/**************************************************************************
*
* Copyright (c) 2025-2026 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    TubeSetInstall.c
*
* @author  (last)      Praneeth Bunne
* @date    (last)      28-Apr-2026
*
* @author  (original)  Praneeth Bunne
* @date    (Original)  28-Apr-2026
*
***************************************************************************/

#include "AlarmMgmt.h"
#include "BloodFlow.h"
#include "Messaging.h"
#include "OperationModes.h"
#include "PeristalticPump.h"
#include "Switches.h"
#include "TaskGeneral.h"
#include "TDDefs.h"
#include "Timers.h"
#include "StateServices/TubeSetInstall.h"

/**
 *  @addtogroup TubeSetInstall
 *  @{
 */

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

///< BP timeout interval (ms/task time)
#define BLOOD_PUMP_TIMEOUT_INTERVAL            ( ( 10 * MS_PER_SECOND ) / TASK_GENERAL_INTERVAL )

//< Blood pump flow rate (mL/min) for Auto-Load operation
#define AUTO_LOAD_BLOOD_FLOW_RATE_ML_MIN      100U

/// Blood pump torque threshold (mN.m) above which a tube-set jam is declared
#define INSTALL_AUTO_LOAD_TORQUE_LIMIT_MNM    9999.0F    // TODO: Replace with lab characterized value

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

static BOOL confirmTubesetPlaced;                                             ///< Flag indicating user has confirmed tubeset is placed
static U32  bloodPumpTimerCounter;                                            ///< Blood Pump timer counter
static BOOL installComplete;                                                  ///< True once the service has finished successfully

static TUBE_SET_INSTALL_STATE_T currentInstallState;                          ///< Current Tubing Set Install sub-state

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

static TUBE_SET_INSTALL_STATE_T handleAwaitTubesetConfirmationState( void );  ///< Handle Await Tubset Install Confirmation sub-state
static TUBE_SET_INSTALL_STATE_T handleAutoLoadState( void );                  ///< Handle Auto-Load sub-state
static TUBE_SET_INSTALL_STATE_T handleAutoLoadBackOffState( void );           ///< Handle Auto-Load Back-off sub-state

/*********************************************************************//**
* @brief
* The initTubeSetInstall function initializes the Tube Set Install service.
* @details Inputs: none
* @details Outputs: Resets the flags, counters and sets the initial
* Tube Set Install sub-state.
* @return none
**************************************************************************/
void initTubeSetInstall( void )
{
    currentInstallState   = TUBE_SET_INSTALL_STATE_AWAIT_TUBE_SET_CONFIRMATION;
    confirmTubesetPlaced  = FALSE;
    bloodPumpTimerCounter = 0;
    installComplete       = FALSE;
}

/*********************************************************************//**
 * @brief
 * The execTubeSetInstall function executes the Tube Set Install
 * state machine.
 * @details Inputs: currentInstallState
 * @details Outputs: currentInstallState, installComplete. Advances the
 * Tube Set Install sub-state
 * @return none
 *************************************************************************/
void execTubeSetInstall( void )
{
    if( TRUE == installComplete )
    {
        return;
    }

    switch( currentInstallState )
    {
        case TUBE_SET_INSTALL_STATE_AWAIT_TUBE_SET_CONFIRMATION:
            currentInstallState = handleAwaitTubesetConfirmationState();
            break;

        case TUBE_SET_INSTALL_STATE_AUTO_LOAD:
            currentInstallState = handleAutoLoadState();
            break;

        case TUBE_SET_INSTALL_STATE_AUTO_LOAD_BACK_OFF:
            currentInstallState = handleAutoLoadBackOffState();
            break;

        default:
            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_TD_SOFTWARE_FAULT, SW_FAULT_ID_MODE_PRE_TX_INSTALL_INVALID_STATE, (U32)currentInstallState );
            break;
    }
}

/*********************************************************************//**
 * @brief
 * The handleAwaitTubesetConfirmationState function handles the Await
 * tubeset confirmation state of Tubing Set install state machine.
 * Should wait for the user to confirm the tubeset is placed, and
 * verifies that the blood pump door (H9) is closed.
 * @details Inputs: confirmTubsetPlaced, H9_SWCH state
 * @details Outputs: confirmTubesetPlaced
 * return next Pre-Treatment Install sub-state
 *************************************************************************/
static TUBE_SET_INSTALL_STATE_T handleAwaitTubesetConfirmationState( void )
{
    TUBE_SET_INSTALL_STATE_T state = TUBE_SET_INSTALL_STATE_AWAIT_TUBE_SET_CONFIRMATION;

    if ( TRUE == confirmTubesetPlaced )
    {
        // Door closed required from Auto-loading onwards, set to false if not required in subsequent states
        doorClosedRequired( TRUE );

        if ( STATE_CLOSED == getSwitchState( H9_SWCH ) )
        {
            confirmTubesetPlaced   = FALSE;
            setBloodPumpTargetFlowRate( AUTO_LOAD_BLOOD_FLOW_RATE_ML_MIN, MOTOR_DIR_FORWARD, PUMP_CONTROL_MODE_OPEN_LOOP );
            state                  = TUBE_SET_INSTALL_STATE_AUTO_LOAD;
        }
    }

    return state;
}

/*********************************************************************//**
 * @brief
 * The handleAutoLoadState function handles the Auto-Load state of
 * Tube Set install state.
 * @details Inputs: bloodPumpTimerCounter, getMeasuredBloodPumpTorque()
 * isPeristalticPumpHome()
 * @details Outputs: bloodPumpTimerCounter, installComplete
 * return next Pre-Treatment Install sub-state
 *************************************************************************/
static TUBE_SET_INSTALL_STATE_T handleAutoLoadState( void )
{
    TUBE_SET_INSTALL_STATE_T state = TUBE_SET_INSTALL_STATE_AUTO_LOAD;
    F32 bpTorque = getMeasuredBloodPumpTorque();

