/**************************************************************************
*
* Copyright (c) 2024-2024 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    TaskGeneral.c
*
* @author  (last)      Sean
* @date    (last)      30-Jul-2024
*
* @author  (original)  Sean
* @date    (original)  30-Jul-2024
*
***************************************************************************/

#include "AirPump.h"
#include "AirTrap.h"
#include "BloodFlow.h"
#include "Ejector.h"
#include "Messaging.h"
#include "OperationModes.h"
#include "Pressures.h"
#include "Switches.h"
#include "SystemCommTD.h"
#include "TaskGeneral.h"
#include "Valves.h"
#include "Voltages.h"
#include "WatchdogMgmt.h"

#ifdef TEST_AIR_TRAP_ALPHA_TESTING
#include "GLXferPump.h"
#include "LevelSensors.h"
#include "Valve3Way.h"
#endif

#ifdef TEST_PINCH_VALVES
#include "FpgaTD.h"
#include "LevelSensors.h"
#endif

/**
 *  @addtogroup TaskGeneral
 *  @{
 */

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


/*********************************************************************//**
 * @brief
 * The taskGeneral function handles the scheduled General Task interrupt.
 * Calls the executive functions for most monitors and controllers, the
 * operation modes, the system communications, and alarms.
 * @details \b Inputs: none
 * @details \b Outputs: Executive functions running in general task are called.
 * @return none
 *************************************************************************/
void taskGeneral( void )
{
#ifdef TASK_TIMING_OUTPUT_ENABLED
    // Set GPIO high to indicate general task has begun executing
    setCPLDLampGreen( PIN_SIGNAL_HIGH );
#endif

    // Check in with watchdog manager
    checkInWithWatchdogMgmt( TASK_GENERAL );  // Do this first to keep timing consistent with watchdog management

    // Manage data received from other sub-systems
#ifndef TEST_AIR_TRAP_ALPHA_TESTING
#ifndef TEST_PINCH_VALVES
    execSystemCommRx();
#endif
#endif

    // Prevent most processing until UI has started communicating or if DG is active and alarm (ALARM_ID_HD_UI_COMM_POST_FAILED) is raised
    // proceed to further operations since UI likely failed to come up.
    if ( ( TRUE == uiCommunicated() ) ||
         ( ( FALSE == isOnlyCANNode() ) && ( TRUE == isAlarmActive( ALARM_ID_TD_UI_COMM_POST_FAILED ) ) ) )
    {
        // Monitor voltages
        execVoltagesMonitor();

        // Monitor DD
//        execDDInterfaceMonitor();

        // Monitor pressure sensors
        execPressure();

        // Monitor switches
        execSwitches();

        // Monitor temperatures
//        execTemperatures();

        // Monitor processor RAM status
//        execRAMMonitor();

        // Monitor blood pump/flow
        execBloodFlowMonitor();

        // Run operation mode state machine
        execOperationModes();

        // Control air trap valve
        execAirTrapController();

        // Control pinch valves
        execValvesController();

        // Control ejector
        execEjectorController();

        // Control blood pump
        execBloodFlowController();

        // Control Air Pump
        execAirPumpController();

        // Monitor/Control fan
//        execFan();

        // Manage NVDataMgmt process record state machine
//        execNVDataMgmtProcessRecord();

        // Manage alarm state
        execAlarmMgmt();

        // Manage data to be transmitted to other sub-systems
        execSystemCommTx();
    }

    // ****************** Start Air Trap Test Code ************************

#ifdef TEST_PINCH_VALVES
#if 0
    static BOOL vlvCmd = FALSE;
    S16 pos = getH19EncoderPosition();

    readValves();
    // Get level sensor data
    readAirTrapLevelSensors();
    if ( TRUE == vlvCmd )
    {
        setValveCmdChangePosition( H1_VALV, 500, MOTOR_DIR_FORWARD );  // s/b ~30 deg
        //setValveCmdChangePosition( H19_VALV, 2000, MOTOR_DIR_FORWARD );
        vlvCmd = FALSE;
    }
#endif
#if 1
    {
        static BOOL homeValveCmd = FALSE;
        static BOOL setValvePos = FALSE;
        static VALVE_POSITION_T setPos = VALVE_POSITION_A_INSERT_EJECT;  // VALVE_POSITION_B_OPEN VALVE_POSITION_C_CLOSE VALVE_POSITION_A_INSERT_EJECT

        execValvesController();

        if ( TRUE == homeValveCmd )
        {
            homeValve( H1_VALV, FALSE, FALSE );
            homeValveCmd = FALSE;
        }
        if ( TRUE == setValvePos )
        {
            setValvePosition( H1_VALV, setPos );
            setValvePos = FALSE;
        }
    }
#endif
#endif

#ifdef TEST_AIR_TRAP_ALPHA_TESTING
#if 0
    {
        static U32 tmpCtr = 0;

