Core if it's a dual core mcu (ESP-FreeRTOS specific)
    );
    if(xReturned != pdPASS)
       Error_Handler();
 
   // Create the Limb Safety Switch output update control task
    xReturned = xTaskCreatePinnedToCore(
       lmbSftyCtrlTsk,  // Callback function/task to be called
       "LimbSafetyControlTask",  // Name of the task
       1716,   // Stack size (in bytes in ESP32, words in FreeRTOS), the minimum value is in the config file, for this is 768 bytes
       NULL,  // Pointer to the parameters for the function to work with
       mnCtrlTskConf.lsSwExecTskPrrtyCnfg, // Priority level given to the task
       &lmbSftySwtchTskHndl, // Task handle
       mnCtrlTskConf.lsSwExecTskCore // Run in the App Core if it's a dual core mcu (ESP-FreeRTOS specific)
    );
    if(xReturned != pdPASS)
       Error_Handler();
    
    //=============================>> Underlying switches configuration parameters values BEGIN
    //----------------------------->> Hardware construction related parameter values BEGIN
    swtchInptHwCfg_t lftHndHwAttrbts{   // Left hand switch input hardware attributes
       .inptPin = GPIO_NUM_4,
       .typeNO = true,
       .pulledUp = true,
       .dbncTime = 0UL,
    };
    swtchInptHwCfg_t rghtHndHwAttrbts{  // Right hand switch input hardware attributes
       .inptPin = GPIO_NUM_2,
       .typeNO = true,
       .pulledUp = true,
       .dbncTime = 0UL,
    };
    swtchInptHwCfg_t ftHwAttrbts{ // Foot switch input hardware attributes
       .inptPin = GPIO_NUM_5,
       .typeNO = true,
       .pulledUp = true,
       .dbncTime = 0UL
    };
    //------------------------------->> Hardware construction related parameters values END
    
    //------------------------------------------>> Behavior related parameters values BEGIN
    //FFDR This settings are to be retrieved from a configuration setup in EEPROM BEGIN    

    swtchInptHwCfg_t enableLftHnd{
      .inptPin = 35,
      .typeNO = true,
      .pulledUp = false,
   };
   pinMode(enableLftHnd.inptPin, INPUT);

   swtchInptHwCfg_t enableRghtHnd{
      .inptPin = 34,
      .typeNO = true,
      .pulledUp = false,
   };
   pinMode(enableRghtHnd.inptPin, INPUT);

    swtchBhvrCfg_t lftHndBhvrSUp{ // Left hand switch behavior configuration properties
       .swtchStrtDlyTm = 100,
       .swtchIsEnbld = (digitalRead(enableLftHnd.inptPin)==HIGH)?true:false,   //FTPO This is the value to swap to have the object keep track of the left hand MPB or not
       .swtchVdTm = 3000,
    };
    swtchBhvrCfg_t rghtHndBhvrSUp{   // Right hand switch behavior configuration properties
       .swtchStrtDlyTm = 100,
      .swtchIsEnbld = (digitalRead(enableRghtHnd.inptPin)==HIGH)?true:false,   //FTPO This is the value to swap to have the object keep track of the left hand MPB or not
      .swtchVdTm = 3000,
    };
    swtchBhvrCfg_t ftBhvrSUp{  // Foot switch behavior configuration properties
       .swtchStrtDlyTm = 200,
       .swtchIsEnbld = false,
    };
    //FFDR This settings are to be retrieved from a configuration setup in EEPROM BEGIN
    //-------------------------------------------->> Behavior related parameters values END
    //===============================>> Underlying switches configuration parameters values END
 
    //====================>> LimbsSftyLnFSwtch switch configuration parameters values BEGIN
    //------------------------------------------>> Behavior related parameters values BEGIN
    lsSwtchSwCfg_t lsssSwtchWrkngPrm{
       .ltchRlsActvTm = 1500,
       .prdCyclActvTm = 4000,
    };
    //-------------------------------------------->> Behavior related parameters values END
    //=======================> LimbsSftyLnFSwtch switch configuration parameters values END
    
