/**************************************************************************
*
* 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    OperationModes.c
*
* @author  (last)      Sean
* @date    (last)      15-Nov-2024
*
* @author  (original)  Sean
* @date    (original)  15-Nov-2024
*
***************************************************************************/

#include "Messaging.h"
#include "ModeInitPOST.h"
#include "ModeFault.h"
#include "ModeStandby.h"
#include "OperationModes.h"
#include "TaskGeneral.h"

/**
 *  @addtogroup ROOperationModes
 *  @{
 */

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

#define BROADCAST_TD_OP_MODE_INTERVAL     ( 250 / TASK_GENERAL_INTERVAL )                         ///< RO operation mode broadcast interval (in task interval/sec).
#define DATA_PUBLISH_COUNTER_START_COUNT  11                                                      ///< Data publish counter start count.

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

static volatile BOOL modeRequest[ NUM_OF_RO_MODES - 1 ];    ///< Pending operation mode change requests.
static RO_OP_MODE_T lastMode;                               ///< Last operation mode prior to current mode.
static RO_OP_MODE_T currentMode;                            ///< Current operation mode.
static U32 currentSubMode;                                  ///< The currently active state of the active mode.
static U32 broadcastModeIntervalCtr;                        ///< Interval counter used to determine when to broadcast operation mode.  Initialize to 11 to stagger broadcast.
static U32 currentSubState;                                 ///< current sub state.
static U32 current4thLevelState;                            ///< current 4th level state.

/// Interval (in task intervals) at which to publish operation mode data to CAN bus.
static OVERRIDE_U32_T opModePublishInterval = { BROADCAST_TD_OP_MODE_INTERVAL, BROADCAST_TD_OP_MODE_INTERVAL, BROADCAST_TD_OP_MODE_INTERVAL, 0 };

/// This matrix determines legal transitions from one mode to another
static const RO_OP_MODE_T MODE_TRANSITION_TABLE[ NUM_OF_RO_MODES - 1 ][ NUM_OF_RO_MODES - 1 ] = {
// From    to->    FAULT       SERVICE         INIT         STANBY
/* FAUL     */{ RO_MODE_FAUL, RO_MODE_SERV, RO_MODE_NLEG, RO_MODE_NLEG },
/* SERV     */{ RO_MODE_FAUL, RO_MODE_SERV, RO_MODE_NLEG, RO_MODE_NLEG },
/* INIT     */{ RO_MODE_FAUL, RO_MODE_NLEG, RO_MODE_INIT, RO_MODE_STAN },
/* STAN     */{ RO_MODE_FAUL, RO_MODE_SERV, RO_MODE_NLEG, RO_MODE_STAN } };

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

static RO_OP_MODE_T arbitrateModeRequest( void );
static void transitionToNewOperationMode( RO_OP_MODE_T newMode );
static void broadcastOperationMode( void );

/*********************************************************************//**
 * @brief
 * The initOperationModes function initializes the Operation Modes unit.
 * @details \b Inputs: none
 * @details \b Outputs: Operation Modes unit initialized.
 * @return none
 *************************************************************************/
void initOperationModes( void )
{
    U32 i;

    // Initialize mode requests to none pending
    for ( i = 0; i < ( NUM_OF_RO_MODES - 1 ); i++ )
    {
        modeRequest[ i ] = FALSE;
    }

    // Start in init mode
    lastMode                 = RO_MODE_INIT;
    currentMode              = RO_MODE_INIT;
    currentSubMode           = 0;
    currentSubState          = NO_SUB_STATE;
    current4thLevelState     = NO_SUB_STATE;
    broadcastModeIntervalCtr = DATA_PUBLISH_COUNTER_START_COUNT;

    transitionToNewOperationMode( RO_MODE_INIT );

    // Call initializers for the individual modes
    initFaultMode();
//    initServiceMode();
    initInitAndPOSTMode();
    initStandbyMode();
}

