/**************************************************************************
*
* Copyright (c) 2024-2025 Diality Inc. - All Rights Reserved.
*
* THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN
* WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER.
*
* @file    RinsePump.c
*
* @author  (last)      Vinayakam Mani
* @date    (last)      22-Oct-2025
*
* @author  (original)  Vinayakam Mani
* @date    (original)  22-Oct-2025
*
***************************************************************************/

#include "FpgaDD.h"
#include "Messaging.h"
#include "OperationModes.h"
#include "PersistentAlarm.h"
#include "RinsePump.h"
#include "TaskGeneral.h"
#include "Timers.h"
#include "Valves.h"

/**
 *  @addtogroup RinsePump
 *  @{
 */

// ********** private definitions **********

#define RINSE_PUMP_DATA_PUB_INTERVAL            ( MS_PER_SECOND / TASK_GENERAL_INTERVAL )             ///< Rinse pump data publish interval.
#define DATA_PUBLISH_COUNTER_START_COUNT        13                                                    ///< Rinse pump data publish start counter.
#define RINSE_PUMP_OFF_COUNT                    0U                                                    ///< Rinse Pump OFF value in count
#define RINSE_PUMP_DEFAULT_PWM_PERCENT          10.0F                                                 ///< Initial Rinse pump PWM percentage
#define RINSE_PUMP_MAX_PWM_PERCENT              100.0F                                                ///< Max Rinse pump PWM percentage
#define RINSE_PUMP_PWM_IN_COUNT_MAX             255.0F                                                ///< Rinse pump max count (100% PWM = 255)
#define RINSE_PUMP_PWM_PULSE_RESOLUTION_US      10                                                    ///< Rinse pump PWM pulse resolution in 10us

// ********** private data **********

static RINSE_PUMP_STATE_T currentRinsePumpState;                                                      ///< Current rinse pump control state.
static U32 rinsePumpDataPublicationTimerCounter;                                                      ///< Rinse pump data broadcast timer counter.
static U32 rinsePumpMeasuredSpeed;                                                                    ///< Rinse pump measured speed
static OVERRIDE_F32_T rinsePumpPwmPercentage;                                                         ///< Rinse pump PWM percentage.
static OVERRIDE_U32_T rinsePumpDataPublishInterval;                                                   ///< Rinse pump data broadcast interval (in ms).

// ********** private function prototypes **********

static RINSE_PUMP_STATE_T handleRinsePumpStartState( void );
static RINSE_PUMP_STATE_T handleRinsePumpOffState( void );
static RINSE_PUMP_STATE_T handleRinsePumpOnState ( void );
static void publishRinsePumpData( void );

/*********************************************************************//**
 * @brief
 * The initRinsePump function initializes the rinse pump driver.
 * @details \b Inputs: none
 * @details \b Outputs: Rinse pump driver unit initialized
 * @return none
 *************************************************************************/
void initRinsePump(void)
{
    // Initialize controller variables
    rinsePumpDataPublicationTimerCounter    = DATA_PUBLISH_COUNTER_START_COUNT;
    currentRinsePumpState                   = RINSE_PUMP_STATE_INIT;
    rinsePumpDataPublishInterval.data       = RINSE_PUMP_DATA_PUB_INTERVAL;
    rinsePumpDataPublishInterval.ovData     = RINSE_PUMP_DATA_PUB_INTERVAL;
    rinsePumpDataPublishInterval.ovInitData = RINSE_PUMP_DATA_PUB_INTERVAL;
    rinsePumpDataPublishInterval.override   = OVERRIDE_RESET;
    rinsePumpPwmPercentage.data             = RINSE_PUMP_DEFAULT_PWM_PERCENT;
    rinsePumpPwmPercentage.ovData           = RINSE_PUMP_DEFAULT_PWM_PERCENT;
    rinsePumpPwmPercentage.ovInitData       = RINSE_PUMP_DEFAULT_PWM_PERCENT;
    rinsePumpPwmPercentage.override         = OVERRIDE_RESET;
    rinsePumpMeasuredSpeed                  = 0;
}

