/*---------------------------------------------------------------------------
ighdriv.c

Driver for the Oxford Instruments IGH Intelligent gas handling system
(based on ease).

Markus Zolliker, May 2005
----------------------------------------------------------------------------*/
#include <string.h>
#include <stdio.h>
#include <stdlib.h>
#include <assert.h>
#include <sys/time.h>
#include <math.h>
#include <tcl.h>
#include <fortify.h>
#include <sics.h>
#include <splitter.h>
#include <obpar.h>
#include <devexec.h>
#include <nserver.h>
#include <interrupt.h>
#include <emon.h>
#include <evcontroller.h>
#include <evcontroller.i>
#include <servlog.h>
#include <sicsvar.h>
#include <evdriver.i>
#include <rs232controller.h>
#include "oxinst.h"
#include "fsm.h"
#include "initializer.h"

#define OLDIGH -8
#define SORBS_FLAG 1
#define MIXP_FLAG 2
#define MAXP_FLAG 3
#define STILL_FLAG 4
#define SORBP_FLAG 5
#define MOT_FLAGS 6
#define VALVE_FLAGS 9
#define MAX_FLAG 32

static char *valves[]={"V9", "V8", "V7", "V11A", "V13A", "V13B", "V11B", "V12B",
                       " He4", "V1", "V5", "V4", "V3", "V14", "V10", "V2",
                       " V2A", " V1A", " V5A", " V4A", " V3A", " Roots", " Aux", "He3",
                       NULL}; /* valves beginning with blank are not shown in list */
typedef enum {V9,V8,V7,V11A,V13A,V13B,V11B,V12B,
              HE4,V1,V5,V4,V3,V14,V10,V2,
              V2A,V1A,V5A,V4A,V3A,ROOTS,AUX,HE3,n_VALVES} Valves;
              
static char *motorValves[]={"V6", "V12A", "V1K", NULL};
typedef enum {V6,V12A,V1K,n_MOTOR} MotorValves;
static char *motorCommands[]={"G", "H", "N"};

static char *gauges[]={"G1", "G2", "G3", "", "", "", "P1", "P2", NULL};
typedef enum {G1,G2,G3,G4,G5,G6,P1,P2,n_PRESS} PressureGauges;

static char *closedOrOpen[]={"closed", "open", NULL};


typedef struct {
  EaseDriv d;
  float setT;
  float sorbS;
  float mixT;
  float onekT;
  float sorbT;
  float mixP;
  float stillP;
  float sorbP;
  float press[n_PRESS];
  float mv[n_MOTOR];
  float v6pos;
  time_t v6time;
  int pdig;
  int v[n_VALVES];
  int e; /* heater range */
  int a; /* actual heater mode */
  int o; /* actual still/sorb mode */
  int s; /* moving valve state */
  int remote;
} Igh;

static ParClass ighClass = { "IGH", sizeof(Igh) };

static long IghSet(long pc, void *object);
/*----------------------------------------------------------------------------*/
static int IghPower2Range(float p) {
  int e;
  if (p <= 0) return 0;
  for (e = 1; e < 5; e++) {
    if (p < 1.9994) break;
    p /= 10;
  }
  return e;
}
/*----------------------------------------------------------------------------*/
static float IghRange2Max(int e) {
  static float elist[]={0,2,20,200,2000,20000};
  if (e < 0) {
    e = 0;
  } else if (e > 5) {
    e = 5;
  }
  return elist[e];
}
/*----------------------------------------------------------------------------*/
static void IghParDef(void *object) {
  Igh *drv = ParCast(&ighClass, object);
  EaseBase *eab = object;
  int i, flag, l, changed;
  char *vPos, *val;
  char fmt[8], vList[80];
  float maxP;
  
  ParName(""); ParTail("K"); ParFmt("%.4f");
  ParFloat(&drv->mixT, PAR_NAN);
  
  ParName("Tset"); ParTail("K"); ParFmt("%.4f");
  if (eab->syntax == OLDIGH) ParList("all");
  ParFloat(&drv->setT, PAR_NAN);
  
