kirdy/src/net/cmd_handler.rs

use core::{fmt::Debug, marker::PhantomData};
use miniconf::{JsonCoreSlash, Tree};
use serde::{Deserialize, Serialize};
use uom::si::{
    electric_current::{ampere, microampere, milliampere, ElectricCurrent}, 
    electric_potential::{volt, ElectricPotential}, 
    electrical_resistance::{ohm, ElectricalResistance}, 
    power::{milliwatt, Power}, 
    thermodynamic_temperature::{degree_celsius, ThermodynamicTemperature}
};
use crate::{laser_diode::{laser_diode::{
        LdDrive, LdSettingsSummary, StatusReport as LdStatusReport},
        pd_responsitivity::ResponsitivityUnit
    }, 
    net::net, 
    thermostat::{ad7172::FilterType, thermostat::{StatusReport as TecStatusReport, TempAdcFilter}}
};
use crate::thermostat::thermostat::{Thermostat, ThermostatSettingsSummary};
use crate::thermostat::pid_state::PidSettings::*;
use crate::device::{dfu, sys_timer};
use log::info;
use crate::{DeviceSettings, State};

#[derive(Deserialize, Serialize, Copy, Clone, Default, Debug)]
enum DeviceCmd {
    #[default]
    Reserved,
    SetActiveReportMode,
    GetStatusReport,
    GetSettingsSummary,
    Dfu,
    SaveFlashSettings,
    LoadFlashSettings,
    HardReset,
}

#[derive(Deserialize, Serialize, Copy, Clone, Default, Debug)]
enum LdCmdEnum {
    #[default]
    Reserved,
    // LD Drive Related
    SetDefaultPowerOn,
    PowerUp,
    PowerDown,
    LdTermsShort,
    LdTermsOpen,
    SetI,
    SetISoftLimit,
    // PD Mon Related
    SetPdResponsitivity,
    SetPdDarkCurrent,
    SetLdPwrLimit,
    ClearAlarm,
}

#[derive(Deserialize, Serialize, Copy, Clone, Default, Debug)]
enum ThermostatCmdEnum {
    #[default]
    Reserved,
    SetDefaultPowerOn,
    PowerUp,
    PowerDown,
    // TEC
    SetTecMaxV,
    SetTecMaxIPos,
    SetTecMaxINeg,
    SetTecIOut, // Constant Current Mode
    SetTemperatureSetpoint,
    // PID
    SetPidEngage,
    SetPidDisEngage,
    SetPidKp,
    SetPidKi,
    SetPidKd,
    SetPidOutMin,
    SetPidOutMax,
    SetPidUpdateInterval, // Update Interval is set based on the sampling rate of ADC
    // Temperature ADC
    ConfigTempAdcFilter,
    // TempMon
    SetTempMonUpperLimit,
    SetTempMonLowerLimit,
    ClearAlarm,
    // Steinhart-Hart Equation
    SetShT0,
    SetShR0,
    SetShBeta,
}

#[derive(Deserialize, Serialize, Copy, Clone, Debug, Default, Tree)]
pub struct CmdJsonObj{
    laser_diode_cmd: Option<LdCmdEnum>,
    thermostat_cmd: Option<ThermostatCmdEnum>,
    device_cmd: Option<DeviceCmd>,
    data_bool: Option<bool>,
    data_f32: Option<f32>,
    data_f64: Option<f64>,
    temp_adc_filter: Option<TempAdcFilter>,
}
#[derive(Deserialize, Serialize, Copy, Clone, Debug, Default, Tree)]
pub struct Cmd {
    json: CmdJsonObj
}

#[derive(Deserialize, Serialize, Copy, Clone, Debug, Tree)]
pub struct StatusReport {
    ts: u32,
    laser: LdStatusReport,
    tec: TecStatusReport,
}

#[derive(Deserialize, Serialize, Copy, Clone, Debug, Tree)]
pub struct StatusReportObj {
    json: StatusReport
}

#[derive(Deserialize, Serialize, Copy, Clone, Debug, Tree)]
pub struct SettingsSummary {
    laser: LdSettingsSummary,
    thermostat: ThermostatSettingsSummary,
}

