#include "plt.h"
#include "dlt645_sm.h"
static struct state_t dlt645_states[] = {
    { SMST_LAUNCH, "launch" },
    { SMST_READY, "ready" },
    { SMST_ERR, "err" },
};

static struct err_t dlt645_errs[] = {
    { DLT645ERR_NONE, "none" },

    // 
    { DLT645ERR_ERR_COMMERR, "err comm err" }, 

    // ready
    { DLT645ERR_READY_COMMERR, "ready comm err" },         
};

static void dlt645_sm_launch( int idx )
{
	struct dlt645_t* dev = &dlt645[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));    
        dlt645_reset_cmd(idx);
        dlt645_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));    
        dlt645_reset_cmd(idx);
        sm_set_step(sm, 10);
    }else if( sm_get_step(sm) == 10 ){ // wait cmd
        if( dlt645_get_cmd(idx) == CMD_SM_READY){ // ready cmd
            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));
            dlt645_reset_cmd(idx);
            dlt645_comm_reset(idx);
            sm_set_step(sm, 20);
         }else if( dlt645_get_cmd(idx) == CMD_SM_ACK){
             log_dbg("%s, idx:%d, state:%s, step:%d, get ack cmd", __func__,idx, sm_get_szstate(sm), sm_get_step(sm));
		    dlt645_reset_cmd(idx);
		    dlt645_read_com_ae(1);
            dlt645_read_pos_ae(1);
            dlt645_read_neg_ae(1);
            dlt645_read_com_ap(1);
            dlt645_read_ua(1);
            dlt645_read_ub(1);
            dlt645_read_uc(1);
            dlt645_read_ia(1);
            dlt645_read_ib(1);
            dlt645_read_ic(1);
		}
    }*/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, DLT645ERR_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, DLT645ERR_LAUNCH_COMMERR);
        }
    }
}


static void dlt645_sm_err( int idx )
{
	struct dlt645_t* dev = &dlt645[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
        dlt645_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( dlt645_get_cmd(idx) == CMD_SM_READY){ // ready cmd
            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));
            dlt645_reset_cmd(idx);
            dlt645_comm_reset(idx);
            sm_set_step(sm, 20);
         }else if( dlt645_get_cmd(idx) == CMD_SM_ACK){
             log_dbg("%s, idx:%d, state:%s, step:%d, get ack cmd", 
                __func__,idx, sm_get_szstate(sm), sm_get_step(sm));
		    dlt645_reset_cmd(idx);
		    dlt645_read_com_ae(1);
            dlt645_read_pos_ae(1);
            dlt645_read_neg_ae(1);
            dlt645_read_com_ap(1);
            dlt645_read_ua(1);
            dlt645_read_ub(1);
            dlt645_read_uc(1);
            dlt645_read_ia(1);
            dlt645_read_ib(1);
            dlt645_read_ic(1);
		}else if( ts - ts_last_try > 60000 ){ // 60s
            ts_last_try = ts;
            dlt645_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, DLT645ERR_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, DLT645ERR_ERR_COMMERR);
        }
    }
}


static void dlt645_sm_ready( int idx )
{
	struct dlt645_t* dev = &dlt645[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, DLT645ERR_READY_COMMERR);
        return;
    }
}

void dlt645_sm( int idx )
{
    struct dlt645_t* dev = &dlt645[idx];
    struct statemachine_t* sm = &dev->sm;

    sm_cal_timing(sm);

	switch(sm_get_state( sm )){
		case SMST_LAUNCH:
			dlt645_sm_launch( idx );
			break;
		case SMST_READY:
			dlt645_sm_ready( idx );
			break;
		case SMST_ERR:
			dlt645_sm_err( idx );
			break;            
		default:
			log_dbg("%s, never reach here",__func__);
			break;
	}
}

int dlt645_sm_init(int idx)
{
    struct statemachine_t* sm = &dlt645[idx].sm;

    sm_reset_timing(sm, 100, 100);
    sm->states = dlt645_states;
    sm->state_nbr = sizeof(dlt645_states)/sizeof(struct state_t);
    sm->errs = dlt645_errs;
    sm->err_nbr = sizeof(dlt645_errs)/sizeof(struct err_t);
    sm_set_state( sm, SMST_LAUNCH, DLT645ERR_NONE );
    
    return 0;
}