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- #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;
- }
- }
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