/*
 * charger_gbt.c
 *
 *  Created on: Apr 18, 2024
 *      Author: colorbass
 */


#include "charger_gbt.h"
#include "main.h"
#include "board.h"
#include "stdio.h"
#include "j1939.h"
#include "string.h"
#include "edcan.h"
#include "lock.h"
#include "connector.h"

uint8_t GBT_CC_GetStateRaw();

gbtState_t GBT_State;
uint32_t GBT_state_tick; //Tick after state switch
uint32_t GBT_delay;
uint8_t GBT_BAT_INFO_recv;
uint8_t GBT_BAT_STAT_recv;
uint8_t GBT_BRO_recv;
uint8_t GBT_BHM_recv;
uint8_t GBT_BSD_recv;
uint8_t EV_ready;
//uint8_t GBT_Charger_Enable; //FIX
//uint8_t GBT_Charger_Permission;//FIX

GBT_CML_t GBT_MaxLoad;
GBT_CRM_t GBT_ChargerInfo;

GBT_BHM_t GBT_MaxVoltage;
GBT_BRM_t GBT_EVInfo;
GBT_BCP_t GBT_BATStat;
GBT_BCL_t GBT_ReqPower;
GBT_BCL_t GBT_CurrPower;

GBT_BCS_t GBT_ChargingStatus;

GBT_BSM_t GBT_BatteryStatus;

GBT_CCS_t GBT_ChargerCurrentStatus;

GBT_CSD_t GBT_ChargerStop;

uint8_t GBT_BRO;

uint32_t GBT_TimeChargingStarted;

uint32_t GBT_StopCauseCode;
uint32_t GBT_ErrorCode;

extern GBT_EDCAN_Output_t GBT_EDCAN_Output;
extern GBT_EDCAN_Input_t GBT_EDCAN_Input;


void GBT_Init(){
	GBT_State = GBT_DISABLED;
	GBT_EDCAN_Input.chargeControl == CHARGING_NOT_ALLOWED;
	GBT_Reset();
}




void GBT_ChargerTask(){

	//GBT_LockTask();
	if(j_rx.state == 2){
		switch (j_rx.PGN){
		case 0x2700: //PGN BHM
			GBT_BHM_recv = 1;
			memcpy (&GBT_MaxVoltage, j_rx.data, sizeof(GBT_MaxVoltage));

			break;

		case 0x0200: //PGN BRM LONG
			GBT_BAT_INFO_recv = 1;
			memcpy (&GBT_EVInfo, j_rx.data, sizeof(GBT_EVInfo));

		    break;

		case 0x0600: //PGN BCP LONG
			GBT_BAT_STAT_recv = 1;
			memcpy (&GBT_BATStat, j_rx.data, sizeof(GBT_BATStat));
			break;

		case 0x0900: //PGN BRO
			GBT_BRO_recv = 1;
			if(j_rx.data[0] == 0xAA) EV_ready = 1;
			else EV_ready = 0;
			GBT_BRO = j_rx.data[0];
			break;

		case 0x1000: //PGN BCL
			//TODO: power block
			memcpy (&GBT_ReqPower, j_rx.data, sizeof(GBT_ReqPower));
			uint16_t volt=GBT_ReqPower.requestedVoltage;
			GBT_EDCAN_Output.requestedVoltage = volt;
			uint16_t curr=4000-GBT_ReqPower.requestedCurrent;
			GBT_EDCAN_Output.requestedCurrent = curr;
			break;

		case 0x1100: //PGN BCS
			//TODO
			memcpy (&GBT_ChargingStatus, j_rx.data, sizeof(GBT_ChargingStatus));
			GBT_EDCAN_Output.chargingRemainingTimeMin = GBT_ChargingStatus.estimatedRemainingChargingTime;
			GBT_EDCAN_Output.chargingPercentage = GBT_ChargingStatus.currentChargeState;
			break;

		case 0x1300: //PGN BSM
			//TODO
			memcpy (&GBT_BatteryStatus, j_rx.data, sizeof(GBT_BatteryStatus));
			break;

		case 0x1500: //PGN BMV
			//TODO
			break;

		case 0x1600: //PGN BMT
			//TODO
			break;

		case 0x1700: //PGN BSP
			//TODO
			break;