/*********************************************************************//**
 * @brief
 * The setRinsePumpState function sets the current rinse pump state machine state.
 * @details \b Alarm: ALARM_ID_DD_SOFTWARE_FAULT if invalid state given.
 * @details \b Inputs: currentRinsePumpState
 * @details \b Outputs: currentRinsePumpState
 * @param state Rinse pump state to set
 * @return none
 *************************************************************************/
void setRinsePumpState( RINSE_PUMP_STATE_T state )
{
    if ( state < NUM_OF_RINSE_PUMP_STATES )
    {
        currentRinsePumpState = state;
    }
    else
    {
        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_RINSE_PUMP_INVALID_STATE1, (U32)state )
    }
}

/*********************************************************************//**
 * @brief
 * The getRinsePumpState function returns the current rinse pump state machine.
 * @details \b Inputs: currentRinsePumpState
 * @details \b Outputs: none
 * @return current state of the rinse pump state machine.
 *************************************************************************/
RINSE_PUMP_STATE_T getRinsePumpState( void )
{
    return currentRinsePumpState;
}

/*********************************************************************//**
 * @brief
 * The calculateRinsePumpSpeed function calculate rinse pump speed based
 * on FPGA report pulse width value.
 * @details \b Inputs: fpgaD79PumpSpeed
 * @details \b Outputs: rinsePumpMeasuredSpeed
 * @return none.
 *************************************************************************/
void calculateRinsePumpSpeed( void )
{
    // Pulse width in 10us resolution
    U16 pumpPulseWidth      = getFPGAD79RinsePumpSpeed();
    U32 pumpSpeedPerSec     = US_PER_SECOND / ( pumpPulseWidth * RINSE_PUMP_PWM_PULSE_RESOLUTION_US );

    //Speed in RPM
    rinsePumpMeasuredSpeed  = pumpSpeedPerSec * SEC_PER_MIN;
}

/*********************************************************************//**
 * @brief
 * The execRinsePumpController function executes the rinse pump state machine.
 * @details \b Alarm: ALARM_ID_DD_SOFTWARE_FAULT if the current state is invalid.
 * @details \b Inputs: currentRinsePumpState
 * @details \b Outputs: currentRinsePumpState
 * @return none
 *************************************************************************/
void execRinsePumpController( void )
{
    switch( currentRinsePumpState )
    {
        case RINSE_PUMP_STATE_INIT:
            currentRinsePumpState = handleRinsePumpStartState();
            break;

        case RINSE_PUMP_STATE_OFF:
            currentRinsePumpState = handleRinsePumpOffState();
            break;

        case RINSE_PUMP_STATE_ON:
            currentRinsePumpState = handleRinsePumpOnState();
            break;

        default:
            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_RINSE_PUMP_INVALID_EXEC_STATE, (U32)currentRinsePumpState )
            break;
    }

    publishRinsePumpData();
}

/*********************************************************************//**
 * @brief
 * The handleRinsePumpStartState function starts the rinse pump state machine.
 * @details \b Inputs: none
 * @details \b Outputs: none
 * @return next state of the rinse pump state machine
 *************************************************************************/
static RINSE_PUMP_STATE_T handleRinsePumpStartState( void )
{
    RINSE_PUMP_STATE_T state = RINSE_PUMP_STATE_OFF;

    return state;
}

/*********************************************************************//**
 * @brief
 * The handleRinsePumpOffState function stops the rinse pump
 * @details \b Inputs: none
 * @details \b Outputs: Rinse pump motor turned off
 * @return next state of the rinse pump state machine
 *************************************************************************/
static RINSE_PUMP_STATE_T handleRinsePumpOffState( void )
{
    RINSE_PUMP_STATE_T state = RINSE_PUMP_STATE_OFF;

    if ( TRUE == getTestConfigStatus( TEST_CONFIG_ENABLE_4WIRE_RINSE_PUMP ) )
    {
        // Set PWM count zero to stop the pump
        setFPGAD79RinsePumpPWMControl( RINSE_PUMP_OFF_COUNT );
    }
    else
    {
        // Current alpha system uses valve D65 to turn on the rinse pump
        // and its just On/off control for now.
        setValveState( D65_VALV, VALVE_STATE_CLOSED );
    }

