/**************************************************************************
*
* 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    ValvesDD.c
*
* @author  (last)      Vinayakam Mani
* @date    (last)      14-Aug-2024
*
* @author  (original)  Vinayakam Mani
* @date    (original)  14-Aug-2024
*
***************************************************************************/

#include <string.h>      // For memcpy

#include "FpgaDD.h"
#include "MessageSupport.h"
#include "Messaging.h"
#include "TaskPriority.h"
#include "Timers.h"
#include "Valves.h"

/**
 *  @addtogroup Valves
 *  @{
 */

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

#define DEENERGIZED                                     0                                                           ///< 0 for de-energized valve.
#define ENERGIZED                                       1                                                           ///< 1 for energized valve.
#define ALL_VALVES_DEENERGIZED                          0x0000                                                      ///< 0 in U16 bit field for all valves.

#define MAX_VALVE_STATE_MISMATCH_TIMER_COUNT            (100 / TASK_PRIORITY_INTERVAL )                             ///< Maximum time commanded valves state can fail to match read back valve states in a row.

#define VALVES_STATE_PUB_INTERVAL                       ( MS_PER_SECOND / TASK_PRIORITY_INTERVAL )                  ///< Interval ( ms / task time) at which valves states are published on CAN bus.
#define DATA_PUBLISH_COUNTER_START_COUNT                50                                                          ///< Data publish counter start count.

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

static U32 valvesStatesPublicationTimerCounter;                                                                     ///< Timer counter used to schedule valve state publication to CAN bus.
static U16 commandedValvesStates;                                                                                   ///< Initialize commanded valves states bit field.
static U08 commandedBCValveStates;                                                                                  ///< Initialize balancing chamber commanded valves states bit field.
static U08 commandedUFValveStates;                                                                                  ///< Initialize ultra filtration commanded valves states bit field.
static U32 valveStateMismatchTimerCounter;                                                                          ///< Initialize valve state mismatch timer.
static U32 pendingValveStateChanges[ NUM_OF_VALVES ];                                                               ///< Delayed (pending) valve state changes.
static U32 pendingValveStateChangeCountDowns[ NUM_OF_VALVES ];                                                      ///< Delayed (pending) valve state change count down timers (in task intervals).

static OVERRIDE_U32_T valveStates[ NUM_OF_VALVES ];                                                                 ///< Currently commanded valves states.
static OVERRIDE_U32_T valveSensedStates[ NUM_OF_VALVES ];                                                           ///< Valve sensed states override.
static OVERRIDE_U32_T valvesStatesPublishInterval = { VALVES_STATE_PUB_INTERVAL, VALVES_STATE_PUB_INTERVAL, 0, 0 }; ///< Interval (in ms/task interval) at which to publish valves state to CAN bus.

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

static void publishValvesStates( void );
static void readCommandedValveStates( void );
static BOOL checkValveStateName( VALVES_T valveID, VALVE_STATE_NAMES_T valveStateName );
static U32 convertValveStateNameToValveState( VALVE_STATE_NAMES_T valveStateName );
static U32 getValveState( U32 valveID );

/*********************************************************************//**
 * @brief
 * The initValves function initializes the Valves unit.
 * @details \b Inputs: none
 * @details \b Outputs: valveStates, pendingValveStateChanges, valveSensedStates,
 * pendingValveStateChangeCountDowns, valveStateMismatchCounter,
 * commandedValvesStates
 * @return none
 *************************************************************************/
void initValves( void )
{
    U32 i;

    // initialize commanded valve states
    for ( i = 0; i < NUM_OF_VALVES; i++ )
    {
        valveStates[ i ].data                  = DEENERGIZED;
        valveStates[ i ].ovInitData            = DEENERGIZED;
        valveStates[ i ].ovData                = DEENERGIZED;
        valveStates[ i ].override              = OVERRIDE_RESET;
        pendingValveStateChanges[ i ]          = DEENERGIZED;
        pendingValveStateChangeCountDowns[ i ] = 0;
        valveSensedStates[ i ].data            = DEENERGIZED;
        valveSensedStates[ i ].ovInitData      = DEENERGIZED;
        valveSensedStates[ i ].ovData          = DEENERGIZED;
        valveSensedStates[ i ].override        = OVERRIDE_RESET;
    }

