/*************************************************************************\
* Copyright (c) 2023 Paul Scherrer Institute
* ecmc is distributed subject to a Software License Agreement found
* in file LICENSE that is included with this distribution. 
*
*  ecmcPluginSafety.c
*
*  Created on: jan 29, 2024
*      Author: anderssandstrom
*
* Instructions:
*   - IMPORTANT: Add "USR_CFLAGS +=-DECMC_PLUGIN_MODULE_NAME=${MODULE}" to GNUMakefile
*   - All functions and ecmcPluginData struct must be declared static
\*************************************************************************/

// Needed to get headers in ecmc right...
#define ECMC_IS_PLUGIN
#define ECMC_PLUGIN_VERSION 1

#ifdef __cplusplus
extern "C" {
#endif  // ifdef __cplusplus

#include <stdio.h>
#include <stdlib.h>
#include <string.h>

#include "ecmcPluginDefs.h"
#include "ecmcSafetyPlgDefs.h"
#include "ecmcSafetyPlgWrap.h"

static int lastEcmcError = 0;
static int alreadyLoaded = 0;
static int destructs_ = 0;

/** Optional. 
 *  Will be called once after successful load into ecmc.
 *  Return value other than 0 will be considered error.
 *  configStr can be used for configuration parameters.
 **/
static int construct(char *configStr)
{
  
  if(alreadyLoaded) {
    return  ECMC_PLUGIN_ALREADY_LOADED_ERROR_CODE;
  }
  
  alreadyLoaded = 1;
  
  return setCfgString(configStr);
}

/** Optional function.
 *  Will be called once at unload.
 **/
static void safetyDestruct(void)
{
  destructs_ = 1;
  deleteAllSafetyGroups();
}

/** Optional function.
 *  Will be called each realtime cycle if defined
 *  ecmcError: Error code of ecmc. Makes it possible for 
 *  this plugin to react on ecmc errors
 *  Return value other than 0 will be considered to be an error code in ecmc.
 **/
static int safetyRealtime(int ecmcError)
{ 
  if(destructs_) return 0;
  
  executeSafetyGroups();
  lastEcmcError = ecmcError;
  return 0;
}

/** Link to data source here since all sources should be available at this stage
 *  (for example ecmc PLC variables are defined only at enter of realtime)
 **/
static int safetyEnterRT(){
  return validate();
}

/** Optional function.
 *  Will be called once just before leaving realtime mode
 *  Return value other than 0 will be considered error.
 **/
static int safetyExitRT(void){
  return 0;
}

// Register data for plugin so ecmc know what to use
static struct ecmcPluginData pluginDataDef = {
  // Allways use ECMC_PLUG_VERSION_MAGIC
  .ifVersion = ECMC_PLUG_VERSION_MAGIC, 
  // Name 
  .name = "ecmc_plugin_safety",
  // Description
  .desc = "Safety plugin.",
  // Option description
  .optionDesc = "\n    "ECMC_PLUGIN_DBG_PRINT_OPTION_CMD"<1/0>                : Enables/disables printouts from plugin, default = disabled.\n"
                ,
  // Plugin version
  .version = ECMC_PLUGIN_VERSION,
  // Optional construct func, called once at load. NULL if not defined.
  .constructFnc = construct,
  // Optional destruct func, called once at unload. NULL if not defined.
  .destructFnc = safetyDestruct,
  // Optional func that will be called each rt cycle. NULL if not defined.
  .realtimeFnc = safetyRealtime,
  // Optional func that will be called once just before enter realtime mode
  .realtimeEnterFnc = safetyEnterRT,
  // Optional func that will be called once just before exit realtime mode
  .realtimeExitFnc = safetyExitRT,
  // PLC funcs
  .funcs[0] = {0},  // last element set all to zero..
  // PLC consts
  .consts[0] = {0}, // last element set all to zero..
};

ecmc_plugin_register(pluginDataDef);

# ifdef __cplusplus
}
# endif  // ifdef __cplusplus