    LimbsSftyLnFSwtch stampSftySwtch (lftHndHwAttrbts, lftHndBhvrSUp, rghtHndHwAttrbts, rghtHndBhvrSUp, ftHwAttrbts, ftBhvrSUp, lsssSwtchWrkngPrm);
 
    stampSftySwtch.getLftHndSwtchPtr()->setTaskToNotify(lftHndSwtchTskHndl);
    stampSftySwtch.getRghtHndSwtchPtr()->setTaskToNotify(rghtHndSwtchTskHndl);
    stampSftySwtch.getFtSwtchPtr()->setTaskToNotify(ftSwtchTskHndl);
    stampSftySwtch.setTskToNtfyLsSwtchOtptsChng(lmbSftySwtchTskHndl);
 
    stampSftySwtch.setUndrlSwtchsPollDelay(UndrlyngMPBttnPollTm);
    stampSftySwtch.begin(LsSwtchPollTm);
 
    for(;;){
       *loopTmrStrtTmPtr = xTaskGetTickCount() / portTICK_RATE_MS; //! Although this is just a test execution, this is implemented to save resources by not executing this loop constantly
 
       vTaskDelayUntil(loopTmrStrtTmPtr, totalDelay);  //! Complementary code for the implementation to save resources by blocking this piece of code as is not needed to be executed constantly   
    }
 }
 
 void leftHandCtrlTsk(void *pvParameters){
    delay(10);  //FTPO Part of the WOKWI simulator suggestions for simulation needs
    swtchOtptHwCfg_t lftHndHwOtpts{  // Left hand switch hardware outputs configuration properties
       .isOnPin{
          .gpioOtptPin = GPIO_NUM_27,
          .gpioOtptActHgh = true,
       },
       .isVoidedPin{
          .gpioOtptPin = GPIO_NUM_14,
          .gpioOtptActHgh = true,
       },
       .isEnabledPin{
          .gpioOtptPin = GPIO_NUM_26,
          .gpioOtptActHgh = false,
       }   
    };
    uint32_t swtcSttsRcvd{0};
    MpbOtpts_t undrlyngSwtchStts;
 
    //------------------>> Left hand TmVdblMPBttn output pins configuration BEGIN
    if((lftHndHwOtpts.isOnPin.gpioOtptPin != _InvalidPinNum) && (lftHndHwOtpts.isOnPin.gpioOtptPin <= _maxValidPinNum)){
       pinMode(lftHndHwOtpts.isOnPin.gpioOtptPin, INPUT);
       digitalWrite(lftHndHwOtpts.isOnPin.gpioOtptPin, (lftHndHwOtpts.isOnPin.gpioOtptActHgh)?LOW:HIGH);
       pinMode(lftHndHwOtpts.isOnPin.gpioOtptPin, OUTPUT);
    }
    else if((lftHndHwOtpts.isOnPin.gpioOtptPin > _maxValidPinNum)){
       Error_Handler();
    }
    if((lftHndHwOtpts.isEnabledPin.gpioOtptPin != _InvalidPinNum) && (lftHndHwOtpts.isEnabledPin.gpioOtptPin <= _maxValidPinNum)){
       pinMode(lftHndHwOtpts.isEnabledPin.gpioOtptPin, INPUT);
       digitalWrite(lftHndHwOtpts.isEnabledPin.gpioOtptPin, (!lftHndHwOtpts.isEnabledPin.gpioOtptActHgh)?LOW:HIGH);
       pinMode(lftHndHwOtpts.isEnabledPin.gpioOtptPin, OUTPUT);
    }   
    else if((lftHndHwOtpts.isEnabledPin.gpioOtptPin > _maxValidPinNum)){
       Error_Handler();
    }
    if((lftHndHwOtpts.isVoidedPin.gpioOtptPin != _InvalidPinNum) && (lftHndHwOtpts.isVoidedPin.gpioOtptPin  <= _maxValidPinNum)){
       pinMode(lftHndHwOtpts.isVoidedPin.gpioOtptPin, INPUT);
       digitalWrite(lftHndHwOtpts.isVoidedPin.gpioOtptPin, (lftHndHwOtpts.isVoidedPin.gpioOtptActHgh)?LOW:HIGH);
       pinMode(lftHndHwOtpts.isVoidedPin.gpioOtptPin, OUTPUT);
    }
    else if((lftHndHwOtpts.isVoidedPin.gpioOtptPin > _maxValidPinNum)){
       Error_Handler();
    }
    //-------------------->> Left hand TmVdblMPBttn output pins configuration END
 
