ctnd/platform/device/pcs/ies/ies1000_sm.c

#include "plt.h"

static struct state_t ies1000_states[] = {
    { SMST_LAUNCH, "launch" },
    { SMST_STDBY, "stdby" },
    { SMST_STOP, "stop" },
    { SMST_READY, "ready" },
    { SMST_DHG, "dhg" },
    { SMST_CHG, "chg" },
    { SMST_OFFGRID, "offgrid" },
    { SMST_ERR, "err" },
};

static struct err_t ies1000_errs[] = {
    {IES1000ERR_NONE, "none"},

    // launch IES1000ERR_LAUNCH_COMMERR
    {IES1000ERR_LAUNCH_COMMERR, "launch, comm err"},

    // err
    {IES1000ERR_ERR_COMMERR, "err, comm err"},
    {IES1000ERR_ERR_PWRUP, "err, pwrup"},
    
    // stdby
    {IES1000ERR_STDBY_COMMERR, "stdby, comm err"},
    {IES1000ERR_STDBY_CHK_DEVAPS0_FAIL_AFTER_SET, "stdby, chk aps = 0 fail"},
    {IES1000ERR_STDBY_CHK_STOP_FAIL_AFTER_SET, "stdby, chk stop fail"},
    {IES1000ERR_STDBY_WAIT_STOP_TIMEOUT, "stdby, wait stop timeout"},
    {IES1000ERR_STDBY_WAIT_RUN_TIMEOUT, "stdby, wait run state timeout"},
    {IES1000ERR_STDBY_UNKOWN_RUNSTAT, "stdby, unknown run state"},

    // stop
    {IES1000ERR_STOP_COMMERR, "stop, comm err"},
    {IES1000ERR_STOP_NONE_STOP_DETECTED, "stop, none stop run state detected"},
    {IES1000ERR_STOP_CHK_DEVAPS0_FAIL_AFTER_SET, "stop, chk dev aps = 0 fail"},
    {IES1000ERR_STOP_WAIT_IDLE_TIMEOUT, "stop, wait idle timeout"},
    {IES1000ERR_STOP_WAIT_RUNMOD_OFFGRID_TIMEOUT, "stop, wait run mod = offgrid timeout"},
    
    
    // ready
    {IES1000ERR_READY_COMMERR, "ready, comm err"},
    {IES1000ERR_READY_WAIT_STOP_TIMEOUT, "ready, wait stop timeout"},
    {IES1000ERR_READY_WAIT_RUN4DHG_TIMEOUT, "ready, wait run state for dhg timeout"},
    {IES1000ERR_READY_WAIT_AP4DHG_TIMEOUT, "ready, wait ap for dhg timeout"},
    {IES1000ERR_READY_WAIT_RUN4CHG_TIMEOUT, "ready, wait run state for chg timeout"},
    {IES1000ERR_READY_WAIT_AP4CHG_TIMEOUT, "ready, wait ap for chg tiemout"},
    {IES1000ERR_READY_NONIDLE_DETECTED, "ready, non idle state detected"},
    {IES1000ERR_READY_SET_DEVAPS_FAIL, "ready, set dev aps fail"},
    {IES1000ERR_READY_SEND_STARTCMD_FAIL, "ready, send startcmd fail"},
    {IES1000ERR_READY_WAIT_RUNMOD_OFFGRID_FOR_OFFGRID_TIMEOUT, "ready, wait run mode = offgrid for offgrid timeout"},
    {IES1000ERR_READY_WAIT_IDLE_FOR_OFFGRID_TIMEOUT, "ready, wait idle for offgrid timeout"},
    {IES1000ERR_READY_WAIT_TARGET_VOLTAGE_FOR_OFFGRID_TIMEOUT, "stop, wait target voltage for offgrid timeout"},   
    {IES1000ERR_READY_WAIT_RUNMOD_ONGRID_FOR_DHG_TIMEOUT, "ready, wait runmod = ongrid for dhg timeout"}, 
    {IES1000ERR_READY_WAIT_RUNMOD_ONGRID_FOR_CHG_TIMEOUT, "ready, wait runmod = ongrid for chg timeout"}, 
    
    // dhg
    {IES1000ERR_DHG_COMMERR, "dhg, comm err"},
    {IES1000ERR_DHG_WAIT_DEVAPS0_TIMEOUT, "dhg, wait dev aps = 0 timeout"},
    {IES1000ERR_DHG_WAIT_AP0_TIMEOUT, "dhg, wait ap = 0 timeout"},    
    {IES1000ERR_DHG_NONDHG_DETECTED, "dhg, non-dhg detected"},  
    {IES1000ERR_DHG_WAIT_DEVAPS0_FOR_READYCMD_TIMEOUT, "dhg, wait devaps=0 for readycmd timeout"},  
    {IES1000ERR_DHG_WAIT_AP0_FOR_READYCMD_TIMEOUT, "dhg, wait ap=0 for readycmd timeout"},  
    {IES1000ERR_DHG_WAIT_RUNSTATE_IDLE_FOR_READYCMD_TIMEOUT, "dhg, wait run state=idle for readycmd timeout"},  

    // chg
    {IES1000ERR_CHG_COMMERR, "chg, comm err"},
    {IES1000ERR_CHG_WAIT_DEVAPS0_TIMEOUT, "chg, wait dev aps = 0 timeout"},
    {IES1000ERR_CHG_WAIT_AP0_TIMEOUT, "chg, wait ap = 0 timeout"},  
    {IES1000ERR_CHG_NONCHG_DETECTED, "chg, non-chg detected"},     
    {IES1000ERR_CHG_WAIT_DEVAPS0_FOR_READYCMD_TIMEOUT, "chg, wait devaps=0 for readycmd timeout"},  
    {IES1000ERR_CHG_WAIT_AP0_FOR_READYCMD_TIMEOUT, "chg, wait ap=0 for readycmd timeout"},  
    {IES1000ERR_CHG_WAIT_RUNSTATE_IDLE_FOR_READYCMD_TIMEOUT, "chg, wait run state=idle for readycmd timeout"},  