        ++tmpCtr;
        if ( tmpCtr == ( 5 * 20 ) )
        {
            setAirPumpMotorPower( 250 );
            set3WayValveState( H13_VALV, VALVE_3WAY_COMMON_TO_OPEN_STATE );
        }
        else if ( tmpCtr == ( 10 * 20 ) )
        {
            setAirPumpMotorPower( 0 );
            set3WayValveState( H13_VALV, VALVE_3WAY_COMMON_TO_CLOSED_STATE );
        }
        else if ( tmpCtr == ( 15 * 20 ) )
        {
            setAirPumpMotorPower( 250 );
            set3WayValveState( H20_VALV, VALVE_3WAY_COMMON_TO_OPEN_STATE );
        }
        else if ( tmpCtr >= ( 20 * 20 ) )
        {
            setAirPumpMotorPower( 0 );
            set3WayValveState( H20_VALV, VALVE_3WAY_COMMON_TO_CLOSED_STATE );
            tmpCtr = 0;
        }
    }
#endif
#if 1
    static U32 ctr = 0;
    static U32 sta = 0;
    static BOOL start = TRUE;
    static BOOL bpStart = FALSE;
    static BOOL bpStop = FALSE;

    if ( FALSE == bpStart )
    {
        setBloodPumpTargetRPM( 1200, MOTOR_DIR_FORWARD );
//        homeEjector();
//        retractEjector();
        bpStart = TRUE;
    }
    if ( TRUE == bpStop )
    {
        signalBloodPumpHardStop();
        setAirPumpState( AIR_PUMP_STATE_ON, AIR_PUMP_MOTOR_OFF );
        set3WayValveState( H13_VALV, VALVE_3WAY_COMMON_TO_CLOSED_STATE );
        set3WayValveState( H20_VALV, VALVE_3WAY_COMMON_TO_CLOSED_STATE );
        bpStop = FALSE;
    }

    // Get level sensor data
    readAirTrapLevelSensors();
    execSwitches();
   // Control blood pump
    execBloodFlowMonitor();
    execBloodFlowController();
    execEjectorController();
    execAirPumpController();

    switch ( sta )
    {
    case 0:
        set3WayValveState( H13_VALV, VALVE_3WAY_COMMON_TO_CLOSED_STATE );
        set3WayValveState( H20_VALV, VALVE_3WAY_COMMON_TO_CLOSED_STATE );
        setAirPumpState( AIR_PUMP_STATE_ON, AIR_PUMP_MOTOR_OFF );

        if ( TRUE == start )
        {
            sta = 1;
            // lower the level
            set3WayValveState( H13_VALV, VALVE_3WAY_COMMON_TO_OPEN_STATE );
            setAirPumpState( AIR_PUMP_STATE_ON, 250 );
        }
        break;
    case 1:
        // look for air at low level and stop
        if ( AIR_TRAP_LEVEL_AIR == getRawLevelSensorState( H16_LEVL ) )
        {
            // stop lowering level
            set3WayValveState( H13_VALV, VALVE_3WAY_COMMON_TO_CLOSED_STATE );
            setAirPumpState( AIR_PUMP_STATE_OFF, AIR_PUMP_MOTOR_OFF );
            ctr = 0;
            sta = 2;
        }
        break;
    case 2:
#if 1
        // stay low for 5 sec
        if ( ++ctr > ( 5 * 20 ) )
        {
            // raise the level
            set3WayValveState( H20_VALV, VALVE_3WAY_COMMON_TO_OPEN_STATE );
            setAirPumpState( AIR_PUMP_STATE_ON, 25 );
            sta = 3;
        }
#endif
        break;
    case 3:
        // look for fluid at high level and stop
        if ( AIR_TRAP_LEVEL_FLUID == getRawLevelSensorState( H16_LEVL ) )
        {
            // stop raising level
            set3WayValveState( H20_VALV, VALVE_3WAY_COMMON_TO_CLOSED_STATE );
            setAirPumpState( AIR_PUMP_STATE_OFF, AIR_PUMP_MOTOR_OFF );
            ctr = 0;
            sta = 4;
        }
        break;
    case 4:
#if 0
        // look for air at high level
        if ( AIR_TRAP_LEVEL_AIR == getRawLevelSensorState( H16_LEVL ) )
        {
            // start raising level
            set3WayValveState( H20_VALV, VALVE_3WAY_COMMON_TO_OPEN_STATE );
            setAirPumpState( AIR_PUMP_STATE_ON, 100 );
            sta = 3;
        }
#endif
#if 1
        // stay high for 5 sec
        if ( ++ctr > ( 5 * 20 ) )
        {
            // lower the level
            set3WayValveState( H13_VALV, VALVE_3WAY_COMMON_TO_OPEN_STATE );
            setAirPumpState( AIR_PUMP_STATE_ON, 100 );
            sta = 1;
        }
#endif
        break;
    default:
        sta = 0;
        break;
    }
#endif
#endif
    // ******************* End Air Trap Test Code *************************

#ifdef TASK_TIMING_OUTPUT_ENABLED
    // Set GPIO low to indicate general task has finished executing
    setCPLDLampGreen( PIN_SIGNAL_LOW );
#endif
}

/**@}*/