			//this handler in j1939.c
//		case 0x1900: //PGN BST
//			break;

		case 0x1C00: //PGN BSD
			//TODO SOC Voltage Temp
			GBT_BSD_recv = 1;
			break;

			//this handler in j1939.c
//		case 0x1E00: //PGN BEM
//			break;

			//BSM BMV BMT BSP BST BSD BEM

		}
		j_rx.state = 0;
	}

	if(GBT_delay>HAL_GetTick()){
		//waiting
	}else switch (GBT_State){
		case GBT_DISABLED:
			RELAY_Write(RELAY_AUX, 0);
			if(connectorState == CONN_Occupied_charging){
				GBT_Reset();
				GBT_Start();//TODO IF protections (maybe not needed)
			}
			break;
//		case GBT_S0_UNCONNECTED:
//			if(!GBT_Charger_Enable){
//				GBT_Stop();
//				break;
//			}
//			if(GBT_CC_GetState()==GBT_CC_4V){
//
//				GBT_SwitchState(GBT_S1_CONNECTED);
//				GBT_Delay(500);
//			}
//			break;
//		case GBT_S1_CONNECTED:
//			if(!GBT_Charger_Enable){
//				GBT_Stop();
//				break;
//			}
//			if(GBT_CC_GetState()==GBT_CC_4V){
//
//				GBT_Lock(1);
//				GBT_SwitchState(GBT_S2_LOCKED);
//				GBT_Delay(500);
//			}else{
//				GBT_SwitchState(GBT_S0_UNCONNECTED);
//			}
//			break;
//		case GBT_S2_LOCKED:
//			if(!GBT_Charger_Enable){
//				GBT_Stop();
//				break;
//			}
//			if(1){ //TODO: charge permission
//				RELAY_Write(RELAY_AUX, 1); // 13.8V AUX ON
//				GBT_SwitchState(GBT_S3_STARTED);
//				GBT_Delay(500);
//			}
//			break;

		case GBT_S3_STARTED:
			GBT_SwitchState(GBT_S4_ISOTEST);
			GBT_Delay(500);
			break;

		case GBT_S4_ISOTEST:
			if(j_rx.state == 0) GBT_SendCHM();
			GBT_Delay(250);
			//TODO: Isolation test
			//if(isolation test fail) {send CST}
			if(GBT_BHM_recv) {
				//Isolation test finish
				GBT_SwitchState(GBT_S5_BAT_INFO);
			}
			//Timeout 10S
			if((GBT_BHM_recv == 0) && (GBT_StateTick()>10000)) { //BHM Timeout
				GBT_Error(0xFCF0C0FC);
			}
			break;

		case GBT_S5_BAT_INFO:
			if(j_rx.state == 0) GBT_SendCRM(0x00);
			GBT_Delay(250);
			if(GBT_BAT_INFO_recv){ //BRM
				//Got battery info
				GBT_SwitchState(GBT_S6_BAT_STAT);
			}
			//Timeout
			if((GBT_StateTick()>5000) && (GBT_BAT_INFO_recv == 0)){
				GBT_Error(0xFDF0C0FC); //BRM Timeout
			}
			break;

		case GBT_S6_BAT_STAT:
			if(j_rx.state == 0) GBT_SendCRM(0xAA);
			GBT_Delay(250);
			if(GBT_BAT_STAT_recv){
				//Got battery status
				GBT_SwitchState(GBT_S7_BMS_WAIT);
			}
			if((GBT_StateTick()>5000) && (GBT_BAT_STAT_recv == 0)){
				GBT_Error(0xFCF1C0FC); //BCP Timeout
			}
			break;

		case GBT_S7_BMS_WAIT:
			if(j_rx.state == 0) GBT_SendCTS();
			HAL_Delay(2);
			if(j_rx.state == 0) GBT_SendCML();
			GBT_Delay(250);
			if((GBT_StateTick()>5000) && (GBT_BRO_recv == 0)){
				GBT_Error(0xFCF4C0FC); //BRO Timeout
			}
			if(EV_ready){
				//EV ready (AA)
				GBT_SwitchState(GBT_S8_INIT_CHARGER);
			}else{
				if((GBT_StateTick()>60000) && (GBT_BRO_recv == 1)){
					GBT_Error(0xFCF4C0FC); //BRO Timeout
				}
			}
			break;

		case GBT_S8_INIT_CHARGER:
			if(j_rx.state == 0) GBT_SendCRO(0x00);
			//TODO
			GBT_Delay(250);
			if(GBT_StateTick()>1500){
				//Power Modules initiated
				GBT_SwitchState(GBT_S9_WAIT_BCL);
			}
			break;

		case GBT_S9_WAIT_BCL:
			if(j_rx.state == 0) GBT_SendCRO(0xAA);
			GBT_Delay(250);
			if(GBT_ReqPower.chargingMode != 0){ //REFACTORING
				//BCL power requirements received