    //Initialize the commanded valve states
    commandedValvesStates                   = ALL_VALVES_DEENERGIZED;
    commandedBCValveStates                  = ALL_VALVES_DEENERGIZED;
    commandedUFValveStates                  = ALL_VALVES_DEENERGIZED;
    valveStateMismatchTimerCounter          = 0;
    valvesStatesPublicationTimerCounter     = DATA_PUBLISH_COUNTER_START_COUNT;  // reset valves states publication timer

    readCommandedValveStates();
    // initially set all valves to de-energized state via FPGA
    setFPGAValveStates( commandedValvesStates );
    setFPGABCValveStates( commandedBCValveStates );
    setFPGAUFValveStates( commandedUFValveStates );
}

/*********************************************************************//**
 * @brief
 * The execValves function executes the valves driver.
 * @details \b Inputs: valvesStates, valveStateMismatchCounter
 * pendingValveStateChangeCountDowns, commandedValvesStates,
 * commandedBCValveStates , commandedUFValveStates
 * @details \b Outputs: valvesStates, valveStateMismatchCounter
 * pendingValveStateChanges, valve controls
 * @details \b Alarm: ALARM_ID_DD_VALVE_CONTROL_FAILURE when FPGA read back
 * valve state mismatches with the commanded valve state after defined time (100ms).
 * @return none
 *************************************************************************/
void execValves( void )
{
    U32 i;
    // get valves states from FPGA
    U16 readValvesStates    = getFPGAValveStates();
    U08 readValveBCStates   = getFPGAValveBCStates();
    U08 readValveUFStates   = getFPGAValveUFStates();

    // Verify read back FPGA valve states match last commanded valve states
    if ( ( readValvesStates  != commandedValvesStates )  ||
         ( readValveBCStates != commandedBCValveStates ) ||
         ( readValveUFStates != commandedUFValveStates ) )
    {
        valveStateMismatchTimerCounter++; // increment valve state mismatch counter by 1
        if ( valveStateMismatchTimerCounter > MAX_VALVE_STATE_MISMATCH_TIMER_COUNT )
        {
            activateAlarmNoData( ALARM_ID_DD_VALVE_CONTROL_FAILURE );
        }
    }
    else
    {
        valveStateMismatchTimerCounter = 0;
    }

    // Handle pending delayed valve state changes
    for ( i = 0; i < NUM_OF_VALVES; i++ )
    {
        if ( pendingValveStateChangeCountDowns[ i ] > 0 )
        {
            pendingValveStateChangeCountDowns[ i ]--;
            if ( 0 == pendingValveStateChangeCountDowns[ i ] )
            {
                valveStates[ i ].data = pendingValveStateChanges[ i ];
                pendingValveStateChanges[ i ] = DEENERGIZED;
            }
        }
    }

    // Set valves states (via FPGA) to currently commanded states
    readCommandedValveStates();
    setFPGAValveStates( commandedValvesStates );
    setFPGABCValveStates( commandedBCValveStates );
    setFPGAUFValveStates( commandedUFValveStates );

    // Publish valve states on interval
    publishValvesStates();
}

/*********************************************************************//**
 * @brief
 * The readCommandedValveStates function gets the hydraulics, Balancing chamber
 * and Ultrafiltration valvesStates that can be passed to FPGA for setting valves.
 * @details \b Inputs: valveStates[]
 * @details \b Outputs: commandedValvesStates,commandedBCValveStates,
 * commandedUFValveStates
 * @return converted U16 and U08 bit field for currently commanded valve states
 *************************************************************************/
static void readCommandedValveStates( void )
{
    U32 i;

    // Initiliaze before updating commanded states
    commandedValvesStates   = ALL_VALVES_DEENERGIZED;
    commandedBCValveStates  = ALL_VALVES_DEENERGIZED;
    commandedUFValveStates  = ALL_VALVES_DEENERGIZED;

    // flag hydraulics valves that are currently commanded to be energized
    for ( i = FIRST_HYD_VALVE; i <= LAST_HYD_VALVE; i++ )
    {
        commandedValvesStates |= ( getValveState( i ) == ENERGIZED ? 0x0001 << i : 0 );
    }

    // flag Balancing chamber valves that are currently commanded to be energized
    for ( i = FIRST_BC_VALVE; i <= LAST_BC_VALVE; i++ )
    {
        commandedBCValveStates |= ( getValveState( i ) == ENERGIZED ? 0x01 << ( i - FIRST_BC_VALVE ) : 0 );
    }

    // flag Ultrafiltration valves that are currently commanded to be energized
    for ( i = FIRST_UF_VALVE; i <= LAST_UF_VALVE; i++ )
    {
        commandedUFValveStates |= ( getValveState( i ) == ENERGIZED ? 0x01 << ( i - FIRST_UF_VALVE ) : 0 );
    }
}