    // Timeout check
    if ( ++bloodPumpTimerCounter >= BLOOD_PUMP_TIMEOUT_INTERVAL )
    {
        signalBloodPumpHardStop();
        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_TD_AUTO_LOAD_EJECT_BP_TIMEOUT, isPeristalticPumpHome(), bloodPumpTimerCounter );
    }
    else if ( bpTorque > INSTALL_AUTO_LOAD_TORQUE_LIMIT_MNM )
    {
        signalBloodPumpHardStop();
        SET_ALARM_WITH_1_F32_DATA( ALARM_ID_TD_AUTO_LOAD_BLOOD_TUBE_SET_FAILURE, bpTorque );
        setBloodPumpTargetFlowRate( AUTO_LOAD_BLOOD_FLOW_RATE_ML_MIN, MOTOR_DIR_REVERSE, PUMP_CONTROL_MODE_OPEN_LOOP );
        bloodPumpTimerCounter = 0;
        state                 = TUBE_SET_INSTALL_STATE_AUTO_LOAD_BACK_OFF;
    }
    else if ( TRUE == isPeristalticPumpHome() )
    {
        signalBloodPumpHardStop();
        bloodPumpTimerCounter = 0;
        installComplete      = TRUE;
        state                = NUM_OF_TUBE_SET_INSTALL_SUB_STATES;
    }

    return state;
}

/*********************************************************************//**
 * @brief
 * The handleAutoLoadBackOffState function handles the Auto-Load Back-Off
 * state of Tube Set install state.
 * @details Inputs: bloodPumpTimerCounter, isPeristalticPumpHome()
 * @details Outputs: bloodPumpTimerCounter
 * return next install sub-state
 *************************************************************************/
static TUBE_SET_INSTALL_STATE_T handleAutoLoadBackOffState( void )
{
    TUBE_SET_INSTALL_STATE_T state = TUBE_SET_INSTALL_STATE_AUTO_LOAD_BACK_OFF;

    if ( bloodPumpTimerCounter >= BLOOD_PUMP_TIMEOUT_INTERVAL )
    {
        signalBloodPumpHardStop();
        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_TD_AUTO_LOAD_EJECT_BP_TIMEOUT, isPeristalticPumpHome(), bloodPumpTimerCounter );
    }
    else if ( TRUE == isPeristalticPumpHome() )
    {
        clearAlarmTD( ALARM_ID_TD_AUTO_LOAD_BLOOD_TUBE_SET_FAILURE );

        if ( FALSE == isAlarmActive( ALARM_ID_TD_AUTO_LOAD_BLOOD_TUBE_SET_FAILURE ) )
        {
            signalBloodPumpHardStop();
            bloodPumpTimerCounter = 0;
            state                 = TUBE_SET_INSTALL_STATE_AWAIT_TUBE_SET_CONFIRMATION;
        }
    }

    return state;
}

/*********************************************************************//**
 * @brief
 * The isTubeSetInstallComplete function reports whether the install
 * service has finished successfully.
 * @details \b Inputs: installComplete
 * @details \b Outputs: none
 * @return TRUE if auto-load completed and pump is at home, FALSE otherwise.
 *************************************************************************/
BOOL isTubeSetInstallComplete( void )
{
    return installComplete;
}

/*********************************************************************//**
 * @brief
 * The handleAutoLoadRequest function handles a UI request to
 * confirm tubeset installation.
 * @details Inputs: none
 * @details Outputs: confirmTubesetPlaced
 * @param message UI message which includes the user confirmation of
 * tubset installation.
 * @return TRUE if confirmation/rejection accepted, FALSE if not
 *************************************************************************/
BOOL handleAutoLoadRequest( MESSAGE_T *message )
{
    BOOL result = FALSE;
    BOOL modeValid = FALSE;
    TD_OP_MODE_T mode = getCurrentOperationMode();
    UI_RESPONSE_PAYLOAD_T response;

    response.rejectionReason = REQUEST_REJECT_REASON_NONE;

    if ( 0 == message->hdr.payloadLen )
    {
        modeValid = ( ( MODE_PRET == mode ) || ( MODE_TREA == mode ) ? TRUE : FALSE );

        if ( ( TRUE != modeValid ) || ( TUBE_SET_INSTALL_STATE_AWAIT_TUBE_SET_CONFIRMATION != currentInstallState ) )
        {
            response.rejectionReason = REQUEST_REJECT_REASON_NOT_ALLOWED_IN_CURRENT_MODE;
        }
        else
        {
            confirmTubesetPlaced     = TRUE;
            result                   = TRUE;
        }
    }
    else
    {
        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_TD_SOFTWARE_FAULT, SW_FAULT_ID_INVALID_MESSAGE_PAYLOAD_LENGTH, (U32)message->hdr.payloadLen );
    }

    response.accepted = result;
    sendMessage( MSG_ID_TD_ADJUST_DISPOSABLES_CONFIRM_RESPONSE, COMM_BUFFER_OUT_CAN_TD_2_UI, (U08*)(&response), sizeof( UI_RESPONSE_PAYLOAD_T ) );

    return result;
}

/**@}*/