#include "plt.h"

static struct state_t sdcs_states[] = {
    { SMST_LAUNCH, "launch" },
    { SMST_READY, "ready" },
    { SMST_ERR, "err" },
};

static struct err_t sdcs_errs[] = {
    { SDCSERR_NONE, "none" },

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

    // err
    { SDCSERR_ERR_COMMERR, "err, comm err" }, 

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

static void sdcs_sm_launch( int idx )
{
	struct sdcs_t* dev = &sdcs[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));    
        sdcs_reset_cmd(idx);
        sdcs_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));    
        sdcs_reset_cmd(idx);
        sm_set_step(sm, 10);
    }else if( sm_get_step(sm) == 10){ // wait cmd
        if( sdcs_get_cmd(idx) == CMD_SM_READY){
            log_dbg("%s, idx:%d, state:%s, step:%d, get ready cmd, chk comm state",
                            __func__, idx, sm_get_szstate(sm), sm_get_step(sm));            
            sdcs_reset_cmd(idx);
            sdcs_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, SDCSERR_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, SDCSERR_LAUNCH_COMMERR);
        }
    }
}

static void sdcs_sm_err( int idx )
{
	struct sdcs_t* dev = &sdcs[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));  
        sdcs_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( sdcs_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));            
            sdcs_reset_cmd(idx);
            sdcs_comm_reset(idx);
            sm_set_step(sm, 20);
        }else if( ts - ts_last_try > 60000 ){ // 60s
            ts_last_try = ts;
            sdcs_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, SDCSERR_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, SDCSERR_ERR_COMMERR);
        }
    }
}

static void sdcs_sm_ready( int idx )
{
	struct sdcs_t* dev = &sdcs[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, SDCSERR_READY_COMMERR);
        return;
    }
}

void sdcs_sm( int idx )
{
    struct sdcs_t* dev = &sdcs[idx];
    struct statemachine_t* sm = &dev->sm;

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

		case SMST_READY:
			sdcs_sm_ready( idx );
			break;

		case SMST_ERR:
			sdcs_sm_err( idx );
			break;
		
        default:
			log_dbg("%s, never reach here",__func__);
			break;
	}
}

int sdcs_sm_init(int idx)
{
    struct statemachine_t* sm = &sdcs[idx].sm;

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