    // offgrid
    {IES1000ERR_OFFGRID_ERRSTAT_DETECTED, "offgrid, err state detected"},
    {IES1000ERR_OFFGRID_NON_DHGCHG_DETECTED, "offgrid, non dhg chg state detected"},   
};

int ies1000_sm_init(int idx)
{
    struct statemachine_t* sm = &ies1000[idx].sm;

    sm_reset_timing(sm, 10, 10);
    sm->states = ies1000_states;
    sm->state_nbr = sizeof(ies1000_states)/sizeof(struct state_t);
    sm->errs = ies1000_errs;
    sm->err_nbr = sizeof(ies1000_errs)/sizeof(struct err_t);
    sm_set_state( sm, SMST_LAUNCH, IES1000ERR_NONE );
    
    return 0;
}

static void ies1000_sm_launch( int idx )
{
    struct ies1000_t* dev = &ies1000[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));
        ies1000_reset_cmd(idx);
        ies1000_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));
        ies1000_reset_cmd(idx);
        sm_set_step(sm, 10);
    }else if( sm_get_step(sm) == 10 ){ // wait cmd
        if( ies1000_get_cmd(idx) == CMD_SM_STDBY){ // stdby cmd
            log_dbg("%s, idx:%d, state:%s, step:%d, get stdby cmd, reset comm then chk",
                                        __func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            ies1000_reset_cmd(idx);
            ies1000_comm_reset(idx);
            sm_set_step(sm, 20);
         }
    }*/else if( sm_get_step(sm) == 20 ){
        if( comm_get_state(comm) == COMMST_NORMAL){
            log_dbg("%s, idx:%d, state:%s, step:%d, comm ok, goto stdby",
                                        __func__, idx,sm_get_szstate(sm), sm_get_step(sm));
            sm_set_state(sm, SMST_STDBY, IES1000ERR_NONE);
        }else{
            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, IES1000ERR_LAUNCH_COMMERR);            
        }
    }
}

static void ies1000_sm_err( int idx )
{
    struct ies1000_t* dev = &ies1000[idx];
    struct comm_t* comm = &ies1000[idx].comm;
    struct statemachine_t* sm = &ies1000[idx].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));
        ies1000_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( ies1000_get_cmd(idx) == CMD_SM_STDBY){ // stdby cmd
            log_dbg("%s, idx:%d, state:%s, step:%d, get stdby cmd, reset comm then chk",
                                        __func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            ies1000_reset_cmd(idx);
            ies1000_comm_reset(idx);
            sm_set_step(sm, 20);
         }else if( comm_get_state(comm) != COMMST_NORMAL && (ts - ts_last_try > 60000) ){ // 60s
            log_dbg("%s, idx:%d, state:%s, step:%d,comm:%s,reset comm",
                                        __func__, idx, sm_get_szstate(sm), sm_get_step(sm),comm_get_state_str(comm));
            ts_last_try = ts;
            ies1000_comm_reset(idx);
        }
    }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 stdby",
                                        __func__, idx,sm_get_szstate(sm), sm_get_step(sm));
            sm_set_state(sm, SMST_STDBY, IES1000ERR_NONE);
        }else{
            log_dbg("%s, idx:%d, state:%s, step:%d, comm err detected, stay err",
                                        __func__, idx,sm_get_szstate(sm), sm_get_step(sm));
            sm_set_state(sm, SMST_ERR, IES1000ERR_ERR_COMMERR);            
        }
    }
}

static void ies1000_sm_stdby( int idx )
{
    struct ies1000_t* dev = &ies1000[idx];
    struct comm_t* comm = &ies1000[idx].comm;
    struct statemachine_t* sm = &ies1000[idx].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, IES1000ERR_STDBY_COMMERR);
        return;
    }

    if( sm_get_step(sm) == 0 ){ /* entry */
        ies1000_reset_cmd(idx);
        sm_set_step(sm, 10);
    }else if( sm_get_step(sm) == 10 ){ /* wait cmd */ 
        if( ies1000_get_cmd(idx) == CMD_SM_STOP ){ /* stop cmd */
            log_dbg("%s, idx:%d, state:%s, step:%d, get stop cmd, chk devaps = 0 ?",__func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            ies1000_reset_cmd(idx);
            sm_set_step(sm, 20);
        }
    }else if( sm_get_step(sm) == 20 ){ /* chk devaps = 0 ? */
        if( ies1000_get_dev_aps(idx) != 0 ){
            log_dbg("%s, idx:%d, state:%s, step:%d, devaps != 0 detected, set it to 0, wait and chk",__func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            ies1000_set_dev_aps(idx, 0);
            sm_set_step(sm, 30);
        }else{
            log_dbg("%s, idx:%d, state:%s, step:%d, devaps = 0 detected, chk stop state",__func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            sm_set_step(sm, 40);
        }        
    }else if( sm_get_step(sm) == 30 ){ /* wait and chk devaps = 0 */
        if( ies1000_get_dev_aps(idx) == 0 ){
            log_dbg("%s, idx:%d, state:%s, step:%d, devaps = 0 detected, chk stop state",__func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            sm_set_step(sm, 40);
        }else{
            log_dbg("%s, idx:%d, state:%s, step:%d, chk devaps = 0 fail after set, goto err",__func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            sm_set_state(sm, SMST_ERR, IES1000ERR_STDBY_CHK_DEVAPS0_FAIL_AFTER_SET);
        }
    }else if( sm_get_step(sm) == 40 ){ /* chk runstate = stop ? */
        if( IES1000_RUNSTAT_STOP != ies1000_get_runstat(idx) ){
            log_dbg("%s, idx:%d, state:%s, step:%d, non-stop run state detected, send stop cmd, wait and chk",__func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            ies1000_set_dev_stopcmd(idx);
            sm_set_step(sm, 50);
            sm_set_count(sm, 0);
        }else{
            log_dbg("%s, idx:%d, state:%s, step:%d, stop run state detected, goto stop",
                            __func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            sm_set_state(sm, SMST_STOP, IES1000ERR_NONE);
        }
    }else if( sm_get_step(sm) == 50 ){ /* wait run state = stop after stopcmd*/
        if( IES1000_RUNSTAT_STOP == ies1000_get_runstat(idx) ){
            log_dbg("%s, idx:%d, state:%s, step:%d, stop run state detected, goto stop",__func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            sm_set_state(sm, SMST_STOP, IES1000ERR_NONE);
        }else{
            sm_inc_count(sm);
            if( sm_get_count(sm) >= 100){
                log_dbg("%s, idx:%d, state:%s, step:%d, wait stop run state timeout, goto err",__func__, idx, sm_get_szstate(sm), sm_get_step(sm));
                sm_set_state(sm, SMST_ERR, IES1000ERR_STDBY_WAIT_STOP_TIMEOUT);
            }else{
                log_dbg("%s, idx:%d, state:%s, step:%d, waiting stop run state, count:%d",__func__, idx, sm_get_szstate(sm), sm_get_step(sm), sm_get_count(sm));
            }

