// -----------------------------------------------------------------------------
/// @file  Interlock.c
/// @brief Description
// -----------------------------------------------------------------------------
//  Micro-Key bv
//  Industrieweg 28, 9804 TG Noordhorn
//  Postbus 92, 9800 AB Zuidhorn
//  The Netherlands
//  Tel: +31 594 503020
//  Fax: +31 594 505825
//  Email: support@microkey.nl
//  Web: www.microkey.nl
// -----------------------------------------------------------------------------
/// $Revision$
/// $Author$
/// $Date$
//  (c) 2017 Micro-Key bv
// -----------------------------------------------------------------------------

/// @file Interlock.c
/// @ingroup {group_name}


// -----------------------------------------------------------------------------
// Include files
// -----------------------------------------------------------------------------

#include "stm32f10x.h"

#include "Error.h"

#include "Logger.h"
#include "Interlock.h"


// -----------------------------------------------------------------------------
// Constant and macro definitions
// -----------------------------------------------------------------------------



// -----------------------------------------------------------------------------
// Type definitions
// -----------------------------------------------------------------------------


// -----------------------------------------------------------------------------
// File-scope variables
// -----------------------------------------------------------------------------



// -----------------------------------------------------------------------------
// Function declarations
// -----------------------------------------------------------------------------

static void InterlockTask (void* parameters);

// -----------------------------------------------------------------------------
// Function definitions
// -----------------------------------------------------------------------------

ErrorStatus Interlock_construct(struct Interlock* self, T_INTERLOCK_ID ID, struct Gpio* NO, EXTI_InitTypeDef NOEXTI, struct Gpio* NC, EXTI_InitTypeDef NCEXTI, int waitToDebounce_ms)
{
   ErrorStatus returnValue = SUCCESS;
   if (!self->initialized)
   {
      vSemaphoreCreateBinary(self->semaphore);
      xSemaphoreTake(self->semaphore, 0);

      BaseType_t rv = xTaskCreate(InterlockTask, (const char*)"InterlockIO", 300, self, 1, &self->taskHandle);

      if (rv != pdTRUE)
      {
         returnValue = ERROR;
         LOGGER_ERROR(mainLog, "FAILED to start Interlock ID %d with code %d", ID, (int)rv);
      }
      else
      {
         self->ID                = ID;
         self->NO.io             = NO;
         self->NO.ioEXTI         = NOEXTI;
         self->NC.io             = NC;
         self->NC.ioEXTI         = NCEXTI;
         self->waitToDebounce_ms = waitToDebounce_ms;
         self->initialized       = true;
         LOGGER_INFO(mainLog, "Interlock ID %d started", self->ID);
      }

   }
   else
   {
      returnValue = ERROR;
   }
   return returnValue;
}


void Interlock_getStatus(struct Interlock* self, FunctionalState* command, int* NO, int* NC)
{
   *command = self->NO.ioEXTI.EXTI_LineCmd;

   size_t actualLength;
   IODevice_read((struct IODevice*)self->NO.io, (char*)NO, 1, &actualLength);
   IODevice_read((struct IODevice*)self->NC.io, (char*)NC, 1, &actualLength);
}


bool Interlock_isClosed(struct Interlock* self)
{
   bool returnValue;

   char no;
   char nc;
   size_t actualLength;

   IODevice_read((struct IODevice*)self->NO.io, &no, 1, &actualLength);
   IODevice_read((struct IODevice*)self->NC.io, &nc, 1, &actualLength);

   if ((nc != 0) && (no == 0))
   {
      returnValue = true;
   }
   else
   {
      returnValue = false;
   }
   return returnValue;
}


void Interlock_setEXTI(struct Interlock* self, FunctionalState command)
{
   self->NO.ioEXTI.EXTI_LineCmd = command;
   EXTI_Init(&self->NO.ioEXTI);

   self->NC.ioEXTI.EXTI_LineCmd = command;
   EXTI_Init(&self->NC.ioEXTI);
}


static void InterlockTask (void* parameters)
{
   struct Interlock* self = (struct Interlock*)parameters;

   while(1)
   {
      // Interlock was OK when the IRQ became active
      // This tasks debounces the Interlock against accidental detections
      // THe semaphore is given from ISR
      xSemaphoreTake(self->semaphore, portMAX_DELAY);
      // Wait for the debounce time
      vTaskDelay(self->waitToDebounce_ms);
      // Check if the Interrupt was justified
      if (!Interlock_isClosed(self))
      {
         // The Interlock is open, so the Interrupt was justified
         if (self->ID == COMMON_INTERLOCK)
         {
            Error_postError(INTERLOCK_COMMON_FAIL);
         }
      }
      else
      {
         // False alarm
      }
   }
}