    return state;
}

/*********************************************************************//**
 * @brief
 * The handleRinsePumpOnState function starts the rinse pump
 * @details \b Inputs: none
 * @details \b Outputs: Rinse pump motor turned on.
 * @return next state of the rinse pump state machine
 *************************************************************************/
static RINSE_PUMP_STATE_T handleRinsePumpOnState( void )
{
    RINSE_PUMP_STATE_T state = RINSE_PUMP_STATE_ON;

    if ( TRUE == getTestConfigStatus( TEST_CONFIG_ENABLE_4WIRE_RINSE_PUMP ) )
    {
        F32 pwmPercent  = getF32OverrideValue( &rinsePumpPwmPercentage );
        U32 pwmInCount  = (U32)( ( pwmPercent / RINSE_PUMP_MAX_PWM_PERCENT ) * RINSE_PUMP_PWM_IN_COUNT_MAX );

        //Turn on Rinse pump with given PWM value
        setFPGAD79RinsePumpPWMControl( pwmInCount );
    }
    else
    {
        // Current alpha system uses valve D65 to turn on the rinse pump
        // and its just On/off control for now.
        setValveState( D65_VALV, VALVE_STATE_OPEN );
    }

    return state;
}

/*********************************************************************//**
 * @brief
 * The publishRinsePumpData function constructs and sends the rinse pump data
 * broadcast message.
 * @details \b Message \b Sent: MSG_ID_DD_RINSE_PUMP_DATA
 * @details \b Inputs: rinsePumpDataPublicationTimerCounter, currentRinsePumpState
 * @details \b Outputs: rinsePumpDataPublicationTimerCounter
 * @return none
 *************************************************************************/
static void publishRinsePumpData( void )
{
    if ( ++rinsePumpDataPublicationTimerCounter >= getU32OverrideValue( &rinsePumpDataPublishInterval ) )
    {
        RINSE_PUMP_PAYLOAD_T data;

        data.d79State       = getRinsePumpState();
        data.d79PumpPWM     = getF32OverrideValue( &rinsePumpPwmPercentage );
        data.d79PumpRPM     = rinsePumpMeasuredSpeed;

        broadcastData( MSG_ID_DD_RINSE_PUMP_DATA, COMM_BUFFER_OUT_CAN_DD_BROADCAST, (U08*)&data, sizeof( RINSE_PUMP_PAYLOAD_T ) );
        rinsePumpDataPublicationTimerCounter = 0;
    }
}


/*************************************************************************
 *                       TEST SUPPORT FUNCTIONS
 *************************************************************************/


/*********************************************************************//**
 * @brief
 * The testRinsePumpDataPublishIntervalOverride function overrides the interval
 * at which the DD rinse pump data is published.
 * @details \b Inputs: none
 * @details \b Outputs: rinsePumpDataPublishInterval
 * @param message Override message from Dialin which includes the interval
 * (in ms) to override the rinse pump broadcast interval to.
 * @return TRUE if override request is successful, FALSE if not
 *************************************************************************/
BOOL testRinsePumpDataPublishIntervalOverride( MESSAGE_T *message )
{
    BOOL result = u32BroadcastIntervalOverride( message, &rinsePumpDataPublishInterval, TASK_GENERAL_INTERVAL );

    return result;
}

/*********************************************************************//**
 * @brief
 * The testRinsePumpPWMPercentOverride function sets the override value
 * of the rinse pump PWM percentage.
 * @details Inputs: rinsePumpPwmPercentage (0 to 100%)
 * @details Outputs: rinsePumpPwmPercentage
 * @param message Override message from Dialin which includes the override
 * value of the rinse pump PWM percentage.
 * @return TRUE if override successful, FALSE if not
 *************************************************************************/
BOOL testRinsePumpPWMPercentOverride( MESSAGE_T *message )
{
    BOOL result = f32Override( message, &rinsePumpPwmPercentage );

    return result;
}

/**@}*/