        }        
    }
}

static void ies1000_sm_offgrid( int idx )
{
    struct ies1000_t* dev = &ies1000[idx];
    struct comm_t* comm = &ies1000[idx].comm;
    struct statemachine_t* sm = &ies1000[idx].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, IES1000ERR_STOP_COMMERR);
        return;
    }

    if( sm_get_step(sm) == 0 ){ // entry 
        ies1000_reset_cmd(idx);
        sm_set_step(sm, 10);
    }else if( sm_get_step(sm) == 10 ){ // wait cmd and chk 
        if( ies1000_get_cmd(idx) == CMD_SM_READY ){ // ready cmd
            log_dbg("%s, idx:%d, state:%s, step:%d, get ready cmd, set dev idlecmd, goto ready",__func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            ies1000_reset_cmd(idx);
            ies1000_set_dev_idlecmd(idx);
            sm_set_state(sm, SMST_READY, IES1000ERR_NONE);
        }else if( ies1000_get_errstat(idx) != 0){
            log_dbg("%s, idx:%d, state:%s, step:%d, err state detected, goto err",__func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            sm_set_state(sm, SMST_ERR, IES1000ERR_OFFGRID_ERRSTAT_DETECTED);
        }else if( ies1000_get_runstat(idx) != IES1000_RUNSTAT_CHG && ies1000_get_runstat(idx) != IES1000_RUNSTAT_DHG){
            log_dbg("%s, idx:%d, state:%s, step:%d, non dhg chg run state detected, goto err",__func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            sm_set_state(sm, SMST_ERR, IES1000ERR_OFFGRID_NON_DHGCHG_DETECTED);
        }else{
        }
    }
}

static void ies1000_sm_stop( int idx )
{
    struct ies1000_t* dev = &ies1000[idx];
    struct comm_t* comm = &ies1000[idx].comm;
    struct statemachine_t* sm = &ies1000[idx].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, IES1000ERR_STOP_COMMERR);
        return;
    }

    if( sm_get_step(sm) == 0 ){ // entry 
        ies1000_reset_cmd(idx);
        ies1000_set_aps(idx, 0);
        sm_set_step(sm, 10);
    }else if( sm_get_step(sm) == 10 ){ // wait cmd and chk 
        if( ies1000_get_cmd(idx) == CMD_SM_STDBY ){ // stdby cmd
            log_dbg("%s, idx:%d, state:%s, step:%d, get stdby cmd, goto stdby",__func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            ies1000_reset_cmd(idx);
            sm_set_state(sm, SMST_STDBY, IES1000ERR_NONE);
        }else if( ies1000_get_cmd(idx) == CMD_SM_READY ){ // ready cmd
            log_dbg("%s, idx:%d, state:%s, step:%d, get ready cmd, set dev resetcmd, chk dev aps",__func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            ies1000_reset_cmd(idx);
            sm_set_step(sm, 20);
            ies1000_set_dev_resetcmd(idx);
        }else{ /* no cmd, do chking */
            if( IES1000_RUNSTAT_STOP != ies1000_get_runstat(idx) ){
                log_dbg("%s, idx:%d, state:%s, step:%d, run state != stop detected, goto err",__func__, idx, sm_get_szstate(sm), sm_get_step(sm));
                sm_set_state(sm, SMST_ERR, IES1000ERR_STOP_NONE_STOP_DETECTED);
            }            
        }
    }else if( sm_get_step(sm) == 20 ){ /* chk devaps = 0 ? */
        if( ies1000_get_dev_aps(idx) != 0 ){
            log_dbg("%s, idx:%d, state:%s, step:%d, dev aps != 0 detected, set it to 0, then chk",__func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            ies1000_set_dev_aps(idx, 0);
            sm_set_step(sm, 30);
        }else{
            log_dbg("%s, idx:%d, state:%s, step:%d, dev aps = 0 detected, set dev runmod = offgrid, wait and chk",__func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            ies1000_set_dev_runmod(idx, IES1000_RUNMOD_OFFGRID);
            sm_set_step(sm, 40);
        }        
    }else if( sm_get_step(sm) == 30 ){ /* wait and chk devaps = 0 */
        if( ies1000_get_dev_aps(idx) == 0 ){
            log_dbg("%s, idx:%d, state:%s, step:%d, dev aps = 0 detected",__func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            sm_set_step(sm, 40);
        }else{
            log_dbg("%s, idx:%d, state:%s, step:%d, chk dev aps = 0 fail, goto err",__func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            sm_set_state(sm, SMST_ERR, IES1000ERR_STOP_CHK_DEVAPS0_FAIL_AFTER_SET);
        }
    }else if( sm_get_step(sm) == 40 ){ // wait pcs runmod = offgrid
        if( IES1000_RUNMOD_OFFGRID == ies1000_get_runmod(idx) ){
            log_dbg("%s, idx:%d, state:%s, step:%d, chk pcs runmod = offgrid ok, set dev idle, wait and chk",__func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            ies1000_set_dev_idlecmd(idx);
            sm_set_step(sm, 41);
            sm_set_count(sm, 0);
        }else{
            sm_inc_count(sm);
            if( sm_get_count(sm) >= 50 ){ //2.5s
                sm_set_state(sm, SMST_ERR, IES1000ERR_STOP_WAIT_RUNMOD_OFFGRID_TIMEOUT);
                log_dbg("%s, idx:%d, state:%s, step:%d, wait run mode = offgrid timeout, goto err",
                                __func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            }else{
                log_dbg("%s, idx:%d, state:%s, step:%d, waiting run mode = offgrid, count:%d",
                                __func__, idx, sm_get_szstate(sm), sm_get_step(sm), sm_get_count(sm));
            }
        }        
    }else if( sm_get_step(sm) == 41 ){ // wait pcs idle
        if( IES1000_RUNSTAT_IDLE == ies1000_get_runstat(idx) ){
            log_dbg("%s, idx:%d, state:%s, step:%d, chk pcs idle ok, goto ready",__func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            sm_set_state(sm, SMST_READY, IES1000ERR_NONE);
        }else{
            sm_inc_count(sm);
            if( sm_get_count(sm) >= 100 ){ /* 5s */
                sm_set_state(sm, SMST_ERR, IES1000ERR_STOP_WAIT_IDLE_TIMEOUT);
                log_dbg("%s, idx:%d, state:%s, step:%d, wait idle run state timeout, goto err",
                                __func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            }else{
                log_dbg("%s, idx:%d, state:%s, step:%d, waiting idle run state, count:%d",
                                __func__, idx, sm_get_szstate(sm), sm_get_step(sm), sm_get_count(sm));
            }
        }        
    }
}