				GBT_SwitchState(GBT_S10_CHARGING);
				CONN_SetState(CONN_Occupied_charging);
				uint16_t curr=4000-GBT_ReqPower.requestedCurrent;
				uint16_t volt=GBT_ReqPower.requestedVoltage;
				//TODO Limits

				GBT_EDCAN_Output.requestedVoltage = volt;
				GBT_EDCAN_Output.requestedCurrent = curr;
				GBT_EDCAN_Output.enablePSU = 1;
				GBT_TimeChargingStarted = get_Current_Time();

				//TODO: EDCAN_SendPacketRead

			}
			break;

		case GBT_S10_CHARGING:
			//CHARGING
			//TODO BCL BCS BSM missing ERRORS
			if(GBT_EDCAN_Input.chargeControl == CHARGING_NOT_ALLOWED) 	GBT_Stop(GBT_CST_SUSPENDS_ARTIFICIALLY);
			if(GBT_EDCAN_Input.chargeControl == FORCE_UNLOCK) 			GBT_Stop(GBT_CST_SUSPENDS_ARTIFICIALLY);//GBT_ForceStop();
			if(GBT_LockState.error) 									GBT_Stop(GBT_CST_OTHERFALUT);
			//GBT_ChargerCurrentStatus.chargingPermissible = 0b1111111111111100;//NOT PERMITTED
			GBT_ChargerCurrentStatus.chargingPermissible = 0b1111111111111101;
			GBT_ChargerCurrentStatus.chargingTime = (get_Current_Time() - GBT_TimeChargingStarted)/60;
//			GBT_ChargerCurrentStatus.outputCurrent = 4000 - GBT_EDCAN_Output.requestedCurrent;
//			GBT_ChargerCurrentStatus.outputVoltage = GBT_EDCAN_Output.requestedVoltage;
			GBT_ChargerCurrentStatus.outputCurrent = 4000 - GBT_EDCAN_Input.measuredCurrent;
			GBT_ChargerCurrentStatus.outputVoltage = GBT_EDCAN_Input.measuredVoltage;
			GBT_EDCAN_Output.chargingElapsedTimeMin = (get_Current_Time() - GBT_TimeChargingStarted)/60;
			GBT_EDCAN_Output.chargingElapsedTimeSec = (get_Current_Time() - GBT_TimeChargingStarted)%60;

			if(j_rx.state == 0) GBT_SendCCS();

			GBT_Delay(50);

			break;

		case GBT_STOP:
			GBT_Delay(10);
			GBT_EDCAN_Output.enablePSU = 0;
			GBT_SendCST(GBT_StopCauseCode);
			//RELAY_Write(RELAY_OUTPUT, 0);
			//GBT_SwitchState(GBT_DISABLED);
			if(GBT_StateTick()>10000){
				GBT_Error(0xFCF0C0FD); //BSD Timeout
			}

			if(GBT_BSD_recv != 0){
				GBT_SwitchState(GBT_STOP_CSD);
			}

			break;
		case GBT_STOP_CSD:
			GBT_Delay(250);
			GBT_SendCSD();
			if(GBT_StateTick()>2500){ //2.5S
				GBT_SwitchState(GBT_COMPLETE);
//				GBT_Reset();
				//CONN_SetState(CONN_Occupied_complete);
				//if(connectorState == CONN_Occupied_charging)
				//PSU_Mode(0x0100);
			}
			break;


		case GBT_ERROR:
			GBT_SendCEM(GBT_ErrorCode); //2.5S
			GBT_SwitchState(GBT_COMPLETE);
//			GBT_Reset();
			//
			break;

		case GBT_COMPLETE:
			if(connectorState != CONN_Occupied_complete) GBT_SwitchState(GBT_DISABLED);
			break;