  ParName("TsorbSet");
  EaseUpdate(SORBS_FLAG); ParTail("K"); ParFmt("%.1f");
  ParFloat(&drv->sorbS, PAR_NAN);

  ParName("Tmix");
  ParTail("K"); ParFmt("%.4f");
  ParFloat(&drv->mixT, PAR_NAN);

  ParName("T1K");
  ParTail("K"); ParFmt("%.4f");
  ParFloat(&drv->onekT, PAR_NAN);

  ParName("Tsorb");
  ParTail("K"); ParFmt("%.1f");
  ParFloat(&drv->sorbT, PAR_NAN);

  ParName("Pmix");
  if (drv->e >= 5 || drv->e < 1) {
    strcpy(fmt, "%.0f");
  } else {
    snprintf(fmt, sizeof fmt, "%%.%df", 4 - drv->e);
  }
  EaseUpdate(MIXP_FLAG); ParTail("uW"); ParFmt(fmt);
  ParFloat(&drv->mixP, PAR_NAN);

  ParName("Pmax");
  EaseUpdate(MAXP_FLAG); ParTail("uW"); ParFmt("%g");
  if ((val = ParGetValueArg())) {
    drv->e = IghPower2Range(atof(val) * 0.9);
  }
  maxP = IghRange2Max(drv->e);
  ParFloat(&maxP, PAR_NAN);

  ParName("Pstill");
  EaseUpdate(STILL_FLAG); ParTail("mW"); ParFmt("%.3f");
  ParFloat(&drv->stillP, PAR_NAN);

  ParName("Psorb");
  EaseUpdate(SORBP_FLAG); ParTail("W"); ParFmt("%.1f");
  ParFloat(&drv->sorbP, PAR_NAN);

  for (i=0; i<n_PRESS; i++) {
    if (gauges[i][0] != '\0') {
      ParName(gauges[i]);
      ParTail("mbar");
      if (i == P1) {
        snprintf(fmt, sizeof fmt, "%%.%df", drv->pdig);
        ParFmt(fmt);
      } else if (i == P2) {
        ParFmt("%.3f"); ParList("all");
      } else if (i == G3) {
        ParFmt("%.1f"); ParList("all");
      } else {
        ParFmt("%.1f"); 
      }
      ParFloat(&drv->press[i], PAR_NAN);
    }
  }

  flag = MOT_FLAGS;
  for (i=0; i<n_MOTOR; i++) {
    ParName(motorValves[i]);
    ParFmt("%.1f");
    ParTail("%");
    if (i == V1K) ParList("all");
    EaseUpdate(flag); flag++;
    ParFloat(&drv->mv[i], PAR_NAN);
  }

  ParName("v6pos"); ParFmt("%.1f"); ParTail("%");
  ParFloat(&drv->v6pos, PAR_NAN);

  assert(flag == VALVE_FLAGS);
  l = 0;
  for (i=0; i<n_VALVES; i++) {
    if (valves[i][0] == ' ') {
      ParName(valves[i]+1);
      changed = 0;
    } else {
      ParName(valves[i]);
      changed = EaseUpdate(flag);
    }
    ParEnum(closedOrOpen);
    ParInt(&drv->v[i], PAR_LNAN);
    if (changed) {
      if (drv->v[i] != 1) drv->v[i] = 0; /* allow only 1 or 0 */
    }
    flag++;
    if (ParActionIs(PAR_LIST) && valves[i][0] != ' ') {
      if (drv->v[i] == 1) {
        vPos = vList + l;
        l += strlen(valves[i]) + 1;
        if (l < sizeof vList) {
          strcpy(vPos, " "); vPos++;
          strcpy(vPos, valves[i]);
          vList[l] = '\0';
        } else {
          l = vPos - vList;
        }
      }
    }
  }
  assert(MAX_FLAG == flag-1);
  if (ParActionIs(PAR_LIST)) {
    vList[l] = '\0';
    ParPrintf(NULL, eValue, "open valves:%s", vList);
  }
  EaseBasePar(drv);
  EaseSendPar(drv);
  ParStdDef();
  EaseMsgPar(eab);
}
/*----------------------------------------------------------------------------*/
void IghStatus(Igh *drv) {
  char *ans;
  int *code;
  long mask, p;
  int i;
  