static void ies1000_sm_ready( int idx )
{
    struct ies1000_t* dev = &ies1000[idx];
    struct comm_t* comm = &ies1000[idx].comm;
    struct statemachine_t* sm = &ies1000[idx].sm;
    int aps = ies1000_get_aps(idx);
    int ap = ies1000_get_ap(idx);

    /* 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, IES1000ERR_READY_COMMERR);
        return;
    }

    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));
        ies1000_reset_cmd(idx);
        ies1000_reset_aps(idx);
        sm_set_step(sm, 10);
    }else if( sm_get_step(sm) == 10 ){ // wait and chk
        if( ies1000_get_cmd(idx) == CMD_SM_STOP){ // stop cmd
            log_dbg("%s, idx:%d, state:%s, step:%d, get stop cmd, dev stop cmd sent, wait and chk",__func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            ies1000_reset_cmd(idx);
            ies1000_set_dev_stopcmd(idx);
            sm_set_step(sm, 20);
            sm_set_count(sm, 0);
        }else if( aps > 0 ){ // new aps, prepare to dhg
            log_dbg("%s, idx:%d, state:%s, step:%d, aps > 0 detected, %d, set dev run mode = ongrid, wait and chk",
                                                    __func__, idx, sm_get_szstate(sm), sm_get_step(sm), aps);
            ies1000_set_dev_runmod(idx, IES1000_RUNMOD_ONGRID);                                        
            sm_set_step(sm, 30);
            sm_set_count(sm, 0);                                        
        }else if( aps < 0 ){ // new aps, prepare to chg
            log_dbg("%s, idx:%d, state:%s, step:%d, aps < 0 detected, %d, set dev run mode = ongrid, wait and chk",
                                                    __func__, idx, sm_get_szstate(sm), sm_get_step(sm), aps);
            ies1000_set_dev_runmod(idx, IES1000_RUNMOD_ONGRID);                                        
            sm_set_step(sm, 40);
            sm_set_count(sm, 0);    
        }else if( ies1000_get_cmd(idx) == CMD_SM_OFFGRID ){ // offgrid cmd
            log_dbg("%s, idx:%d, state:%s, step:%d, get offgrid cmd, set dev run mode = offgrid, wait and chk",__func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            ies1000_reset_cmd(idx);
            ies1000_set_dev_runmod(idx, IES1000_RUNMOD_OFFGRID);                                        
            sm_set_step(sm, 500);
            sm_set_count(sm, 0);
        }else if( ies1000_get_runstat(idx) != IES1000_RUNSTAT_IDLE){
            log_dbg("%s, idx:%d, state:%s, step:%d, run state != idle detected, %d, goto err",
                                                    __func__, idx, sm_get_szstate(sm), sm_get_step(sm), ies1000_get_runstat(idx));
            sm_set_state(sm, SMST_ERR, IES1000ERR_READY_NONIDLE_DETECTED);                                        
        }
    }else if( sm_get_step(sm) == 20){ /* wait and chk run state = stop */
        if( ies1000_get_runstat(idx) == IES1000_RUNSTAT_STOP ){
            log_dbg("%s, idx:%d, state:%s, step:%d, dev run state = stop detected, goto stop",
                            __func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            sm_set_state(sm, SMST_STOP, IES1000ERR_NONE);            
        }else{
            sm_inc_count(sm);
            if(sm_get_count(sm) >= 100){
                log_dbg("%s, idx:%d, state:%s, step:%d, wait dev run state = stop timeout, goto err",
                                        __func__, idx, sm_get_szstate(sm), sm_get_step(sm));
                sm_set_state(sm, SMST_ERR, IES1000ERR_READY_WAIT_STOP_TIMEOUT);                  
            }else{
                log_dbg("%s, idx:%d, state:%s, step:%d, waiting dev run state = stop, count:%d",
                                        __func__, idx, sm_get_szstate(sm), sm_get_step(sm), sm_get_count(sm));
            }
        }
    }else if( sm_get_step(sm) == 30 ){ // chk run mode = ongrid for dhg
        if( ies1000_get_runmod(idx) == IES1000_RUNMOD_ONGRID ){ /* chk ok */
            log_dbg("%s, idx:%d, state:%s, step:%d, chk run mode = ongrid ok, set dev aps, wait and chk to dhg",
                                                    __func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            if( ies1000_set_dev_aps(idx, aps) == 0 ){
                log_dbg("%s, idx:%d, state:%s, step:%d, set dev aps ok", __func__, idx, sm_get_szstate(sm), sm_get_step(sm));
                if( ies1000_set_dev_startcmd(idx) == 0 ){
                    log_dbg("%s, idx:%d, state:%s, step:%d, set dev startcmd ok, wait and chk run state = dhg", __func__, idx, sm_get_szstate(sm), sm_get_step(sm));
                    sm_set_step(sm, 31);
                    sm_set_count(sm, 0);