#[derive(Deserialize, Serialize, Copy, Clone, Debug, Tree)]
pub struct SettingsSummaryObj {
    json: SettingsSummary
}

pub fn send_settings_summary(buffer: &mut [u8], laser: &mut LdDrive, tec: &mut Thermostat){
    let settings_summary = SettingsSummaryObj {
        json: SettingsSummary {
            laser: laser.get_settings_summary(),
            thermostat: tec.get_settings_summary(),
        }
    };
    let num_bytes = settings_summary.get_json("/json", buffer).unwrap();
    net::eth_send(buffer, num_bytes);
}


pub fn send_status_report(buffer: &mut [u8], laser: &mut LdDrive, tec: &mut Thermostat){
    let status_report = StatusReportObj {
        json: StatusReport {
            ts: sys_timer::now(),
            laser: laser.get_status_report(),
            tec: tec.get_status_report(),
        }
    };
    let num_bytes = status_report.get_json("/json", buffer).unwrap();
    net::eth_send(buffer, num_bytes);
}

// Use a minimal struct for high speed cmd ctrl to reduce processing overhead
#[derive(Deserialize, Serialize, Copy, Clone, Debug, Default, Tree)]
pub struct TecSetICmdJson {
    tec_set_i: f32
}
#[derive(Deserialize, Serialize, Copy, Clone, Debug, Default, Tree)]
pub struct TecSetICmd {
    json: TecSetICmdJson
}

/// Miniconf is very slow in debug builds (~3-4ms of cmd decoding time).
///     Make sure kirdy's firmware is flashed with release builds.
/// The received message must contain only one json cmd. TCP client should set TCP_NODELAY or equivalent flag in its TCP Socket 
///     Settings to avoid unwanted buffering on TX Data and minimize TX latency.
pub fn execute_cmd(buffer: &mut [u8], buffer_size: usize, mut laser: LdDrive, mut tec: Thermostat, mut state: State, mut device_settings: DeviceSettings)->(LdDrive, Thermostat, State, DeviceSettings){
    let mut cmd = TecSetICmd {
        json: TecSetICmdJson::default()
    };
    match cmd.set_json("/json", &buffer[0..buffer_size]){
        Ok(_) => {
            tec.set_i(ElectricCurrent::new::<milliampere>(cmd.json.tec_set_i));
            return (laser, tec, state, device_settings);
        }
        Err(_) => { /* Do Nothing */}
    }

    let mut cmd = Cmd {
        json: CmdJsonObj::default()
    };
    match cmd.set_json("/json", &buffer[0..buffer_size]){
        Ok(_) => {
            info!("############ Laser Diode Command Received {:?}", cmd.json.laser_diode_cmd);
            info!("############ Thermostat Command Received {:?}", cmd.json.thermostat_cmd);
            info!("############ Device Command Received {:?}", cmd.json.device_cmd);

            match cmd.json.device_cmd {
                Some(DeviceCmd::Dfu) => {
                    unsafe {
                        dfu::set_dfu_trigger();
                    }
                }
                Some(DeviceCmd::SetActiveReportMode) => {
                    match cmd.json.data_bool{
                        Some(val) => {
                            device_settings.report_readings = val;
                        }
                        None => {
                            info!("Wrong Data type is received")
                        }
                    }
                }
                Some(DeviceCmd::GetStatusReport) => {
                    send_status_report(buffer, &mut laser, &mut tec);
                }
                Some(DeviceCmd::GetSettingsSummary) => {
                    send_settings_summary(buffer, &mut laser, &mut tec);
                }
                Some(DeviceCmd::SaveFlashSettings) => {
                    state = State::SaveFlashSettings;
                }
                Some(DeviceCmd::LoadFlashSettings) => {
                    state = State::LoadFlashSettings;
                }
                Some(DeviceCmd::HardReset) => {
                    state = State::HardReset;
                }
                None => { /* Do Nothing */}
                _ => {
                    info!("Unimplemented Command") 
                }
            } 

            match cmd.json.laser_diode_cmd {
                Some(LdCmdEnum::SetDefaultPowerOn) => {
                    match cmd.json.data_bool {
                        Some(val) => {
                            laser.set_default_pwr_on(val);
                        }
                        None => {
                            info!("Wrong Data type is received")
                        }
                    }
                    