		default:
			GBT_SwitchState(GBT_DISABLED);
	}
}



void GBT_SwitchState(gbtState_t state){
	GBT_State = state;
	ED_status = state;
	GBT_state_tick = HAL_GetTick();
	if(GBT_State == GBT_DISABLED) 		printf ("GBT_DISABLED\n");
//	if(GBT_State == GBT_S0_UNCONNECTED) printf ("GBT_S0_UNCONNECTED\n");
//	if(GBT_State == GBT_S1_CONNECTED) 	printf ("GBT_S1_CONNECTED\n");
//	if(GBT_State == GBT_S2_LOCKED) 		printf ("GBT_S2_LOCKED\n");
	if(GBT_State == GBT_S3_STARTED) 	printf ("GBT_S3_STARTED\n");
	if(GBT_State == GBT_S4_ISOTEST) 	printf ("GBT_S4_ISOTEST\n");
	if(GBT_State == GBT_S5_BAT_INFO) 	printf ("GBT_S5_BAT_INFO\n");
	if(GBT_State == GBT_S6_BAT_STAT) 	printf ("GBT_S6_BAT_STAT\n");
	if(GBT_State == GBT_S7_BMS_WAIT) 	printf ("GBT_S7_BMS_WAIT\n");
	if(GBT_State == GBT_S8_INIT_CHARGER)printf ("GBT_S8_INIT_CHARGER\n");
	if(GBT_State == GBT_S9_WAIT_BCL) 	printf ("GBT_S9_WAIT_BCL\n");
	if(GBT_State == GBT_S10_CHARGING) 	printf ("GBT_S10_CHARGING\n");
	if(GBT_State == GBT_STOP) 			printf ("GBT_STOP\n");
	if(GBT_State == GBT_STOP_CSD) 		printf ("GBT_STOP_CSD\n");
	if(GBT_State == GBT_ERROR) 			printf ("GBT_ERROR\n");
	if(GBT_State == GBT_COMPLETE) 		printf ("GBT_COMPLETE\n");


}

uint32_t GBT_StateTick(){
	return HAL_GetTick() - GBT_state_tick;
}

void GBT_Delay(uint32_t delay){
	GBT_delay = HAL_GetTick()+delay;
}

void GBT_Stop(uint32_t causecode){
	GBT_StopCauseCode = causecode;
	if(GBT_State != GBT_STOP) GBT_SwitchState(GBT_STOP);
}

void GBT_Error(uint32_t errorcode){
	GBT_ErrorCode = errorcode;
	GBT_SwitchState(GBT_ERROR);
}

void GBT_ForceStop(){
	GBT_EDCAN_Output.enablePSU = 0;
	GBT_SwitchState(GBT_COMPLETE);
	GBT_Lock(0);
	RELAY_Write(RELAY_AUX, 0);
}

void GBT_Reset(){
	GBT_BAT_INFO_recv = 0;
	GBT_BAT_STAT_recv = 0;
	GBT_BRO_recv = 0;
	GBT_BHM_recv = 0;
	GBT_BSD_recv = 0;
	EV_ready = 0;
	memset(&GBT_EVInfo, 0, sizeof (GBT_EVInfo));
	memset(&GBT_BATStat, 0, sizeof (GBT_BATStat));
	memset(&GBT_ReqPower, 0, sizeof (GBT_ReqPower));
	memset(&GBT_CurrPower, 0, sizeof (GBT_CurrPower));
	memset(&GBT_MaxVoltage, 0, sizeof (GBT_MaxVoltage));
	memset(&GBT_ChargingStatus, 0, sizeof (GBT_ChargingStatus));
	memset(&GBT_BatteryStatus, 0, sizeof (GBT_BatteryStatus));
	memset(&GBT_ChargerCurrentStatus, 0, sizeof (GBT_ChargerCurrentStatus));
	memset(&GBT_ChargerStop, 0, sizeof (GBT_ChargerStop));
	GBT_CurrPower.requestedCurrent = 4000; //0A
	GBT_CurrPower.requestedVoltage = 0;    //0V
	GBT_TimeChargingStarted = 0;
	GBT_BRO = 0x00;
}
void GBT_Start(){
	RELAY_Write(RELAY_AUX, 1);
	GBT_SwitchState(GBT_S3_STARTED);
}