  if (drv->d.b.state != EASE_read) return;
  ans=drv->d.b.ans;
  code=&drv->d.b.errCode;
  if (ans[0] != 'X' ||
      ans[2] != 'A' ||
      ans[4] != 'C' ||
      ans[6] != 'P' ||
      ans[15] != 'S' ||
      ans[17] != 'O' ||
      ans[19] != 'E') {
    ParPrintf(drv, eError, "illegal status response: %s", ans);
    *code = EASE_FAULT;
    return;
  }
  if (sscanf(ans+7, "%lx", &mask) <= 0) {
    ParPrintf(drv, eError, "illegal valve status response");
    *code = EASE_FAULT;
    return;
  }
  p=1;
  for (i=0; i<n_VALVES; i++) {
    if (! EaseGetUpdate(drv, VALVE_FLAGS+i)) {
      if (mask & p) {
        drv->v[i] = 1;
      } else {
        drv->v[i] = 0;
      }
      p=p*2;
    }
  }
  drv->a = ans[3] - '0';
  drv->s = ans[16] - '0';
  drv->o = ans[18] - '0';
  if (EaseGetUpdate(drv, MAXP_FLAG) == 0) {
    if (drv->a == 0) {
      drv->e = 0;
    } else {
      drv->e = ans[20] - '0';
    }
  }
  if (ans[5] != '3' && drv->remote == 2) {
    ParPrintf(drv, eError, "IGH switched to local");
    *code = EASE_FAULT;
    drv->remote = 1;
    return;
  }
}
/*----------------------------------------------------------------------------*/
static long IghRead(long pc, void *object) {
  Igh *drv = ParCast(&ighClass, object);
  EaseBase *eab = object;
  char *p;
  int l;
  time_t now;
  float delta;
  
  switch (pc) { default: /* FSM BEGIN *******************************/
    EaseWrite(eab, "X");
  return __LINE__; case __LINE__: /**********************************/
    IghStatus(drv);
    if (!drv->remote) goto skiprmt;
    EaseWrite(eab, "C0");
    drv->remote = 0;
  return __LINE__; case __LINE__: /**********************************/
  skiprmt:

    if (! EaseNextFullRead(eab)) goto fsm_quit;
    
    if (EaseCheckDoit(eab)) goto quit;

    if (EaseGetUpdate(drv, SORBS_FLAG)) goto skip0;
    if (drv->o / 2 != 1) {
      drv->sorbS = 0;
      goto skip0;
    }
    EaseWrite(eab, "R0");
  return __LINE__; case __LINE__: /**********************************/
    if (EaseGetUpdate(drv, SORBS_FLAG)) goto skip0;
    drv->sorbS = OxiGet(eab, 1, NULL, drv->sorbS);
  skip0:
    
    if (EaseCheckDoit(eab)) goto quit;

    if (eab->syntax == OLDIGH) {
      EaseWrite(eab, "R3");
    } else {
      EaseWrite(eab, "R32");
    }
  return __LINE__; case __LINE__: /**********************************/
    if (eab->syntax == OLDIGH) {
      drv->mixT = OxiGet(eab, 3, NULL, drv->mixT);
    } else {
      drv->mixT = OxiGet(eab, 4, NULL, drv->mixT);
      if (drv->mixT < 0) drv->mixT += 6.5536; /* correct a bug in firmware < 3.03 */
    }
    if (EaseCheckDoit(eab)) goto quit;

    if (eab->syntax == OLDIGH) goto noSetTemp;
    EaseWrite(eab, "R33");
  return __LINE__; case __LINE__: /**********************************/
    drv->setT = OxiGet(eab, 4, NULL, drv->setT);
    
  noSetTemp:
    EaseWrite(eab, "R1");
  return __LINE__; case __LINE__: /**********************************/
    drv->sorbT = OxiGet(eab, 1, NULL, drv->sorbT);
    
    if (EaseCheckDoit(eab)) goto quit;