    for(;;){
       xReturned = xTaskNotifyWait(
          0x00,	//uint32_t ulBitsToClearOnEntry
          0xFFFFFFFF,	//uint32_t ulBitsToClearOnExit,
          &swtcSttsRcvd,	// uint32_t *pulNotificationValue,
          portMAX_DELAY  //TickType_t xTicksToWait
       );
       if (xReturned != pdPASS)
          Error_Handler();
 
       undrlyngSwtchStts = otptsSttsUnpkg(swtcSttsRcvd);
 
       // Keep the _undrlLftHndMPB object outputs updated.		
       if(lftHndHwOtpts.isOnPin.gpioOtptPin != _InvalidPinNum){ // Keep the left hand switch isOn output updated
          if(digitalRead(lftHndHwOtpts.isOnPin.gpioOtptPin) != ((undrlyngSwtchStts.isOn == lftHndHwOtpts.isOnPin.gpioOtptActHgh)?HIGH:LOW))
             digitalWrite(lftHndHwOtpts.isOnPin.gpioOtptPin, (undrlyngSwtchStts.isOn == lftHndHwOtpts.isOnPin.gpioOtptActHgh)?HIGH:LOW);
       }
       if(lftHndHwOtpts.isEnabledPin.gpioOtptPin != _InvalidPinNum){  // Keep the left hand switch isEnabled output updated
          if(digitalRead(lftHndHwOtpts.isEnabledPin.gpioOtptPin) != ((undrlyngSwtchStts.isEnabled == lftHndHwOtpts.isEnabledPin.gpioOtptActHgh)?HIGH:LOW))
             digitalWrite(lftHndHwOtpts.isEnabledPin.gpioOtptPin, (undrlyngSwtchStts.isEnabled == lftHndHwOtpts.isEnabledPin.gpioOtptActHgh)?HIGH:LOW);
       }
       if(lftHndHwOtpts.isVoidedPin.gpioOtptPin != _InvalidPinNum){   // Keep the left hand switch isVoided output updated
          if(digitalRead(lftHndHwOtpts.isVoidedPin.gpioOtptPin) != ((undrlyngSwtchStts.isVoided == lftHndHwOtpts.isVoidedPin.gpioOtptActHgh)?HIGH:LOW))
             digitalWrite(lftHndHwOtpts.isVoidedPin.gpioOtptPin, (undrlyngSwtchStts.isVoided == lftHndHwOtpts.isVoidedPin.gpioOtptActHgh)?HIGH:LOW);
       }
    }
 }
 
 void rghtHandCtrlTsk(void *pvParameters){
    delay(10);  //FTPO Part of the WOKWI simulator suggestions for simulation needs
 swtchOtptHwCfg_t rghtHndHwOtpts{ // Right hand switch hardware outputs configuration properties
       .isOnPin{
          .gpioOtptPin = GPIO_NUM_33,
          .gpioOtptActHgh = true,
       },
       .isVoidedPin{
          .gpioOtptPin = GPIO_NUM_25,
          .gpioOtptActHgh = true,
       },
       .isEnabledPin{
          .gpioOtptPin = GPIO_NUM_32,
          .gpioOtptActHgh = false,
       }
    };
    uint32_t swtcSttsRcvd{0};
    MpbOtpts_t undrlyngSwtchStts;
 
