/**********************************************************************//**
 *
 *  Copyright (c) 2019-2020 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
 *
 *  @date 11-Dec-2019
 *  @author L. Baloa
 *
 *  @brief Top-level state machine for the HD operation modes.
 *
 **************************************************************************/

#include "gio.h"

#include "SystemCommMessages.h"
#include "TaskGeneral.h"
#include "OperationModes.h"
#include "ModeChemicalDisinfect.h"
#include "ModeDisinfect.h"
#include "ModeDrain.h"
#include "ModeFault.h"
#include "ModeFill.h"
#include "ModeFlush.h"
#include "ModeInitPOST.h"
#include "ModeRecirculate.h"
#include "ModeService.h"
#include "ModeSolo.h"
#include "ModeStandby.h"

/**
 *  @addtogroup OperationModes
 *  @{
 */

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

#define BROADCAST_DG_OP_MODE_INTERVAL       ( MS_PER_SECOND / TASK_GENERAL_INTERVAL )  ///< interval (ms/task time) at which the op mode is published on the CAN bus.

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

static volatile BOOL modeRequest[NUM_OF_MODES - 1];         ///< Array of mode request flags.
static OP_MODE currentMode = MODE_INIT;                     ///< The currently active mode.
static U32 broadcastModeIntervalCtr = 11;                   ///< Interval counter used to determine when to broadcase operation mode.  Initialize to 11 to stagger broadcast.

/// This matrix determines legal transitions from one mode to another.
static const OP_MODE MODE_TRANSITION_TABLE[NUM_OF_MODES - 1][NUM_OF_MODES - 1] =
{
// from     to->        FAULT      SERVICE    INIT       STANBY     STBY-SOLO   RE-CIRC      FILL       DRAIN      FLUSH   DISINFECT   CHEM DIS
        /* FAUL     */{ MODE_FAUL, MODE_SERV, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG },
        /* SERV     */{ MODE_FAUL, MODE_SERV, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG },
        /* INIT     */{ MODE_FAUL, MODE_NLEG, MODE_INIT, MODE_STAN, MODE_SOLO, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG },
        /* STAN     */{ MODE_FAUL, MODE_SERV, MODE_NLEG, MODE_STAN, MODE_SOLO, MODE_CIRC, MODE_NLEG, MODE_NLEG, MODE_FLUS, MODE_NLEG, MODE_CHEM },
        /* SOLO     */{ MODE_FAUL, MODE_NLEG, MODE_NLEG, MODE_STAN, MODE_SOLO, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_FLUS, MODE_DISI, MODE_NLEG },
        /* CIRC     */{ MODE_FAUL, MODE_NLEG, MODE_NLEG, MODE_STAN, MODE_NLEG, MODE_CIRC, MODE_FILL, MODE_DRAI, MODE_NLEG, MODE_NLEG, MODE_NLEG },
        /* FILL     */{ MODE_FAUL, MODE_NLEG, MODE_NLEG, MODE_STAN, MODE_NLEG, MODE_CIRC, MODE_FILL, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG },
        /* DRAI     */{ MODE_FAUL, MODE_NLEG, MODE_NLEG, MODE_STAN, MODE_NLEG, MODE_CIRC, MODE_NLEG, MODE_DRAI, MODE_NLEG, MODE_NLEG, MODE_NLEG },
        /* FLUS     */{ MODE_FAUL, MODE_NLEG, MODE_NLEG, MODE_STAN, MODE_SOLO, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_FLUS, MODE_NLEG, MODE_NLEG },
        /* DISI     */{ MODE_FAUL, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_SOLO, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_DISI, MODE_NLEG },
        /* CHEM     */{ MODE_FAUL, MODE_NLEG, MODE_NLEG, MODE_STAN, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_NLEG, MODE_CHEM }
};

static U32 dgOpModePublicationTimerCounter = 0;

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

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

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

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

    // start in init mode
    currentMode = MODE_INIT;
    transitionToNewOperationMode( MODE_INIT );

    // call initializers for the individual modes
    initFaultMode();
    initServiceMode();
    initInitAndPOSTMode();
    initStandbyMode();
    initSoloMode();
    initRecirculateMode();
    initFillMode();
    initDrainMode();
    initFlushMode();
    initDisinfectMode();
    initChemicalDisinfectMode();

    // initialize broadcast timer counter
    dgOpModePublicationTimerCounter = 0;
}

/*********************************************************************//**
 * @brief execOperationModes
 * The execOperationModes function executes the Operation Modes state machine.
 * @details
 * Inputs : none
 * Outputs : currentMode is set by state machine.
 * @param none
 * @return none
 *************************************************************************/
void execOperationModes( void )
{
    OP_MODE newMode;