                }else{
                    log_dbg("%s, idx:%d, state:%s, step:%d, set dev startcmd fail, stopcmd sent, goto err", __func__, idx, sm_get_szstate(sm), sm_get_step(sm));
                    ies1000_set_dev_stopcmd(idx);
                    sm_set_state(sm, SMST_ERR, IES1000ERR_READY_SEND_STARTCMD_FAIL);
                }  
            }else{
                log_dbg("%s, idx:%d, state:%s, step:%d, set dev aps fail, stopcmd sent, goto err", __func__, idx, sm_get_szstate(sm), sm_get_step(sm));
                ies1000_set_dev_stopcmd(idx);
                sm_set_state(sm, SMST_ERR, IES1000ERR_READY_SET_DEVAPS_FAIL);                
            }                 
        }else{
            sm_inc_count(sm);
            if( sm_get_count(sm) >= 50 ){
                log_dbg("%s, idx:%d, state:%s, step:%d, wait run mode = ongrid for dhg timeout, goto err",__func__, idx, sm_get_szstate(sm), sm_get_step(sm));
                sm_set_state(sm, SMST_ERR, IES1000ERR_READY_WAIT_RUNMOD_ONGRID_FOR_DHG_TIMEOUT);
            }else{
                log_dbg("%s, idx:%d, state:%s, step:%d, waiting run mode = ongrid for dhg, count:%d",
                                                    __func__, idx, sm_get_szstate(sm), sm_get_step(sm), sm_get_count(sm));
            }
        }
    }else if( sm_get_step(sm) == 31 ){ // chk run state = dhg
        if( ies1000_get_runstat(idx) == IES1000_RUNSTAT_DHG ){ /* chk ok */
            log_dbg("%s, idx:%d, state:%s, step:%d, chk runstate = dhg ok, chk ap",
                            __func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            sm_set_step(sm, 32);
            sm_set_count(sm, 0);                   
        }else{
            sm_inc_count(sm);
            if( sm_get_count(sm) >= 100 ){
                log_dbg("%s, idx:%d, state:%s, step:%d, wait run state for dhg timeout, goto err",__func__, idx, sm_get_szstate(sm), sm_get_step(sm));
                sm_set_state(sm, SMST_ERR, IES1000ERR_READY_WAIT_RUN4DHG_TIMEOUT);
            }else{
                log_dbg("%s, idx:%d, state:%s, step:%d, waiting run state for dhg, count:%d",
                                                    __func__, idx, sm_get_szstate(sm), sm_get_step(sm), sm_get_count(sm));
            }
        }
    }else if( sm_get_step(sm) == 32 ){ // chk ap > 0
        if( ap > 0 ){ /* chk ok */
            log_dbg("%s, idx:%d, state:%s, step:%d, ap > 0 detected, %d, goto dhg",
                            __func__, idx, sm_get_szstate(sm), sm_get_step(sm), ap);
            sm_set_state(sm, SMST_DHG, IES1000ERR_NONE);                
        }else{
            sm_inc_count(sm);
            if( sm_get_count(sm) >= 100 ){
                sm_set_state(sm, SMST_ERR, IES1000ERR_READY_WAIT_AP4DHG_TIMEOUT);
                log_dbg("%s, idx:%d, state:%s, step:%d, wait ap > 0 for dhg timeout, goto err",__func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            }else{
                log_dbg("%s, idx:%d, state:%s, step:%d, waiting ap > 0 for dhg, count:%d",
                                                    __func__, idx, sm_get_szstate(sm), sm_get_step(sm), sm_get_count(sm));
            }
        }
    }else if( sm_get_step(sm) == 40 ){ // chk run mode = ongrid for chg
        if( ies1000_get_runmod(idx) == IES1000_RUNMOD_ONGRID ){ /* chk ok */
            log_dbg("%s, idx:%d, state:%s, step:%d, run mode = ongrid detected, set dev aps, wait and chk to chg",
                                                    __func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            if( ies1000_set_dev_aps(idx, aps) == 0 ){
                log_dbg("%s, idx:%d, state:%s, step:%d, set dev aps ok", __func__, idx, sm_get_szstate(sm), sm_get_step(sm));
                if( ies1000_set_dev_startcmd(idx) == 0 ){
                    log_dbg("%s, idx:%d, state:%s, step:%d, set dev startcmd ok, wait and chk run state = chg", __func__, idx, sm_get_szstate(sm), sm_get_step(sm));
                    sm_set_step(sm, 41);
                    sm_set_count(sm, 0);
                }else{
                    log_dbg("%s, idx:%d, state:%s, step:%d, set dev startcmd fail, stopcmd sent, goto err", __func__, idx, sm_get_szstate(sm), sm_get_step(sm));
                    ies1000_set_dev_stopcmd(idx);
                    sm_set_state(sm, SMST_ERR, IES1000ERR_READY_SEND_STARTCMD_FAIL);
                }  
            }else{
                log_dbg("%s, idx:%d, state:%s, step:%d, set dev aps fail, stopcmd sent, goto err", __func__, idx, sm_get_szstate(sm), sm_get_step(sm));
                ies1000_set_dev_stopcmd(idx);
                sm_set_state(sm, SMST_ERR, IES1000ERR_READY_SET_DEVAPS_FAIL);                