/*********************************************************************//**
 * @brief
 * The checkValveStateName function checks the validity of requested valve
 * state name for given valve.
 * @details \b Inputs: none
 * @details \b Outputs: none
 * @details \b Alarm: ALARM_ID_DD_SOFTWARE_FAULT when invalid valve ID passed.
 * @param valveID ID of valve to check a valve state name for
 * @param valveStateName valve state name to check for given valve ID
 * @return TRUE if given valveStateName is appropriate for given valve ID, FALSE if not.
 *************************************************************************/
static BOOL checkValveStateName( VALVES_T valveID, VALVE_STATE_NAMES_T valveStateName )
{
    BOOL result = FALSE; // initialize result flag to FALSE

    switch ( valveStateName )
    {
        case VALVE_STATE_OPEN:
        case VALVE_STATE_CLOSED:
            if ( ( VDR == valveID )  || ( VTD == valveID )  || ( VHB == valveID )  || ( VRP == valveID )  || ( VHO == valveID )  ||
                 ( VDB1 == valveID ) || ( VP1 == valveID )  || ( VPT == valveID )  || ( VDB2 == valveID ) || ( VDI == valveID )  ||
                 ( VDO == valveID )  || ( VP2 == valveID )  || ( VHI == valveID )  || ( BCV1 == valveID ) || ( BCV2 == valveID ) ||
                 ( BCV3 == valveID ) || ( BCV4 == valveID ) || ( BCV5 == valveID ) || ( BCV6 == valveID ) || ( BCV7 == valveID ) ||
                 ( BCV8 == valveID ) || ( UFI1 == valveID ) || ( UFO1 == valveID ) || ( UFI2 == valveID ) || ( UFO2 == valveID ) )
            {
                result = TRUE;
            }
            break;

        default:
            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_VALVES_INVALID_VALVE_STATE_NAME, valveStateName )
            break;
    }

    return result;
}

/*********************************************************************//**
 * @brief
 * The convertValveStateNameToValveState function converts valve state \n
 * name to its corresponding de-energized (0) or energized (1) valve state.
 * @details \b Inputs: none
 * @details \b Outputs: none
 * @details \b Alarm : ALARM_ID_DD_SOFTWARE_FAULT when invalid valve state name passed
 * @param valveStateName valve state name enumeration to convert to energized/de-energized
 * @return converted valve state for given valve state name
 *************************************************************************/
static U32 convertValveStateNameToValveState( VALVE_STATE_NAMES_T valveStateName )
{
    U32 vState = DEENERGIZED; // initialize valve state to de-energized

    switch ( valveStateName )
    {
        case VALVE_STATE_OPEN:
            vState = ENERGIZED;
            break;

        case VALVE_STATE_CLOSED:
            vState = DEENERGIZED;
            break;

        default:
            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_VALVES_INVALID_VALVE_STATE_NAME, valveStateName )
            break;
    }

    return vState;
}

/*********************************************************************//**
 * @brief
 * The setValveState function sets the valve state for given valve.
 * @details \b Inputs: none
 * @details \b Outputs: valveStates[], pendingValveStateChanges[], pendingValveStateChangeCountDowns[]
 * @details \b Alarm: ALARM_ID_DD_SOFTWARE_FAULT when invalid valve ID passed
 * @param valveID ID of valve to set state for
 * @param valveStateName name of valve state to set given valve to
 * @return TRUE if new valve state is set for given valve ID, FALSE if not.
 *************************************************************************/
BOOL setValveState( VALVES_T valveID, VALVE_STATE_NAMES_T valveStateName )
{
    BOOL result = FALSE; // initialize result flag to FALSE

    if ( valveID < NUM_OF_VALVES )
    {
        if ( TRUE == checkValveStateName( valveID, valveStateName ) )
        {
            valveStates[ valveID ].data = convertValveStateNameToValveState( valveStateName );
            result = TRUE;
            // If a delayed state change is pending for this valve, cancel it
            pendingValveStateChanges[ valveID ] = DEENERGIZED;
            pendingValveStateChangeCountDowns[ valveID ] = 0;
        }
    }
    else
    {
        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_VALVES_INVALID_VALVE_ID, valveID )
    }

    return result;
}

/*********************************************************************//**
 * @brief
 * The setValveStateDelayed function sets the valve state for given valve
 * after a given delay.
 * @details \b Inputs: pendingValveStateChangeCountDowns[]
 * @details \b Outputs: pendingValveStateChangeCountDowns[], pendingValveStateChangeCountDowns[]
 * @details \b Alarm: ALARM_ID_DD_SOFTWARE_FAULT when invalid valve ID passed
 * @param valveID ID of valve to set state for
 * @param valveStateName name of valve state to set given valve to
 * @param delayMs delay duration (in ms) before actuation
 * @return TRUE if new valve state is set for given valve ID, FALSE if not.
 *************************************************************************/
BOOL setValveStateDelayed( VALVES_T valveID, VALVE_STATE_NAMES_T valveStateName, U32 delayMs )
{
    BOOL result = FALSE; // initialize result flag to FALSE