    //----------------->> Right hand TmVdblMPBttn output pins configuration BEGIN 
    if((rghtHndHwOtpts.isOnPin.gpioOtptPin != _InvalidPinNum) && (rghtHndHwOtpts.isOnPin.gpioOtptPin <= _maxValidPinNum)){
       pinMode(rghtHndHwOtpts.isOnPin.gpioOtptPin, INPUT);
       digitalWrite(rghtHndHwOtpts.isOnPin.gpioOtptPin, (rghtHndHwOtpts.isOnPin.gpioOtptActHgh)?LOW:HIGH);
       pinMode(rghtHndHwOtpts.isOnPin.gpioOtptPin, OUTPUT);
    }
    else if((rghtHndHwOtpts.isOnPin.gpioOtptPin > _maxValidPinNum)){
       Error_Handler();
    }
    if((rghtHndHwOtpts.isEnabledPin.gpioOtptPin != _InvalidPinNum) && (rghtHndHwOtpts.isEnabledPin.gpioOtptPin <= _maxValidPinNum)){
       pinMode(rghtHndHwOtpts.isEnabledPin.gpioOtptPin, INPUT);
       digitalWrite(rghtHndHwOtpts.isEnabledPin.gpioOtptPin, (!rghtHndHwOtpts.isEnabledPin.gpioOtptActHgh)?LOW:HIGH);
       pinMode(rghtHndHwOtpts.isEnabledPin.gpioOtptPin, OUTPUT);
    }   
    else if((rghtHndHwOtpts.isEnabledPin.gpioOtptPin > _maxValidPinNum)){
       Error_Handler();
    }
    if((rghtHndHwOtpts.isVoidedPin.gpioOtptPin != _InvalidPinNum) && (rghtHndHwOtpts.isVoidedPin.gpioOtptPin  <= _maxValidPinNum)){
       pinMode(rghtHndHwOtpts.isVoidedPin.gpioOtptPin, INPUT);
       digitalWrite(rghtHndHwOtpts.isVoidedPin.gpioOtptPin, (rghtHndHwOtpts.isVoidedPin.gpioOtptActHgh)?LOW:HIGH);
       pinMode(rghtHndHwOtpts.isVoidedPin.gpioOtptPin, OUTPUT);
    }
    else if((rghtHndHwOtpts.isVoidedPin.gpioOtptPin > _maxValidPinNum)){
       Error_Handler();
    }
    //------------------->> Right hand TmVdblMPBttn output pins configuration END
 
    for(;;){
       xReturned = xTaskNotifyWait(
          0x00,	//uint32_t ulBitsToClearOnEntry
          0xFFFFFFFF,	//uint32_t ulBitsToClearOnExit,
          &swtcSttsRcvd,	// uint32_t *pulNotificationValue,
          portMAX_DELAY  //TickType_t xTicksToWait
       );
       if (xReturned != pdPASS)
          Error_Handler();
 
       undrlyngSwtchStts = otptsSttsUnpkg(swtcSttsRcvd);
 