            }                
        }else{
            sm_inc_count(sm);
            if( sm_get_count(sm) >= 50 ){
                log_dbg("%s, idx:%d, state:%s, step:%d, wait run mode = ongrid for chg timeout, goto err",__func__, idx, sm_get_szstate(sm), sm_get_step(sm));
                sm_set_state(sm, SMST_ERR, IES1000ERR_READY_WAIT_RUNMOD_ONGRID_FOR_CHG_TIMEOUT);
            }else{
                log_dbg("%s, idx:%d, state:%s, step:%d, waiting run mode = ongrid for chg, count:%d",
                                                    __func__, idx, sm_get_szstate(sm), sm_get_step(sm), sm_get_count(sm));
            }
        }
    }else if( sm_get_step(sm) == 41 ){ // chk run state = chg
        if( ies1000_get_runstat(idx) == IES1000_RUNSTAT_CHG ){ // chk ok 
            log_dbg("%s, idx:%d, state:%s, step:%d, dev run state = chg detected, chk ap",
                            __func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            sm_set_step(sm, 42);
            sm_set_count(sm, 0);                   
        }else{
            sm_inc_count(sm);
            if( sm_get_count(sm) >= 100 ){
                log_dbg("%s, idx:%d, state:%s, step:%d, wait run state for chg timeout, goto err",__func__, idx, sm_get_szstate(sm), sm_get_step(sm));
                sm_set_state(sm, SMST_ERR, IES1000ERR_READY_WAIT_RUN4CHG_TIMEOUT);
            }else{
                log_dbg("%s, idx:%d, state:%s, step:%d, waiting run state for chg, count:%d",
                                                    __func__, idx, sm_get_szstate(sm), sm_get_step(sm), sm_get_count(sm));
            }
        }
    }else if( sm_get_step(sm) == 42 ){ // chk ap for chg
        if( ap < 0 ){ /* chk ok */
            log_dbg("%s, idx:%d, state:%s, step:%d, ap = %d < 0 detected, goto chg",
                                                    __func__, idx, sm_get_szstate(sm), sm_get_step(sm), ap);
            sm_set_state(sm, SMST_CHG, IES1000ERR_NONE);
        }else{
            sm_inc_count(sm);
            if( sm_get_count(sm) >= 100 ){
                sm_set_state(sm, SMST_ERR, IES1000ERR_READY_WAIT_AP4CHG_TIMEOUT);
                log_dbg("%s, idx:%d, state:%s, step:%d, wait ap < 0 for chg timeout, goto err",__func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            }else{
                log_dbg("%s, idx:%d, state:%s, step:%d, waiting ap < 0 for chg, count:%d",
                                                    __func__, idx, sm_get_szstate(sm), sm_get_step(sm), sm_get_count(sm));
            }
        }
    }else if( sm_get_step(sm) == 500 ){ // wait run mode = offgrid for offgrid
        if( IES1000_RUNMOD_OFFGRID == ies1000_get_runmod(idx) ){
            log_dbg("%s, idx:%d, state:%s, step:%d, chk run mode = offgrid ok, set dev startcmd, wait and chk voltage",__func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            ies1000_set_dev_startcmd(idx);   
            sm_set_step(sm, 501);
            sm_set_count(sm, 0);
        }else{
            sm_inc_count(sm);
            if( sm_get_count(sm) >= 100 ){ // 5s
                sm_set_state(sm, SMST_ERR, IES1000ERR_READY_WAIT_RUNMOD_OFFGRID_FOR_OFFGRID_TIMEOUT);
                log_dbg("%s, idx:%d, state:%s, step:%d, wait run mode = offgrid timeout, goto err",
                                __func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            }else{
                log_dbg("%s, idx:%d, state:%s, step:%d, waiting run mode = offgrid, count:%d",
                                __func__, idx, sm_get_szstate(sm), sm_get_step(sm), sm_get_count(sm));
            }
        }   
    }else if( sm_get_step(sm) == 501 ){ // chk voltage for offgrid
        if( ies1000_get_ua(idx) > 340.0 && ies1000_get_ua(idx) < 420.0){
            log_dbg("%s, idx:%d, state:%s, step:%d, chk voltage ok, %.1f, goto offgrid",__func__, idx, sm_get_szstate(sm), sm_get_step(sm), ies1000_get_ua(idx));
            sm_set_state(sm, SMST_OFFGRID, IES1000ERR_NONE);  
        }else{
            sm_inc_count(sm);
            if( sm_get_count(sm) >= 300 ){ // 15s
                log_dbg("%s, idx:%d, state:%s, step:%d, wait voltage to 380 for offgrid timeout, goto err",__func__, idx, sm_get_szstate(sm), sm_get_step(sm));
                sm_set_state(sm, SMST_ERR, IES1000ERR_READY_WAIT_TARGET_VOLTAGE_FOR_OFFGRID_TIMEOUT);                
            }else{
                log_dbg("%s, idx:%d, state:%s, step:%d, wait target voltage for offgrid, count:%d",
                                __func__, idx, sm_get_szstate(sm), sm_get_step(sm), sm_get_count(sm));
            }
        }      
    }
}

