ctnd/platform/device/dido/dido_zlgmcu_sm.c

#include "dido_zlgmcu_sm.h"
#include "dido_zlgmcu.h"
#include "plt.h"

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

static struct err_t dido_zlgmcu_errs[] = {
    {zlgmcu_ERR_NONE, "none"},

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

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

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

int dido_zlgmcu_sm_init(int idx)
{
    struct statemachine_t *sm = &zlgmcu[idx].sm;

    sm_reset_timing(sm, 1, 1);
    sm->states = dido_zlgmcu_states;
    sm->state_nbr = sizeof(dido_zlgmcu_states) / sizeof(struct state_t);
    sm->errs = dido_zlgmcu_errs;
    sm->err_nbr = sizeof(dido_zlgmcu_errs) / sizeof(struct err_t);
    sm_set_state(sm, SMST_LAUNCH, zlgmcu_ERR_NONE);

    return 0;
}

static void dido_zlgmcu_sm_launch(int idx)
{
    struct dido_zlgmcu_t *dev = &zlgmcu[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));
        dido_zlgmcu_reset_cmd(idx);
        dido_zlgmcu_comm_reset(idx);
        sm_set_step(sm, 20);
    }
    else if (sm_get_step(sm) == 20)
    { // chk comm state
        sm_set_state(sm, SMST_READY, zlgmcu_ERR_NONE);
        // 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, zlgmcu_ERR_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, zlgmcu_ERR_LAUNCH_COMMERR);
        // }
    }
}

static void dido_zlgmcu_sm_err(int idx)
{
    struct dido_zlgmcu_t *dev = &zlgmcu[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));
        dido_zlgmcu_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 (dido_zlgmcu_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));
            dido_zlgmcu_reset_cmd(idx);
            dido_zlgmcu_comm_reset(idx);
            sm_set_step(sm, 20);
        }
        else if (ts - ts_last_try > 60000)
        { // 60s
            ts_last_try = ts;
            dido_zlgmcu_comm_reset(idx);
            sm_set_step(sm, 20);
        }
    }
    else if (sm_get_step(sm) == 20)
    { // chk comm state
        sm_set_state(sm, SMST_READY, zlgmcu_ERR_NONE);
        // 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, zlgmcu_ERR_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, zlgmcu_ERR_ERR_COMMERR);
        // }
    }
}

static void dido_zlgmcu_sm_ready(int idx)
{
    struct dido_zlgmcu_t *dev = &zlgmcu[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, zlgmcu_ERR_READY_COMMERR);
    //     return;
    // }
}

void dido_zlgmcu_sm(int idx)
{
    struct dido_zlgmcu_t *dev = &zlgmcu[idx];
    struct statemachine_t *sm = &dev->sm;

    sm_cal_timing(sm);

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

    case SMST_READY:
        dido_zlgmcu_sm_ready(idx);
        break;

    case SMST_ERR:
        dido_zlgmcu_sm_err(idx);
        break;

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