/*********************************************************************//**
 * @brief
 * The execOperationModes function executes the Operation Modes state machine.
 * @details \b Alarm: ALARM_ID_RO_SOFTWARE_FAULT if current mode is invalid.
 * @details \b Inputs: none
 * @details \b Outputs: currentMode is set by state machine.
 * @return none
 *************************************************************************/
void execOperationModes( void )
{
    RO_OP_MODE_T newMode;
    U32 priorSubMode = currentSubMode;
    U32 priorSubState = currentSubState;
    U32 prior4thLevelState = current4thLevelState;

    // Any new mode requests?
    newMode = arbitrateModeRequest();   // Will return current mode if no pending requests
    newMode = MODE_TRANSITION_TABLE[ currentMode ][ newMode ];

    // Is requested new mode valid and legal at this time?
    if ( newMode >= RO_MODE_NLEG )
    {
        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_TD_SOFTWARE_FAULT, SW_FAULT_ID_OP_MODES_ILLEGAL_MODE_TRANSITION_REQUESTED, newMode )
        newMode = currentMode;
    }

    // Has mode changed?
    if ( currentMode != newMode )
    {
        lastMode = currentMode;
        // Handle transition to new mode
        transitionToNewOperationMode( newMode );
        currentMode = newMode;
//        sendOperationStatusEvent();
    }

    // Mode specific processing to be done continuously
    switch ( currentMode )
    {
        case RO_MODE_FAUL:
            currentSubMode = execFaultMode();
            break;

        case RO_MODE_SERV:
//            currentSubMode = execServiceMode();
            break;

        case RO_MODE_INIT:
            currentSubMode = execInitAndPOSTMode();
            break;

        case RO_MODE_STAN:
            currentSubMode = execStandbyMode();
            break;

        default:
            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_RO_SOFTWARE_FAULT, SW_FAULT_ID_OP_MODES_INVALID_MODE_STATE, currentMode )
            currentMode = RO_MODE_FAUL;
            currentSubMode = 0;
            break;
    }   // End switch

#ifndef _VECTORCAST_
    // Send operation status event when appropriate
    if ( ( priorSubMode != currentSubMode ) || ( priorSubState != currentSubState ) || ( prior4thLevelState != current4thLevelState ) )
#endif
    {
//        sendOperationStatusEvent();
        SEND_EVENT_WITH_2_U32_DATA( RO_EVENT_SUB_MODE_CHANGE, priorSubMode, currentSubMode )
    }

    // Broadcast current operation mode on interval
    broadcastOperationMode();
}

/*********************************************************************//**
 * @brief
 * The requestNewOperationMode function requests transition to a new
 * operation mode.  The request will be arbitrated when the state machine
 * is next executed.
 * @details \b Alarm: ALARM_ID_RO_SOFTWARE_FAULT if given new mode is invalid.
 * @details \b Inputs: none
 * @details \b Outputs: modeRequest[]
 * @return none
 *************************************************************************/
void requestNewOperationMode( RO_OP_MODE_T newMode )
{
    // Validate requested mode
    if ( newMode < RO_MODE_NLEG )
    {
        // Make request
        modeRequest[ newMode ] = TRUE;
    }
    else
    {  // Invalid mode requested
        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_RO_SOFTWARE_FAULT, SW_FAULT_ID_OP_MODES_INVALID_MODE_REQUESTED, newMode )
    }
}

/*********************************************************************//**
 * @brief
 * The getCurrentOperationMode function gets the current operation mode.
 * @details \b Inputs: currentMode
 * @details \b Outputs: none
 * @return the current operation mode
 *************************************************************************/
RO_OP_MODE_T getCurrentOperationMode( void )
{
    return currentMode;
}

/*********************************************************************//**
 * @brief
 * The getPreviousOperationMode function gets the previous operation mode.
 * @details \b Inputs: lastMode
 * @details \b Outputs: none
 * @return the previous operation mode
 *************************************************************************/
RO_OP_MODE_T getPreviousOperationMode( void )
{
    return lastMode;
}