static void ies1000_sm_dhg( int idx )
{
    struct ies1000_t* dev = &ies1000[idx];
    struct comm_t* comm = &ies1000[idx].comm;
    struct statemachine_t* sm = &ies1000[idx].sm;
    int aps = ies1000_get_aps(idx);
    int last_aps = ies1000_get_last_aps(idx);
    int ap = ies1000_get_ap(idx);

    /* 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, IES1000ERR_DHG_COMMERR);
        return;
    }  

    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));    
        sm_set_step(sm, 10);
        ies1000_reset_bsytikchk(idx);
    }else if( sm_get_step(sm) == 10 ){ // wait and chk
        if( ies1000_get_cmd(idx) == CMD_SM_READY ){ // ready cmd
            log_dbg("%s, idx:%d, state:%s, step:%d, got ready cmd, set dev aps = 0, wait and chk", 
                                            __func__,idx, sm_get_szstate(sm), sm_get_step(sm));            
            ies1000_reset_cmd(idx);
            ies1000_set_dev_aps(idx, 0);
            sm_set_step(sm, 30);
            sm_set_count(sm, 0);        
        }else if( aps <= 0 ){ // aps <= 0
            log_dbg("%s, idx:%d, state:%s, step:%d, aps <= 0 detected, %d, set dev aps = 0, wait and chk",
                                                    __func__, idx, sm_get_szstate(sm), sm_get_step(sm), aps);
            ies1000_set_dev_aps(idx, 0);
            sm_set_step(sm, 30);
            sm_set_count(sm, 0);    
        }else if( ies1000_is_aps_changed(idx) ){ // new aps, set devaps and chk
            log_dbg("%s, idx:%d, state:%s, step:%d, new aps detected, %d -> %d, set dev aps",
                                                    __func__, idx, sm_get_szstate(sm), sm_get_step(sm), last_aps, aps);
            ies1000_set_aps(idx, aps); // update last aps
            ies1000_set_dev_aps(idx, aps);
        }else if( ies1000_is_bsytikchk_timeout(idx) ){
            log_dbg("%s, idx:%d, state:%s, step:%d, bsytik timeout detected, set dev aps to 0", 
                                            __func__,idx, sm_get_szstate(sm), sm_get_step(sm));
            ies1000_set_aps(idx, 0);             
        }else if( ies1000_get_runstat(idx) != IES1000_RUNSTAT_DHG ){
            log_dbg("%s, idx:%d, state:%s, step:%d, run state != dhg detected, set dev aps to 0, goto err", 
                                            __func__,idx, sm_get_szstate(sm), sm_get_step(sm));
            ies1000_set_dev_aps(idx, 0);
            sm_set_state(sm, SMST_ERR, IES1000ERR_DHG_NONDHG_DETECTED); 
        }
    }else if( sm_get_step(sm) == 30 ){ // chk dev aps = 0 for readycmd
        if( ies1000_get_dev_aps(idx) == 0 ){
            log_dbg("%s, idx:%d, state:%s, step:%d, chk dev aps = 0 ok, wait and chk ap",
                                                    __func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            sm_set_step(sm, 31);
            sm_set_count(sm, 0);  
        }else{
            sm_inc_count(sm);
            if( sm_get_count(sm) >= 100 ){
                sm_set_state(sm, SMST_ERR, IES1000ERR_DHG_WAIT_DEVAPS0_FOR_READYCMD_TIMEOUT);
                log_dbg("%s, idx:%d, state:%s, step:%d, wait dev aps = 0 for readycmd timeout, goto err",__func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            }else{
                log_dbg("%s, idx:%d, state:%s, step:%d, waiting dev aps = 0 for readycmd, count: %d",
                                                    __func__, idx, sm_get_szstate(sm), sm_get_step(sm), sm_get_count(sm));
            }
        }
    }else if( sm_get_step(sm) == 31 ){ // chk ap = 0  for readycmd
        if(  ap < 2 && ap > -2 ){
            log_dbg("%s, idx:%d, state:%s, step:%d, chk ap ok for readycmd, %d, idlecmd sent, wait and chk run state = idle",
                                                    __func__, idx, sm_get_szstate(sm), sm_get_step(sm), ap);
            ies1000_set_dev_idlecmd(idx);
            sm_set_step(sm, 32);
            sm_set_count(sm, 0);  
        }else{
            sm_inc_count(sm);
            if( sm_get_count(sm) >= 100 ){
                log_dbg("%s, idx:%d, state:%s, step:%d, wait ap = 0 for readycmd timeout, goto err",__func__, idx, sm_get_szstate(sm), sm_get_step(sm));
                sm_set_state(sm, SMST_ERR, IES1000ERR_DHG_WAIT_AP0_FOR_READYCMD_TIMEOUT);
            }else{
                log_dbg("%s, idx:%d, state:%s, step:%d, waiting ap = 0 for readycmd, count:%d",
                                            __func__, idx, sm_get_szstate(sm), sm_get_step(sm), sm_get_count(sm));
            }
        }
    }else if( sm_get_step(sm) == 32 ){ // wait run state = idle  for readycmd
        if(  ies1000_get_runstat(idx) == IES1000_RUNSTAT_IDLE ){
            log_dbg("%s, idx:%d, state:%s, step:%d, chk run state = idle ok, goto ready",
                                                    __func__, idx, sm_get_szstate(sm), sm_get_step(sm)); 
            sm_set_state(sm, SMST_READY, IES1000ERR_NONE);
        }else{
            sm_inc_count(sm);
            if( sm_get_count(sm) >= 100 ){
                log_dbg("%s, idx:%d, state:%s, step:%d, wait run state = idle timeout, goto err",__func__, idx, sm_get_szstate(sm), sm_get_step(sm));
                sm_set_state(sm, SMST_ERR, IES1000ERR_DHG_WAIT_RUNSTATE_IDLE_FOR_READYCMD_TIMEOUT);
            }else{
                log_dbg("%s, idx:%d, state:%s, step:%d, waiting run state = idle for readycmd, count:%d",
                                            __func__, idx, sm_get_szstate(sm), sm_get_step(sm), sm_get_count(sm));
            }
        }
    }
}

static void ies1000_sm_chg( int idx )
{
    struct ies1000_t* dev = &ies1000[idx];
    struct comm_t* comm = &ies1000[idx].comm;
    struct statemachine_t* sm = &ies1000[idx].sm;
    int aps = ies1000_get_aps(idx);
    int last_aps = ies1000_get_last_aps(idx);
    int ap = ies1000_get_ap(idx);

    /* 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, IES1000ERR_CHG_COMMERR);
        return;
    }  