    if ( valveID < NUM_OF_VALVES )
    {
        if ( TRUE == checkValveStateName( valveID, valveStateName ) )
        {
            // If a delayed state change is already pending for this valve, execute it now before setting a new delayed state change
            if ( pendingValveStateChangeCountDowns[ valveID ] > 0 )
            {
                valveStates[ valveID ].data = pendingValveStateChanges[ valveID ];
            }
            // Set delayed valve state change
            pendingValveStateChanges[ valveID ] = convertValveStateNameToValveState( valveStateName );
            pendingValveStateChangeCountDowns[ valveID ] = delayMs / TASK_PRIORITY_INTERVAL;
            result = TRUE;
        }
    }
    else
    {
        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_VALVES_INVALID_VALVE_ID, valveID )
    }

    return result;
}

/*********************************************************************//**
 * @brief
 * The getValveStateName function gets the current valve state enum for given valve.
 * @details \b Inputs: valveStates[]
 * @details \b Outputs: none
 * @details \b Alarm: ALARM_ID_DD_SOFTWARE_FAULT when invalid valve ID passed.
 * @param valveID ID of valve to get state for
 * @return the current valve state for given valve in enum
 *************************************************************************/
VALVE_STATE_NAMES_T getValveStateName( VALVES_T valveID )
{
    // Initialized per CppCheck.
    VALVE_STATE_NAMES_T name = NUM_OF_VALVE_STATES;

    if ( valveID < NUM_OF_VALVES )
    {
        U32 valveState = getU32OverrideValue( &valveStates[ valveID ] );

        if ( OVERRIDE_KEY == valveSensedStates[ valveID ].override )
        {
            valveState = valveSensedStates[ valveID ].ovData;
        }

        name = ( DEENERGIZED == valveState ? VALVE_STATE_CLOSED : VALVE_STATE_OPEN );
    }
    else
    {
        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_VALVES_INVALID_VALVE_ID, valveID )
    }

    return name;
}

/*********************************************************************//**
 * @brief
 * The getValveState function gets the current valve state for given valve.
 * @details \b Inputs: valveStates[]
 * @details \b Outputs: none
 * @details \b Alarm : ALARM_ID_DD_SOFTWARE_FAULT when invalid valve ID passed
 * @param valveID ID of valve to get state for
 * @return the current valve state for given valve
 *************************************************************************/
static U32 getValveState( U32 valveID )
{
    U32 valveState = DEENERGIZED;

    if ( valveID < NUM_OF_VALVES )
    {
        valveState = getU32OverrideValue( &valveStates[ valveID ] );
    }
    else
    {
        SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DD_SOFTWARE_FAULT, SW_FAULT_ID_VALVES_INVALID_VALVE_ID, valveID )
    }

    return valveState;
}

/*********************************************************************//**
 * @brief
 * The publishValvesStates function publishes DG valves states at the set interval.
 * @details \b Inputs: valvesStatesPublicationTimerCounter
 * @details \b Outputs: valvesStatesPublicationTimerCounter
 * @details \b Messages: MSG_ID_DD_VALVES_STATES_DATA to publish FPGA read valve states.
 * @return none
 *************************************************************************/
static void publishValvesStates( void )
{
    // publish valve state on interval
    if ( ++valvesStatesPublicationTimerCounter >= getU32OverrideValue( &valvesStatesPublishInterval ) )
    {
        DD_VALVES_DATA_T data;
        U32 i;

        data.valvesStatus       = getFPGAValveStates();
        data.valvesBCStatus     = getFPGAValveBCStates();
        data.valvesUFStatus     = getFPGAValveUFStates();

        for ( i = 0; i < NUM_OF_VALVES; i++ )
        {
            data.valvesSensedState[ i ] = (U08)getValveStateName( (VALVES_T)i );
        }

        broadcastData( MSG_ID_DD_VALVES_STATES_DATA, COMM_BUFFER_OUT_CAN_DD_BROADCAST, (U08*)&data, sizeof( DD_VALVES_DATA_T ) );

        valvesStatesPublicationTimerCounter = 0;
    }
}


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


/*********************************************************************//**
 * @brief
 * The testValvesStatesPublishIntervalOverride function overrides the
 * valves states publish interval.
 * @details \b Inputs: none
 * @details \b Outputs: valvesStatesPublishInterval
 * @param message Override message from Dialin which includes the value
 * that override valves states publish interval with (in ms)
 * @return TRUE if override successful, FALSE if not
 *************************************************************************/
BOOL testValvesStatesPublishIntervalOverride( MESSAGE_T *message )
{
    BOOL                    result = FALSE;
    TEST_OVERRIDE_PAYLOAD_T override;
    OVERRIDE_TYPE_T         ovType = getOverridePayloadFromMessage( message, &override );