                }
                Some(LdCmdEnum::PowerUp) => {
                    laser.power_up()
                }
                Some(LdCmdEnum::PowerDown) => {
                    laser.power_down()
                }
                Some(LdCmdEnum::LdTermsShort) => {
                    laser.ld_short();
                }
                Some(LdCmdEnum::LdTermsOpen) => {
                    laser.ld_open();
                }
                Some(LdCmdEnum::SetI) => {
                    match cmd.json.data_f32 {
                        Some(val) => {
                            laser.ld_set_i(ElectricCurrent::new::<milliampere>(val));
                        }
                        None => {
                            info!("Wrong Data type is received")
                        }
                    }
                }
                Some(LdCmdEnum::SetISoftLimit) => {
                    match cmd.json.data_f32 {
                        Some(val) => {
                            laser.set_ld_drive_current_limit(ElectricCurrent::new::<milliampere>(val))
                        }
                        None => {
                            info!("Wrong Data type is received")
                        }
                    }
                }
                Some(LdCmdEnum::SetPdResponsitivity) => {
                    match cmd.json.data_f32 {
                        Some(val) => {
                            laser.set_pd_responsitivity(ResponsitivityUnit {dimension: PhantomData, units: PhantomData, value: val})
                        }
                        None => {
                            info!("Wrong Data type is received")
                        }
                    }
                }
                Some(LdCmdEnum::SetPdDarkCurrent) => {
                    match cmd.json.data_f32 {
                        Some(val) => {
                            laser.set_pd_dark_current(ElectricCurrent::new::<microampere>(val))
                        }
                        None => {
                            info!("Wrong Data type is received")
                        }
                    }
                }
                Some(LdCmdEnum::SetLdPwrLimit) => {
                    match cmd.json.data_f32 {
                        Some(val) => {
                            laser.set_ld_power_limit(Power::new::<milliwatt>(val))
                        }
                        None => {
                            info!("Wrong Data type is received")
                        }
                    }
                }
                Some(LdCmdEnum::ClearAlarm) => {
                    laser.pd_mon_clear_alarm()
                }
                None => { /* Do Nothing*/ }
                _ => {
                    info!("Unimplemented Command")
                }
            }

            match cmd.json.thermostat_cmd {
                Some(ThermostatCmdEnum::SetDefaultPowerOn) => {
                    match cmd.json.data_bool {
                        Some(val) => {
                            tec.set_default_pwr_on(val);
                        }
                        None => {
                            info!("Wrong Data type is received")
                        }
                    }
                }

