#include "plt.h"
#include "rs311_comm.h"
#include "rs311.h"
#include "rs311_sm.h"
static struct state_t rs311_states[] = {
    {SMST_LAUNCH, "launch"},
    {SMST_READY, "ready"},
    {SMST_ERR, "err"},
};

static struct err_t rs311_errs[] = {
    {RS311_NONE, "none"},

    // launch
    {RS311_LAUNCH_COMMERR, "launch, comm err"},

    // err
    {RS311_ERR_COMMERR, "err comm err"},

    // ready
    {RS311_READY_COMMERR, "ready comm err"},
};

int rs311_sm_init(int idx)
{
    struct statemachine_t *sm = &rs311[idx].sm;

    sm_reset_timing(sm, 1, 1);
    sm->states = rs311_states;
    sm->state_nbr = sizeof(rs311_states) / sizeof(struct state_t);
    sm->errs = rs311_errs;
    sm->err_nbr = sizeof(rs311_errs) / sizeof(struct err_t);
    sm_set_state(sm, SMST_LAUNCH, RS311_NONE);

    return 0;
}

static void rs311_sm_launch(int idx)
{
    struct rs311_t *dev = &rs311[idx];
    struct comm_t *comm = &dev->comm;
    struct statemachine_t *sm = &dev->sm;

    if (sm_get_step(sm) == 0)
    { // entry
        log_dbg("%s, idx:%d, state:%s, step:%d, entry", __func__, idx, sm_get_szstate(sm), sm_get_step(sm));
        rs311_reset_cmd(idx);
        rs311_comm_reset(idx);
        sm_set_step(sm, 20);
    }
    /*
    if( sm_get_step(sm) == 0 ){ // entry
        log_dbg("%s, idx:%d, state:%s, step:%d, entry", __func__, idx, sm_get_szstate(sm), sm_get_step(sm));
        rs311_reset_cmd(idx);
        sm_set_step(sm, 10);
    }else if( sm_get_step(sm) == 10){ // wait cmd
        if( rs311_get_cmd(idx) == CMD_SM_READY){
            log_dbg("%s, idx:%d, state:%s, step:%d, get ready cmd, try to comm",
                            __func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            rs311_reset_cmd(idx);
            rs311_comm_reset(idx);
            sm_set_step(sm, 20);
        }
    }*/
    else if (sm_get_step(sm) == 20)
    { // chk comm state
        if (comm_get_state(comm) == COMMST_NORMAL)
        {
            log_dbg("%s, idx:%d, state:%s, step:%d, comm ok, goto ready",
                    __func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            sm_set_state(sm, SMST_READY, RS311_NONE);
        }
        else
        {
            log_dbg("%s, idx:%d, state:%s, step:%d, comm err, goto err",
                    __func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            sm_set_state(sm, SMST_ERR, RS311_LAUNCH_COMMERR);
        }
    }
}

static void rs311_sm_err(int idx)
{
    struct rs311_t *dev = &rs311[idx];
    struct comm_t *comm = &dev->comm;
    struct statemachine_t *sm = &dev->sm;
    static double ts_last_try;
    double ts;

    if (sm_get_step(sm) == 0)
    { // entry
        rs311_reset_cmd(idx);
        sm_set_step(sm, 10);
        ts_last_try = sm_get_timeofday();
    }
    else if (sm_get_step(sm) == 10)
    { // wait cmd
        ts = sm_get_timeofday();
        if (rs311_get_cmd(idx) == CMD_SM_READY)
        {
            log_dbg("%s, idx:%d, state:%s, step:%d, get ready cmd, try to comm",
                    __func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            rs311_reset_cmd(idx);
            rs311_comm_reset(idx);
            sm_set_step(sm, 20);
        }
        else if (ts - ts_last_try > 60000)
        { // 60s
            ts_last_try = ts;
            rs311_comm_reset(idx);
            sm_set_step(sm, 20);
        }
    }
    else if (sm_get_step(sm) == 20)
    { // chk comm state
        if (comm_get_state(comm) == COMMST_NORMAL)
        {
            log_dbg("%s, idx:%d, state:%s, step:%d, comm ok, goto ready", __func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            sm_set_state(sm, SMST_READY, RS311_NONE);
        }
        else
        {
            log_dbg("%s, idx:%d, state:%s, step:%d, comm err, stay err", __func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            sm_set_state(sm, SMST_ERR, RS311_ERR_COMMERR);
        }
    }
}

static void rs311_sm_ready(int idx)
{
    struct rs311_t *dev = &rs311[idx];
    struct comm_t *comm = &dev->comm;
    struct statemachine_t *sm = &dev->sm;

    /* chk comm state */
    if (comm_get_state(comm) != COMMST_NORMAL)
    {
        log_dbg("%s, idx:%d, state:%s, step:%d, comm err detected, goto err",
                __func__, idx, sm_get_szstate(sm), sm_get_step(sm));
        sm_set_state(sm, SMST_ERR, RS311_READY_COMMERR);
        return;
    }
}

void *rs311_sm(int idx)
{
    struct rs311_t *dev = &rs311[idx];
    struct statemachine_t *sm = &dev->sm;

    sm_cal_timing(sm);

    switch (sm_get_state(sm))
    {
    case SMST_LAUNCH:
        rs311_sm_launch(idx);
        break;

    case SMST_READY:
        rs311_sm_ready(idx);
        break;

    case SMST_ERR:
        rs311_sm_err(idx);
        break;

    default:
        log_dbg("%s unknown state : %d", __func__, sm_get_state(sm));
        break;
    }
}