    // Verify tester has logged in with TD and override type is valid
    if ( ( TRUE == isTestingActivated() ) && ( ovType != OVERRIDE_INVALID ) && ( ovType < NUM_OF_OVERRIDE_TYPES ) )
    {
        if ( OVERRIDE_OVERRIDE == ovType )
        {
            U32 intvl = override.state.u32 / TASK_PRIORITY_INTERVAL;

            result = TRUE;
            valvesStatesPublishInterval.ovData      = intvl;
            valvesStatesPublishInterval.override    = OVERRIDE_KEY;
        }
        else
        {
            result = TRUE;
            valvesStatesPublishInterval.override    = OVERRIDE_RESET;
            valvesStatesPublishInterval.ovData      = valvesStatesPublishInterval.ovInitData;
        }
    }

    return result;
}

/*********************************************************************//**
 * @brief
 * The testValveStateOverride function overrides the value of the
 * specified valve with a given value.
 * @details \b Inputs: none
 * @details \b Outputs: valveStates[]
 * @param message Override message from Dialin which includes an ID of
 * the valve to override and the state to override the valve to.
 * @return TRUE if override successful, FALSE if not
 *************************************************************************/
BOOL testValveStateOverride( MESSAGE_T *message )
{
    BOOL                          result = FALSE;
    TEST_OVERRIDE_ARRAY_PAYLOAD_T override;
    OVERRIDE_TYPE_T               ovType = getOverrideArrayPayloadFromMessage( message, &override );

    // Verify tester has logged in with TD and override type is valid
    if ( ( TRUE == isTestingActivated() ) && ( ovType != OVERRIDE_INVALID ) && ( ovType < NUM_OF_OVERRIDE_TYPES ) )
    {
        U32 valveID = override.index;

        // Verify bubble detector index of override
        if ( valveID < NUM_OF_VALVES )
        {
            if ( OVERRIDE_OVERRIDE == ovType )
            {
                U32 value = override.state.u32;

                valveStates[ valveID ].ovData   = value;
                valveStates[ valveID ].override = OVERRIDE_KEY;
                result                          = TRUE;
            }
            else
            {
                valveStates[ valveID ].override = OVERRIDE_RESET;
                valveStates[ valveID ].ovData   = valveStates[ valveID ].ovInitData;
                result                          = TRUE;
            }
        }
    }

    return result;
}

/*********************************************************************//**
 * @brief
 * The testValveSensedStateOverride function overrides the value of the
 * specified sensed state with a given value.
 * @details \b Inputs: none
 * @details \b Outputs: valveSensedStates[]
 * @param message Override message from Dialin which includes an ID of
 * the valve to override and the state to override the valve to.
 * @return TRUE if override successful, FALSE if not
 *************************************************************************/
BOOL testValveSensedStateOverride( MESSAGE_T *message )
{
    BOOL                          result = FALSE;
    TEST_OVERRIDE_ARRAY_PAYLOAD_T override;
    OVERRIDE_TYPE_T               ovType = getOverrideArrayPayloadFromMessage( message, &override );

    // Verify tester has logged in with TD and override type is valid
    if ( ( TRUE == isTestingActivated() ) && ( ovType != OVERRIDE_INVALID ) && ( ovType < NUM_OF_OVERRIDE_TYPES ) )
    {
        U32 valveID = override.index;

        // Verify bubble detector index of override
        if ( valveID < NUM_OF_VALVES )
        {
            if ( OVERRIDE_OVERRIDE == ovType )
            {
                U32 value = override.state.u32;

                valveSensedStates[ valveID ].ovData     = value;
                valveSensedStates[ valveID ].override   = OVERRIDE_KEY;
                result                                  = TRUE;
            }
            else
            {
                valveSensedStates[ valveID ].override   = OVERRIDE_RESET;
                valveSensedStates[ valveID ].ovData     = valveStates[ valveID ].ovInitData;
                result                                  = TRUE;
            }
        }
    }

    return result;
}

/**@}*/