    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));   
        sm_set_step(sm, 10);
        ies1000_reset_bsytikchk(idx);
    }else if( sm_get_step(sm) == 10 ){ // wait and chk
        if( ies1000_get_cmd(idx) == CMD_SM_READY ){
            log_dbg("%s, idx:%d, state:%s, step:%d, got ready cmd, set dev aps = 0", 
                                            __func__,idx, sm_get_szstate(sm), sm_get_step(sm));            
            ies1000_reset_cmd(idx);
            ies1000_set_dev_aps(idx, 0);
            sm_set_step(sm, 30);
            sm_set_count(sm, 0);      
        }else if( aps >= 0 ){ // aps => 0
            log_dbg("%s, idx:%d, state:%s, step:%d, aps >= 0 detected, %d, set dev aps = 0, wait and chk",
                                                    __func__, idx, sm_get_szstate(sm), sm_get_step(sm), aps);
            ies1000_set_dev_aps(idx, 0);
            sm_set_step(sm, 30);
            sm_set_count(sm, 0);    
        }else if( ies1000_is_aps_changed(idx) ){ /* new aps, set devaps and chk */
            log_dbg("%s, idx:%d, state:%s, step:%d, new aps detected, %d -> %d, set dev aps",
                                                    __func__, idx, sm_get_szstate(sm), sm_get_step(sm), last_aps, aps);
            ies1000_set_aps(idx, aps); // update last aps
            ies1000_set_dev_aps(idx, aps);
        }else if( ies1000_is_bsytikchk_timeout(idx) ){
            log_dbg("%s, idx:%d, state:%s, step:%d, bsytik timeout detected, set dev aps to 0", 
                                            __func__,idx, sm_get_szstate(sm), sm_get_step(sm));
            ies1000_set_aps(idx, 0);             
        }else if( ies1000_get_runstat(idx) != IES1000_RUNSTAT_CHG ){
            log_dbg("%s, idx:%d, state:%s, step:%d, run state != chg detected, set dev aps to 0, goto err", 
                                            __func__,idx, sm_get_szstate(sm), sm_get_step(sm));
            ies1000_set_dev_aps(idx, 0);
            sm_set_state(sm, SMST_ERR, IES1000ERR_CHG_NONCHG_DETECTED); 
        }
    }else if( sm_get_step(sm) == 30 ){ // chk dev aps = 0 for readycmd
        if( ies1000_get_dev_aps(idx) == 0 ){
            log_dbg("%s, idx:%d, state:%s, step:%d, chk dev aps = 0 ok, wait and chk ap",
                                                    __func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            sm_set_step(sm, 31);
            sm_set_count(sm, 0);  
        }else{
            sm_inc_count(sm);
            if( sm_get_count(sm) >= 100 ){
                sm_set_state(sm, SMST_ERR, IES1000ERR_CHG_WAIT_DEVAPS0_FOR_READYCMD_TIMEOUT);
                log_dbg("%s, idx:%d, state:%s, step:%d, wait dev aps = 0 for readycmd timeout, goto err",__func__, idx, sm_get_szstate(sm), sm_get_step(sm));
            }else{
                log_dbg("%s, idx:%d, state:%s, step:%d, waiting dev aps = 0 for readycmd, count: %d",
                                                    __func__, idx, sm_get_szstate(sm), sm_get_step(sm), sm_get_count(sm));
            }
        }
    }else if( sm_get_step(sm) == 31 ){ // chk ap = 0  for readycmd
        if(  ap < 2 && ap > -2 ){
            log_dbg("%s, idx:%d, state:%s, step:%d, chk ap ok for readycmd, %d, idlecmd sent, wait and chk run state = idle",
                                                    __func__, idx, sm_get_szstate(sm), sm_get_step(sm), ap);
            ies1000_set_dev_idlecmd(idx);
            sm_set_step(sm, 32);
            sm_set_count(sm, 0);  
        }else{
            sm_inc_count(sm);
            if( sm_get_count(sm) >= 100 ){
                log_dbg("%s, idx:%d, state:%s, step:%d, wait ap = 0 for readycmd timeout, goto err",__func__, idx, sm_get_szstate(sm), sm_get_step(sm));
                sm_set_state(sm, SMST_ERR, IES1000ERR_CHG_WAIT_AP0_FOR_READYCMD_TIMEOUT);
            }else{
                log_dbg("%s, idx:%d, state:%s, step:%d, waiting ap = 0 for readycmd, count:%d",
                                            __func__, idx, sm_get_szstate(sm), sm_get_step(sm), sm_get_count(sm));
            }
        }
    }else if( sm_get_step(sm) == 32 ){ // wait run state = idle  for readycmd
        if(  ies1000_get_runstat(idx) == IES1000_RUNSTAT_IDLE ){
            log_dbg("%s, idx:%d, state:%s, step:%d, chk run state = idle ok, goto ready",
                                                    __func__, idx, sm_get_szstate(sm), sm_get_step(sm)); 
            sm_set_state(sm, SMST_READY, IES1000ERR_NONE);
        }else{
            sm_inc_count(sm);
            if( sm_get_count(sm) >= 100 ){
                log_dbg("%s, idx:%d, state:%s, step:%d, wait run state = idle timeout, goto err",__func__, idx, sm_get_szstate(sm), sm_get_step(sm));
                sm_set_state(sm, SMST_ERR, IES1000ERR_CHG_WAIT_RUNSTATE_IDLE_FOR_READYCMD_TIMEOUT);
            }else{
                log_dbg("%s, idx:%d, state:%s, step:%d, waiting run state = idle for readycmd, count:%d",
                                            __func__, idx, sm_get_szstate(sm), sm_get_step(sm), sm_get_count(sm));
            }
        }
    }
}

void ies1000_sm( int idx )
{
    struct ies1000_t* dev = &ies1000[idx];
    struct statemachine_t* sm = &dev->sm;

    sm_cal_timing(&dev->sm);

    switch( sm_get_state( sm ) ){
        case SMST_LAUNCH:
            ies1000_sm_launch( idx );
            break;

        case SMST_STDBY:
            ies1000_sm_stdby( idx );
            break;

        case SMST_STOP:
            ies1000_sm_stop( idx );
            break;

        case SMST_OFFGRID:
            ies1000_sm_offgrid( idx );
            break;            

        case SMST_READY:
            ies1000_sm_ready( idx );
            break;

        case SMST_DHG:
            ies1000_sm_dhg( idx );
            break;

        case SMST_CHG:
            ies1000_sm_chg( idx );
            break;

        case SMST_ERR:
            ies1000_sm_err( idx );
            break;            

        default:
            log_dbg("%s, unknown state, %d",__func__, ies1000_get_state( idx ));
            break;
    }
}