    EaseWrite(eab, "R2");
  return __LINE__; case __LINE__: /**********************************/
    drv->onekT = OxiGet(eab, 3, NULL, drv->onekT);
    
    if (EaseCheckDoit(eab)) goto quit;

    if (drv->e == 0) {
      drv->mixP = 0;
      goto skip4;
    }
    if (EaseGetUpdate(drv, MIXP_FLAG)) goto skip4;
    EaseWrite(eab, "R4");
  return __LINE__; case __LINE__: /**********************************/
    if (EaseGetUpdate(drv, MIXP_FLAG)) goto skip4;
    drv->mixP = OxiGet(eab, 5 - drv->e, NULL, drv->mixP/10) * 10;
  skip4:
    
    if (EaseCheckDoit(eab)) goto quit;

    if (EaseGetUpdate(drv, STILL_FLAG)) goto skip5;
    EaseWrite(eab, "R5");
  return __LINE__; case __LINE__: /**********************************/
    if (EaseGetUpdate(drv, STILL_FLAG)) goto skip5;
    drv->stillP = OxiGet(eab, 1, NULL, drv->stillP);
  skip5:
    
    if (EaseCheckDoit(eab)) goto quit;

    if (EaseGetUpdate(drv, SORBP_FLAG)) goto skip6;
    EaseWrite(eab, "R6");
  return __LINE__; case __LINE__: /**********************************/
    if (EaseGetUpdate(drv, SORBP_FLAG)) goto skip6;
    drv->sorbP = OxiGet(eab, 3, NULL, drv->sorbP);
  skip6:
  
    if (EaseCheckDoit(eab)) goto quit;

    if (EaseGetUpdate(drv, MOT_FLAGS+V6)) goto skip7;
    EaseWrite(eab, "R7");
  return __LINE__; case __LINE__: /**********************************/
    if (EaseGetUpdate(drv, MOT_FLAGS+V6)) goto skip7;
    drv->mv[V6] = OxiGet(eab, 1, NULL, drv->mv[V6]);
    time(&now);
    delta = (now - drv->v6time) / 2.64; /* speed: 1/2.64 %/sec */
    drv->v6time = now;
    if (drv->v6pos > drv->mv[V6] + delta) {
      drv->v6pos -= delta;
    } else if (drv->v6pos < drv->mv[V6] - delta) {
      drv->v6pos += delta;
    } else {
      drv->v6pos = drv->mv[V6];
    }
  skip7:
  
    if (EaseCheckDoit(eab)) goto quit;

    if (EaseGetUpdate(drv, MOT_FLAGS+V12A)) goto skip8;
    EaseWrite(eab, "R8");
  return __LINE__; case __LINE__: /**********************************/
    if (EaseGetUpdate(drv, MOT_FLAGS+V12A)) goto skip8;
    drv->mv[V12A] = OxiGet(eab, 1, NULL, drv->mv[V12A]);
  skip8:
  
    if (EaseCheckDoit(eab)) goto quit;

    if (EaseGetUpdate(drv, MOT_FLAGS+V1K)) goto skip9;
    EaseWrite(eab, "R9");
  return __LINE__; case __LINE__: /**********************************/
    if (EaseGetUpdate(drv, MOT_FLAGS+V1K)) goto skip9;
    drv->mv[V1K] = OxiGet(eab, 1, NULL, drv->mv[V1K]);
  skip9:
  
    if (EaseCheckDoit(eab)) goto quit;

    EaseWrite(eab, "R14");
  return __LINE__; case __LINE__: /**********************************/
    drv->press[G1] = OxiGet(eab, 1, NULL, drv->press[G1]);
  
    if (EaseCheckDoit(eab)) goto quit;

    EaseWrite(eab, "R15");
  return __LINE__; case __LINE__: /**********************************/
    drv->press[G2] = OxiGet(eab, 1, NULL, drv->press[G2]);
  
    if (EaseCheckDoit(eab)) goto quit;