       // Keep the _undrlLftHndMPB object outputs updated.		
       if(rghtHndHwOtpts.isOnPin.gpioOtptPin != _InvalidPinNum){ // Keep the left hand switch isOn output updated
          if(digitalRead(rghtHndHwOtpts.isOnPin.gpioOtptPin) != ((undrlyngSwtchStts.isOn == rghtHndHwOtpts.isOnPin.gpioOtptActHgh)?HIGH:LOW))
             digitalWrite(rghtHndHwOtpts.isOnPin.gpioOtptPin, (undrlyngSwtchStts.isOn == rghtHndHwOtpts.isOnPin.gpioOtptActHgh)?HIGH:LOW);
       }
       if(rghtHndHwOtpts.isEnabledPin.gpioOtptPin != _InvalidPinNum){  // Keep the left hand switch isEnabled output updated
          if(digitalRead(rghtHndHwOtpts.isEnabledPin.gpioOtptPin) != ((undrlyngSwtchStts.isEnabled == rghtHndHwOtpts.isEnabledPin.gpioOtptActHgh)?HIGH:LOW))
             digitalWrite(rghtHndHwOtpts.isEnabledPin.gpioOtptPin, (undrlyngSwtchStts.isEnabled == rghtHndHwOtpts.isEnabledPin.gpioOtptActHgh)?HIGH:LOW);
       }
       if(rghtHndHwOtpts.isVoidedPin.gpioOtptPin != _InvalidPinNum){   // Keep the left hand switch isVoided output updated
          if(digitalRead(rghtHndHwOtpts.isVoidedPin.gpioOtptPin) != ((undrlyngSwtchStts.isVoided == rghtHndHwOtpts.isVoidedPin.gpioOtptActHgh)?HIGH:LOW))
             digitalWrite(rghtHndHwOtpts.isVoidedPin.gpioOtptPin, (undrlyngSwtchStts.isVoided == rghtHndHwOtpts.isVoidedPin.gpioOtptActHgh)?HIGH:LOW);
       }
    }
 }
 
 void footCtrlTsk(void *pvParameters){
    delay(10);  //FTPO Part of the WOKWI simulator suggestions for simulation needs
    gpioPinOtptHwCfg_t ftSwtchIsEnbldOtpt{ // Foot switch hardware outputs configuration properties
       .gpioOtptPin = GPIO_NUM_17,
       .gpioOtptActHgh = true,
    };
    uint32_t swtcSttsRcvd{0};
    MpbOtpts_t undrlyngSwtchStts;
 
    //----------------->> Foot SnglSrvcVdblMPBttn output pins configuration BEGIN
    if((ftSwtchIsEnbldOtpt.gpioOtptPin != _InvalidPinNum) && (ftSwtchIsEnbldOtpt.gpioOtptPin <= _maxValidPinNum)){
       pinMode(ftSwtchIsEnbldOtpt.gpioOtptPin, INPUT);
       digitalWrite(ftSwtchIsEnbldOtpt.gpioOtptPin, (ftSwtchIsEnbldOtpt.gpioOtptActHgh)?LOW:HIGH);
       pinMode(ftSwtchIsEnbldOtpt.gpioOtptPin, OUTPUT);
    } 
    else if((ftSwtchIsEnbldOtpt.gpioOtptPin > _maxValidPinNum)){
       Error_Handler();
    }
    //------------------->> Foot SnglSrvcVdblMPBttn output pins configuration END
 
    for(;;){
       xReturned = xTaskNotifyWait(
          0x00,	//uint32_t ulBitsToClearOnEntry
          0xFFFFFFFF,	//uint32_t ulBitsToClearOnExit,
          &swtcSttsRcvd,	// uint32_t *pulNotificationValue,
          portMAX_DELAY  //TickType_t xTicksToWait
       );
       if (xReturned != pdPASS)
          Error_Handler();
 
       undrlyngSwtchStts = otptsSttsUnpkg(swtcSttsRcvd);
 
       // Keep the _undrlFtdMPB object outputs updated.	      
       if(ftSwtchIsEnbldOtpt.gpioOtptPin != _InvalidPinNum){
          if(digitalRead(ftSwtchIsEnbldOtpt.gpioOtptPin) != ((undrlyngSwtchStts.isEnabled == ftSwtchIsEnbldOtpt.gpioOtptActHgh)?HIGH:LOW))
             digitalWrite(ftSwtchIsEnbldOtpt.gpioOtptPin, (undrlyngSwtchStts.isEnabled == ftSwtchIsEnbldOtpt.gpioOtptActHgh)?HIGH:LOW);
       }
    }
 }
 
 void lmbSftyCtrlTsk(void *pvParameters){
    delay(10);  //FTPO Part of the WOKWI simulator suggestions for simulation needs
    gpioPinOtptHwCfg_t prdCyclIsOnOtpt{   // Production cycle hardware outputs configuration properties
       .gpioOtptPin = GPIO_NUM_12,
       .gpioOtptActHgh = true,
       };
    gpioPinOtptHwCfg_t ltchRlsIsOnOtpt{   // Latch Release hardware outputs configuration properties
       .gpioOtptPin = GPIO_NUM_13,
       .gpioOtptActHgh = true,
       };
    uint32_t swtcSttsRcvd{0};
    lsSwtchOtpts_t lsSwtchStts;
 
