#include "plt.h"
#include "adl200.h"
#include "adl200_sm.h"
static struct state_t adl200_states[] = {
    { SMST_LAUNCH, "launch" },
    { SMST_READY, "ready" },
    { SMST_ERR, "err" },
};

static struct err_t adl200_errs[] = {
    { adl200ERR_NONE, "none" },

    // launch
    { adl200ERR_LAUNCH_COMMERR, "launch, comm err" }, 

    // ready
    { adl200ERR_READY_COMMERR, "ready, comm err" },   

    // err
    { adl200ERR_ERR_COMMERR, "err, comm err" },           
};

int adl200_sm_init(int idx)
{
    struct statemachine_t* sm = &adl200[idx].sm;

    sm_reset_timing(sm, 1, 1);
    sm->states = adl200_states;
    sm->state_nbr = sizeof(adl200_states)/sizeof(struct state_t);
    sm->errs = adl200_errs;
    sm->err_nbr = sizeof(adl200_errs)/sizeof(struct err_t);
    sm_set_state( sm, SMST_LAUNCH, adl200ERR_NONE );
    
    return 0;
}

static void adl200_sm_launch( int idx )
{
	struct adl200_t* dev = &adl200[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));     
        adl200_reset_cmd(idx);
        adl200_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, adl200ERR_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, adl200ERR_LAUNCH_COMMERR);
        }
    }
}

static void adl200_sm_err( int idx )
{
	struct adl200_t* dev = &adl200[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
        log_dbg("%s, idx:%d, state:%s, step:%d, entry", __func__, idx, sm_get_szstate(sm), sm_get_step(sm));     
        adl200_reset_cmd(idx);
        sm_set_step(sm, 10);
        sm_set_count(sm, 0);
        ts_last_try = sm_get_timeofday();
    }else if( sm_get_step(sm) == 10){ // wait cmd
        ts = sm_get_timeofday();
        if( adl200_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));            
            adl200_reset_cmd(idx);
            adl200_comm_reset(idx);
            sm_set_step(sm, 20);
        }else if( ts - ts_last_try > 60000 ){ // 60s
            ts_last_try = ts;
            adl200_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, adl200ERR_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, adl200ERR_ERR_COMMERR);
        }
    }
}

static void adl200_sm_ready( int idx )
{
	struct adl200_t* dev = &adl200[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, adl200ERR_READY_COMMERR);
        return;
    }
}

void adl200_sm( int idx )
{
    struct adl200_t* dev = &adl200[idx];
    struct statemachine_t* sm = &dev->sm;

    sm_cal_timing(sm);
       
	switch(sm_get_state( sm ))
	{
		case SMST_LAUNCH:
			adl200_sm_launch( idx );
			break;

		case SMST_READY:
			adl200_sm_ready( idx );
			break;

		case SMST_ERR:
			adl200_sm_err( idx );
			break;            

		default:
			log_dbg("%s, never reach here",__func__);
			break;

	}
}