    EaseWrite(eab, "R16");
  return __LINE__; case __LINE__: /**********************************/
    drv->press[G3] = OxiGet(eab, 1, NULL, drv->press[G3]);
  
    if (EaseCheckDoit(eab)) goto quit;

    EaseWrite(eab, "R20");
  return __LINE__; case __LINE__: /**********************************/
    drv->press[P1] = OxiGet(eab, drv->pdig, &drv->pdig, drv->press[P1]);
  
    if (EaseCheckDoit(eab)) goto quit;

    EaseWrite(eab, "R21");
  return __LINE__; case __LINE__: /**********************************/
    drv->press[P2] = OxiGet(eab, 1, NULL, drv->press[P2]);
    
  quit:
    ParLog(drv);
  fsm_quit: return 0; } /* FSM END **********************************/
}
/*----------------------------------------------------------------------------*/
static long IghStart(long pc, void *object) {
  Igh *drv = ParCast(&ighClass, object);
  EaseBase *eab = object;
  
  switch (pc) { default: /* FSM BEGIN *******************************/
    EaseWrite(eab, "V");
  return __LINE__; case __LINE__: /**********************************/
    if (0 != strncmp(eab->version, "IGH", 3)) {
      snprintf(eab->msg, sizeof eab->msg, "unknown gas handling system version: %s", eab->version);
      ParPrintf(drv, eError, "ERROR: %s", eab->msg);
      EaseStop(eab);
      goto quit;
    }
    if (strstr(eab->version, "2.01") != NULL) {
      eab->syntax = OLDIGH; /* includes communication error correction */
    } else {
      eab->syntax = 0;
    }
    ParPrintf(drv, eStatus, "connected to %s", eab->version);
    FsmCall(IghRead);
  return __LINE__; case __LINE__: /**********************************/
    
  quit:
  return 0; } /* FSM END ********************************************/
}
/*----------------------------------------------------------------------------*/
static long IghSet(long pc, void *object) {
  Igh *drv = ParCast(&ighClass, object);
  EaseBase *eab = object;
  char buf[8];
  int a;
  int upd;
  int i;
  float mp;
  
  switch (pc) { default: /* FSM BEGIN *******************************/
    EaseWrite(eab, "C3");
    drv->remote=2;
  loop:
  return __LINE__; case __LINE__: /**********************************/
    upd = EaseNextUpdate(drv);
    if (upd >= VALVE_FLAGS) goto set_valve;
    if (upd >= MOT_FLAGS) goto set_mot;
    if (upd == EASE_RUN) goto set_temp;
    if (upd == SORBS_FLAG) goto set_sorb_temp;
    if (upd == MIXP_FLAG) goto set_mix_pow;
    if (upd == MAXP_FLAG) goto set_max_pow;
    if (upd == STILL_FLAG) goto set_still_pow;
    if (upd == SORBP_FLAG) goto set_sorb_pow;
    goto finish;
    
  set_sorb_temp:
    if (drv->sorbS == 0) {
      drv->sorbP = 0;
      goto set_sorb_pow;
    }
    OxiSet(eab, "K", drv->sorbS, 1);
  return __LINE__; case __LINE__: /**********************************/
    EaseWrite(eab, "X");
  return __LINE__; case __LINE__: /**********************************/
    IghStatus(drv);
    if (drv->o == 2 || drv->o == 3) goto loop;
    if (drv->o % 2) {
      EaseWrite(eab, "O3");
    } else {
      EaseWrite(eab, "O2");
    }
  return __LINE__; case __LINE__: /**********************************/
    goto loop;
    
  set_sorb_pow:
    EaseWrite(eab, "X");
  return __LINE__; case __LINE__: /**********************************/
    IghStatus(drv);
    if (drv->o <= 1) goto skipSetO;
    if (drv->o % 2) {
      EaseWrite(eab, "O1"); drv->o = 1;
    } else {
      EaseWrite(eab, "O0"); drv->o = 0;
    }
  return __LINE__; case __LINE__: /**********************************/
  skipSetO:
    OxiSet(eab, "B", drv->sorbP, 3);
  return __LINE__; case __LINE__: /**********************************/
    if (drv->sorbP == 0.0 || drv->o >= 4) goto loop;
    if (drv->o % 2) {
      EaseWrite(eab, "O5");
    } else {
      EaseWrite(eab, "O4");
    }
  return __LINE__; case __LINE__: /**********************************/
    goto loop;
    