                Some(ThermostatCmdEnum::PowerUp) => {
                    tec.power_up()
                }
                Some(ThermostatCmdEnum::PowerDown) => {
                    tec.power_down()
                }
                Some(ThermostatCmdEnum::SetTecMaxV) => {
                    match cmd.json.data_f32 {
                        Some(val) => {
                            tec.set_max_v(ElectricPotential::new::<volt>(val));
                        }
                        None => {
                            info!("Wrong Data type is received")
                        }
                    }
                }
                Some(ThermostatCmdEnum::SetTecMaxIPos) => {
                    match cmd.json.data_f32 {
                        Some(val) => {
                            tec.set_max_i_pos(ElectricCurrent::new::<ampere>(val));
                        }
                        None => {
                            info!("Wrong Data type is received")
                        }
                    }
                }
                Some(ThermostatCmdEnum::SetTecMaxINeg) => {
                    match cmd.json.data_f32 {
                        Some(val) => {
                            tec.set_max_i_pos(ElectricCurrent::new::<milliampere>(val));
                        }
                        None => {
                            info!("Wrong Data type is received")
                        }
                    }
                }
                Some(ThermostatCmdEnum::SetTecIOut) => {
                    match cmd.json.data_f32 {
                        Some(val) => {
                            tec.set_i(ElectricCurrent::new::<milliampere>(val));
                        }
                        None => {
                            info!("Wrong Data type is received")
                        }
                    }
                }
                Some(ThermostatCmdEnum::SetTemperatureSetpoint) => {
                    match cmd.json.data_f32 {
                        Some(val) => {
                            tec.set_temperature_setpoint(ThermodynamicTemperature::new::<degree_celsius>(val));
                        }
                        None => {
                            info!("Wrong Data type is received")
                        }
                    }
                }
                Some(ThermostatCmdEnum::SetPidEngage) => {
                    tec.set_pid_engaged(true);
                }
                Some(ThermostatCmdEnum::SetPidDisEngage) => {
                    tec.set_pid_engaged(false);
                }
                Some(ThermostatCmdEnum::SetPidKp) => {
                    match cmd.json.data_f32 {
                        Some(val) => {
                            tec.set_pid(Kp, val);
                        }
                        None => {
                            info!("Wrong Data type is received")
                        }
                    }
                }
                Some(ThermostatCmdEnum::SetPidKi) => {
                    match cmd.json.data_f32 {
                        Some(val) => {
                            tec.set_pid(Ki, val);
                        }
                        None => {
                            info!("Wrong Data type is received")
                        }
                    }
                }
                Some(ThermostatCmdEnum::SetPidKd) => {
                    match cmd.json.data_f32 {
                        Some(val) => {
                            tec.set_pid(Kd, val);
                        }
                        None => {
                            info!("Wrong Data type is received")
                        }
                    }
                }
                Some(ThermostatCmdEnum::SetPidOutMin) => {
                    match cmd.json.data_f32 {
                        Some(val) => {
                            tec.set_pid(Min, val);
                        }
                        None => {
                            info!("Wrong Data type is received")
                        }
                    }
                }
                Some(ThermostatCmdEnum::SetPidOutMax) => {
                    match cmd.json.data_f32 {
                        Some(val) => {
                            tec.set_pid(Max, val);
                        }
                        None => {
                            info!("Wrong Data type is received")
                        }
                    }
                }
                Some(ThermostatCmdEnum::SetPidUpdateInterval) => {
                    info!("Not supported Yet")
                }
                Some(ThermostatCmdEnum::ConfigTempAdcFilter) => {
                    match cmd.json.temp_adc_filter {
                        Some(val) => {
                            match val.filter_type {
                                FilterType::Sinc5Sinc1With50hz60HzRejection => {
                                    match val.sinc5sinc1postfilter {
                                        Some(val2) => {
                                            tec.set_temp_adc_sinc5_sinc1_with_postfilter(0, val2);
                                        }
                                        None => {
                                            info!("sinc5sinc1postfilter field needs to be set for configuration");
                                        }
                                    }
                                }
                                FilterType::Sinc5Sinc1 => {
                                    match val.sinc5sinc1odr {
                                        Some(val2) => {
                                            tec.set_temp_adc_sinc5_sinc1_filter(0, val2);
                                        }
                                        None => {
                                            info!("sinc5sinc1odr field needs to be set for configuration");
                                        }
                                    }
                                }
                                FilterType::Sinc3WithFineODR => {
                                    match val.sinc3fineodr {
                                        Some(val2) => {
                                            tec.set_temp_adc_sinc3_fine_filter(0, val2);
                                        }
                                        None => {
                                            info!("data_f32 field needs to be set for configuration");
                                        }
                                    }
                                }
                                FilterType::Sinc3 => {
                                    match val.sinc3odr {
                                        Some(val2) => {
                                            tec.set_temp_adc_sinc3_filter(0, val2);
                                        }
                                        None => {
                                            info!("sinc3_filter field needs to be set for configuration");
                                        }
                                    }
                                }
                            }
                        }
                        None => {
                            info!("temp_adc_filter needs to be set for configuration")
                        }
                    }
                }
                Some(ThermostatCmdEnum::SetTempMonUpperLimit) => {
                    match cmd.json.data_f32 {
                        Some(val) => {
                            tec.set_temp_mon_upper_limit(ThermodynamicTemperature::new::<degree_celsius>(val));
                        }
                        None => {
                            info!("Wrong Data type is received")
                        }
                    }
                }
                Some(ThermostatCmdEnum::SetTempMonLowerLimit) => {
                    match cmd.json.data_f32 {
                        Some(val) => {
                            tec.set_temp_mon_lower_limit(ThermodynamicTemperature::new::<degree_celsius>(val));
                        }
                        None => {
                            info!("Wrong Data type is received")
                        }
                    }
                }
                Some(ThermostatCmdEnum::ClearAlarm) => {
                    tec.clear_temp_mon_alarm();
                }
                Some(ThermostatCmdEnum::SetShT0) => {
                    match cmd.json.data_f32 {
                        Some(val) => {
                            tec.set_sh_t0(ThermodynamicTemperature::new::<degree_celsius>(val));
                        }
                        None => {
                            info!("Wrong Data type is received")
                        }
                    }
                }
                Some(ThermostatCmdEnum::SetShR0) => {
                    match cmd.json.data_f32 {
                        Some(val) => {
                            tec.set_sh_r0(ElectricalResistance::new::<ohm>(val));
                        }
                        None => {
                            info!("Wrong Data type is received")
                        }
                    }
                }
                Some(ThermostatCmdEnum::SetShBeta) => {
                    match cmd.json.data_f32 {
                        Some(val) => {
                            tec.set_sh_beta(val);
                        }
                        None => {
                            info!("Wrong Data type is received")
                        }
                    }
                }
                None => { /* Do Nothing*/ }
                _ => { 
                    info!("Unimplemented Command") 
                }
            }
        }
        Err(err) => {
            info!("Invalid Command: {:?}", err);
        }
    }
    (laser, tec, state, device_settings)
}