/*********************************************************************//**
 * @brief
 * The getCurrentSubMode function gets the current operation sub-mode.
 * @details \b Inputs: currentSubMode
 * @details \b Outputs: none
 * @return the current operation sub-mode
 *************************************************************************/
U32  getCurrentSubMode( void )
{
    return currentSubMode;
}

/*********************************************************************//**
 * @brief
 * The arbitrateModeRequest function arbitrates any pending mode transition
 * requests.
 * @note Thread protection prevents new mode requests from being made while
 * arbitration is in progress.
 * @details \b Inputs: modeRequest[]
 * @details \b Outputs: modeRequest[] is reset
 * @return the next operation mode (current mode if no requests pending)
 *************************************************************************/
static RO_OP_MODE_T arbitrateModeRequest( void )
{
    RO_OP_MODE_T reqMode = currentMode;
    U32 i;

    // Block additional requests until after mode arbitration
    _disable_IRQ();

    // Select highest priority mode request -or- current mode if no requests pending
    for ( i = 0; i < RO_MODE_NLEG; i++ )
    {
        if ( modeRequest[ i ] != FALSE )
        {
            reqMode = (RO_OP_MODE_T)i;
            break;
        }
    }

    // Clear all requests now that an arbitration winner is selected
    for ( i = 0; i < RO_MODE_NLEG; i++ )
    {
        modeRequest[ i ] = FALSE;
    }

    // Un-block requests
    _enable_IRQ();

    return reqMode;
}

/*********************************************************************//**
 * @brief
 * The transitionToNewOperationMode function calls the transition to function
 * for a new operation mode that we are transitioning to.
 * @details \b Alarm: ALARM_ID_RO_SOFTWARE_FAULT if given new mode is invalid.
 * @details \b Inputs: none
 * @details \b Outputs: transition function called for new mode
 * @return none
 *************************************************************************/
static void transitionToNewOperationMode( RO_OP_MODE_T newMode )
{
    // Setup for new operating mode
    switch ( newMode )
    {
        case RO_MODE_FAUL:
            currentSubMode = transitionToFaultMode();
            break;
        case RO_MODE_SERV:
//            currentSubMode = transitionToServiceMode();
            break;
        case RO_MODE_INIT:
            currentSubMode = transitionToInitAndPOSTMode();
            break;
        case RO_MODE_STAN:
            currentSubMode = transitionToStandbyMode();
            break;
        default:
            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_RO_SOFTWARE_FAULT, SW_FAULT_ID_OP_MODES_INVALID_MODE_TO_TRANSITION_TO, newMode )
            break;
    }
}

/*********************************************************************//**
 * @brief
 * The broadcastOperationMode function sends the current operation mode at
 * the prescribed interval.
 * @details \b Inputs: broadcastModeIntervalCtr
 * @details \b Outputs: RO operation mode broadcast message sent.
 * @return none
 *************************************************************************/
static void broadcastOperationMode( void )
{
    if ( ++broadcastModeIntervalCtr >= getU32OverrideValue( &opModePublishInterval ) )
    {
        OP_MODE_PAYLOAD_T data;

        broadcastModeIntervalCtr = 0;
        data.opMode = (U32)currentMode;
        data.subMode = currentSubMode;
        broadcastData( MSG_ID_RO_OP_MODE_DATA, COMM_BUFFER_OUT_CAN_RO_BROADCAST, (U08*)&data, sizeof( OP_MODE_PAYLOAD_T ) );
    }
}

/*********************************************************************//**
 * @brief
 * The setCurrentSubState function sets the current subState.
 * @details \b Inputs: none
 * @details \b Outputs: currentSubState
 * @param subState the enumerated sub state.
 * @return none
 *************************************************************************/
void setCurrentSubState( U32 subState )
{
    currentSubState = subState;
}

/*********************************************************************//**
 * @brief
 * The setCurrent4thLevelState function sets the current 4th level state.
 * @details \b Inputs: none
 * @details \b Outputs: current4thLevelState
 * @param subState the enumerated sub state.
 * @return none
 *************************************************************************/
void setCurrent4thLevelState( U32 state )
{
    current4thLevelState = state;
}

/**@}*/