    //----------------------->> LimbsSftyLnFSwtch output pins configuration BEGIN
    //! The ltchRlsIsOnOtpt is the ONLY FUNDAMENTAL pin that is REQUIRED to be a valid available addressable pin number. 
    //! All the of the rest of the output pins are for information provision, and might be assigned to a _InvalidPinNum to be ignored.
    if((ltchRlsIsOnOtpt.gpioOtptPin != _InvalidPinNum) && (ltchRlsIsOnOtpt.gpioOtptPin <= _maxValidPinNum)){
       pinMode(ltchRlsIsOnOtpt.gpioOtptPin, INPUT);
       digitalWrite(ltchRlsIsOnOtpt.gpioOtptPin, (ltchRlsIsOnOtpt.gpioOtptActHgh)?LOW:HIGH);
    }
    else{
       Error_Handler();
    }
    if((prdCyclIsOnOtpt.gpioOtptPin != _InvalidPinNum) && (prdCyclIsOnOtpt.gpioOtptPin <= _maxValidPinNum)){
       digitalWrite(prdCyclIsOnOtpt.gpioOtptPin, (prdCyclIsOnOtpt.gpioOtptActHgh)?LOW:HIGH);
       pinMode(prdCyclIsOnOtpt.gpioOtptPin, OUTPUT);
    }
    else if((prdCyclIsOnOtpt.gpioOtptPin > _maxValidPinNum)){
       Error_Handler();
    }
    pinMode(ltchRlsIsOnOtpt.gpioOtptPin, OUTPUT); // Setting the main activation output pin to OUTPUT mode
    //------------------------->> LimbsSftyLnFSwtch output pins configuration END
    for(;;){
       xReturned = xTaskNotifyWait(
          0x00,	//uint32_t ulBitsToClearOnEntry
          0xFFFFFFFF,	//uint32_t ulBitsToClearOnExit,
          &swtcSttsRcvd,	// uint32_t *pulNotificationValue,
          portMAX_DELAY  //TickType_t xTicksToWait
       );
       if (xReturned != pdPASS)
          Error_Handler();
 
       lsSwtchStts = lssOtptsSttsUnpkg(swtcSttsRcvd);
 
       if(digitalRead(ltchRlsIsOnOtpt.gpioOtptPin) != ((lsSwtchStts.ltchRlsIsOn == ltchRlsIsOnOtpt.gpioOtptActHgh)?HIGH:LOW))
          digitalWrite(ltchRlsIsOnOtpt.gpioOtptPin, (lsSwtchStts.ltchRlsIsOn == ltchRlsIsOnOtpt.gpioOtptActHgh)?HIGH:LOW);
 
       if(prdCyclIsOnOtpt.gpioOtptPin != _InvalidPinNum){
          if(digitalRead(prdCyclIsOnOtpt.gpioOtptPin) != ((lsSwtchStts.prdCyclIsOn == prdCyclIsOnOtpt.gpioOtptActHgh)?HIGH:LOW))
             digitalWrite(prdCyclIsOnOtpt.gpioOtptPin, (lsSwtchStts.prdCyclIsOn == prdCyclIsOnOtpt.gpioOtptActHgh)?HIGH:LOW);
       }
    }
 }
 //===============================>> User Tasks Implementations END
 
 //===============================>> User Functions Implementations BEGIN
 /**
  * @brief Error Handling function
  * 
  * Placeholder for a Error Handling function, in case of an error the execution
  * will be trapped in this endless loop
  */
 void Error_Handler(){
   for(;;)
   {    
   }
   
   return;
 }
 //===============================>> User Functions Implementations END