  set_still_pow:
    OxiSet(eab, "S", drv->stillP, 1);
  return __LINE__; case __LINE__: /**********************************/
    EaseWrite(eab, "X");
  return __LINE__; case __LINE__: /**********************************/
    IghStatus(drv);
    snprintf(buf, sizeof buf, "O%d", drv->o | 1);
    EaseWrite(eab, buf);
  return __LINE__; case __LINE__: /**********************************/
    goto loop;
    
  set_mix_pow:
    EaseWrite(eab, "A0");
  return __LINE__; case __LINE__: /**********************************/
    if (drv->e <= 1) goto skipe;
    EaseWrite(eab, "E1");
  return __LINE__; case __LINE__: /**********************************/
  
  skipe:
    if (drv->mixP > 0) {
      drv->e = IghPower2Range(drv->mixP);
      mp = drv->mixP / IghRange2Max(drv->e) * 2000;
    } else {
      mp = 0; /* range unchanged for external heater signal */
    }
    OxiSet(eab, "M", mp, 0);
  return __LINE__; case __LINE__: /**********************************/
    if (drv->e == 0) goto loop;
    
    EaseWrite(eab, "A1");
  return __LINE__; case __LINE__: /**********************************/
  
  set_max_pow:
    if (drv->e == 0) goto seta0;
    snprintf(buf, sizeof buf, "E%d", drv->e);
    EaseWrite(eab, buf);
  return __LINE__; case __LINE__: /**********************************/
    goto loop;
    
  seta0:
    EaseWrite(eab, "A0");
  return __LINE__; case __LINE__: /**********************************/
    goto loop;
    
  set_temp:
    EaseWrite(eab, "A2");
  return __LINE__; case __LINE__: /**********************************/
    if (drv->d.targetValue < 0) drv->d.targetValue = 0;
    if (drv->d.targetValue > 1.999) drv->d.targetValue = 1.999;
    OxiSet(eab, "T", drv->d.targetValue, 4);
  return __LINE__; case __LINE__: /**********************************/
    goto loop;
    
  set_valve:
    i = upd - VALVE_FLAGS;
    snprintf(buf, sizeof buf, "P%d", i * 2 + 3 - drv->v[i]);
    EaseWrite(eab, buf);
  return __LINE__; case __LINE__: /**********************************/
    goto loop;
  
  set_mot:
    i = upd - MOT_FLAGS;
    if (drv->mv[i] > 99.9) {
      drv->mv[i]=99.9;
    } else if (drv->mv[i] < 0) {
      drv->mv[i]=0;
    }
    OxiSet(eab, motorCommands[i], drv->mv[i], 1);
  return __LINE__; case __LINE__: /**********************************/
    goto loop;
  
  finish:
    EaseWrite(eab, "C0");
  return __LINE__; case __LINE__: /**********************************/
    drv->remote = 0;
  quit:
  return 0; } /* FSM END ********************************************/
}
/*----------------------------------------------------------------------------*/
static int IghInit(SConnection *con, int argc, char *argv[], int dynamic) {
  /* args:
       MakeObject objectname igh <rs232>
       MakeObject objectname igh <host> <port>
   */
  Igh *drv;
  
  drv = EaseMakeDriv(con, &ighClass, argc, argv, dynamic, MAX_FLAG,
                    IghParDef, OxiHandler, IghStart, NULL, IghRead,
                    IghSet);
  if (drv == NULL) return 0;
  return 1;
}
/*----------------------------------------------------------------------------*/
void IghStartup(void) {
  ParMakeClass(&ighClass, EaseDrivClass());
  MakeDriver("IGH", IghInit, 0, "OI Gas Handling System"); 
}