    // 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 >= MODE_NLEG )
    {
        // TODO - s/w fault
        newMode = currentMode;
    }

    // has mode changed?
    if ( currentMode != newMode )
    {
        // handle transition to new mode
        transitionToNewOperationMode( newMode );
        currentMode = newMode;
    }

    // mode specific processing to be done continuously
    switch ( currentMode )
    {
        case MODE_FAUL:
            execFaultMode();
            break;

        case MODE_SERV:
            execServiceMode();
            break;

        case MODE_INIT:
            execInitAndPOSTMode();
            break;

        case MODE_STAN:
            execStandbyMode();
            break;

        case MODE_SOLO:
            execSoloMode();
            break;

        case MODE_CIRC:
            execRecirculateMode();
            break;

        case MODE_FILL:
            execFillMode();
            break;

        case MODE_DRAI:
            execDrainMode();
            break;

        case MODE_FLUS:
            execFlushMode();
            break;

        case MODE_DISI:
            execDisinfectMode();
            break;

        case MODE_CHEM:
            execChemicalDisinfectMode();
            break;

        default:
            currentMode = MODE_FAUL;
            // TODO - trigger s/w fault
            break;
    }   // end switch

    // publish op mode on interval
    broadcastOperationMode();
}

/*********************************************************************//****
 * @brief requestNewOperationMode
 * The requestNewOperationMode function initializes the Operation Modes module.
 * @details
 * Inputs : none
 * Outputs : Initializes the Operation Modes module.
 * @param none
 * @return none
 *************************************************************************/
void requestNewOperationMode( OP_MODE newMode )
{
    // validate requested mode
    if ( newMode < MODE_NLEG )
    {
        // make request
        modeRequest[newMode] = TRUE;
    }
    else
    {  // invalid mode requested
       // TODO - trigger s/w fault
    }
}

/*********************************************************************//**
 * @brief getCurrentOperationMode
 * The getCurrentOperationMode function initializes the Operation Modes module.
 * @details
 * Inputs : none
 * Outputs : Initializes the Operation Modes module.
 * @param none
 * @return none
 *************************************************************************/
OP_MODE getCurrentOperationMode( void )
{
    return currentMode;
}

/*********************************************************************//**
 * @brief arbitrateModeRequest
 * The arbitrateModeRequest function initializes the Operation Modes module.
 * @details
 * Inputs : none
 * Outputs : Initializes the Operation Modes module.
 * @param none
 * @return none
 *************************************************************************/
static OP_MODE arbitrateModeRequest( void )
{
    OP_MODE 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 < MODE_NLEG; i++ )
    {
        if ( modeRequest[i] != FALSE )
        {
            reqMode = (OP_MODE)i;
            break;
        }
    }

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

    // un-block requests
    _enable_IRQ();

    return reqMode;
}

/*********************************************************************//**
 * @brief transitionToNewOperationMode
 * The transitionToNewOperationMode function initializes the Operation Modes module.
 * @details
 * Inputs : none
 * Outputs : Initializes the Operation Modes module.
 * @param none
 * @return none
 *************************************************************************/
static void transitionToNewOperationMode( OP_MODE newMode )
{
    // setup for new operating mode
    switch ( newMode )
    {
        case MODE_FAUL:
            transitionToFaultMode();
            break;
        case MODE_SERV:
            transitionToServiceMode();
            break;
        case MODE_INIT:
            transitionToInitAndPOSTMode();
            break;
        case MODE_STAN:
            transitionToStandbyMode();
            break;
        case MODE_SOLO:
            transitionToSoloMode();
            break;
        case MODE_CIRC:
            transitionToRecirculateMode();
            break;
        case MODE_FILL:
            transitionToFillMode();
            break;
        case MODE_DRAI:
            transitionToDrainMode();
            break;
        case MODE_FLUS:
            transitionToFlushMode();
            break;
        case MODE_DISI:
            transitionToDisinfectMode();
            break;
        case MODE_CHEM:
            transitionToChemicalDisinfectMode();
            break;
        default:
            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_SOFTWARE_FAULT, 0, (U32)newMode )     // TODO - add s/w fault enum to 1st data param
            break;
    }
}

/*************************************************************************
 * @brief
 * The broadcastOperationMode function sends the current operation mode at \n
 * the prescribed interval.
 * @details
 * Inputs : broadcastModeIntervalCtr
 * Outputs : DG operation mode broadcast message sent.
 * @return none
 *************************************************************************/
static void broadcastOperationMode( void )
{
    if ( ++broadcastModeIntervalCtr >= BROADCAST_DG_OP_MODE_INTERVAL )
    {
        broadcastModeIntervalCtr = 0;
        broadcastDGOperationMode( currentMode );
    }
}

/**@}*/