Modbus-rtu/PLSR/Src/plsr_path.c

#include "plsr_path.h"
#include <string.h>

/* 等待寄存器类型编码（PLSR_VALUE_SOURCE）与软元件类型（PLSR_DEVICE_TYPE）
 * 相差 1：D=1→D、HD=2→HD、FD=3→FD、X=4→X、M=5→M、HM=6→HM。 */
static uint8_t PlsrPathDeviceFromSource(uint8_t sourceCode)
{
    return (uint8_t)(sourceCode - 1U);
}

static uint8_t PlsrPathReadDword(const PLSR_DATA_SOURCE *source,
                                 PLSR_DEVICE_TYPE device,
                                 uint32_t address,
                                 int32_t *value)
{
    uint16_t lowWord;
    uint16_t highWord;

    if (source->readDword != NULL)
    {
        return source->readDword(source->context, device, address, value);
    }
    if ((source->readWord == NULL)
        || (source->readWord(source->context,
                             device,
                             address,
                             &lowWord) == 0U)
        || (source->readWord(source->context,
                             device,
                             address + 1U,
                             &highWord) == 0U))
    {
        return 0U;
    }
    *value = (int32_t)(((uint32_t)highWord << 16U) | (uint32_t)lowWord);
    return 1U;
}

static uint8_t PlsrPathReadBit(const PLSR_DATA_SOURCE *source,
                               PLSR_DEVICE_TYPE device,
                               uint32_t address,
                               uint8_t *value)
{
    if ((source->readBit == NULL)
        || (source->readBit(source->context, device, address, value) == 0U))
    {
        return 0U;
    }
    return 1U;
}

/* 求值当前段的跳转目标。
 * 返回：0=顺序下一段，1~segmentCount=指定段。
 * 动态来源在跳转发生时重新读取；非法值置 error。 */
static int32_t PlsrPathResolveJumpTarget(const PLSR_JOB_SNAPSHOT *job,
                                         uint16_t segment,
                                         uint8_t *error)
{
    const PLSR_SEGMENT_SNAPSHOT *segmentSnapshot =
        &job->segments[segment - 1U];
    int32_t target;

    *error = 0U;
    if (segmentSnapshot->jumpSource == PLSR_VALUE_CONSTANT)
    {
        target = segmentSnapshot->jumpValueOrAddress;
    }
    else
    {
        if (PlsrPathReadDword(&job->source,
                              (PLSR_DEVICE_TYPE)PlsrPathDeviceFromSource(
                                  segmentSnapshot->jumpSource),
                              (uint32_t)segmentSnapshot->jumpValueOrAddress,
                              &target) == 0U)
        {
            *error = 1U;
            return 0;
        }
    }
    if ((target < 0) || (target > (int32_t)job->segmentCount))
    {
        *error = 1U;
        return 0;
    }
    return target;
}

/* 段是否零脉冲：相对模式脉冲数为 0，或绝对模式目标等于进入段时的位置。 */
static uint8_t PlsrPathSegmentIsZeroPulse(const PLSR_JOB_SNAPSHOT *job,
                                          uint16_t segment,
                                          int64_t logicalPosition)
{
    const PLSR_SEGMENT_SNAPSHOT *segmentSnapshot =
        &job->segments[segment - 1U];
    int64_t targetPosition;

    if ((segmentSnapshot->flags & PLSR_SEGMENT_FLAG_ZERO_PULSE) != 0U)
    {
        return 1U;
    }
    if ((job->positioningMode == 1U)
        && (PlsrPositionAbsoluteUnitsToPulses(
                &job->equivalent,
                segmentSnapshot->pulseOrTarget,
                &targetPosition) == PLSR_RESULT_OK)
        && (targetPosition == logicalPosition))
    {
        return 1U;
    }
    return 0U;
}

/* 进入新段时的初始化：求值 ACT 时间、EXT/等待信号地址与当前电平。 */
static void PlsrPathEnterSegment(PLSR_PATH_CONTEXT *context,
                                 const PLSR_JOB_SNAPSHOT *job)
{
    const PLSR_SEGMENT_SNAPSHOT *segmentSnapshot =
        &job->segments[context->currentSegment - 1U];
    int32_t actValue;

    context->segmentEnded = 0U;
    context->extActive = 0U;
    context->actActive = 0U;
    context->waitCondition = (uint8_t)segmentSnapshot->waitCondition;

    switch (context->waitCondition)
    {
        case PLSR_WAIT_ACT_TIME:
            context->actActive = 1U;
            if (segmentSnapshot->waitSource == PLSR_VALUE_CONSTANT)
            {
                actValue = segmentSnapshot->waitValueOrAddress;
            }
            else
            {
                actValue = 0;
                (void)PlsrPathReadDword(&job->source,
                                        (PLSR_DEVICE_TYPE)
                                            PlsrPathDeviceFromSource(
                                                segmentSnapshot->waitSource),
                                        (uint32_t)
                                            segmentSnapshot->waitValueOrAddress,
                                        &actValue);
            }
            context->waitRemainingMs =
                (actValue > 0) ? (uint32_t)actValue : 0U;
            break;

        case PLSR_WAIT_SIGNAL:
        case PLSR_WAIT_EXT:
        case PLSR_WAIT_EXT_OR_COMPLETE:
            context->waitSignalDevice =
                PlsrPathDeviceFromSource(segmentSnapshot->waitSource);
            context->waitSignalAddress =
                (uint32_t)segmentSnapshot->waitValueOrAddress;
            if (context->waitCondition != PLSR_WAIT_SIGNAL)
            {
                /* EXT：记录段开始时的电平，已有的有效电平不算新边沿。 */
                uint8_t level = 0U;

                (void)PlsrPathReadBit(&job->source,
                                      (PLSR_DEVICE_TYPE)
                                          context->waitSignalDevice,
                                      context->waitSignalAddress,
                                      &level);
                context->lastExtLevel = level;
                context->extActive = 1U;
            }
            break;

        default:
            break;
    }
}

/* EXT 边沿检测：电平 0→1 才算新边沿。 */
static uint8_t PlsrPathPollExt(PLSR_PATH_CONTEXT *context,
                               const PLSR_JOB_SNAPSHOT *job)
{
    uint8_t level = 0U;
    uint8_t triggered = 0U;

    if (PlsrPathReadBit(&job->source,
                        (PLSR_DEVICE_TYPE)context->waitSignalDevice,
                        context->waitSignalAddress,
                        &level) != 0U)
    {
        if ((level != 0U) && (context->lastExtLevel == 0U))
        {
            triggered = 1U;
        }
        context->lastExtLevel = level;
    }
    return triggered;
}

/* 推进跳转链：零脉冲段连续跳转（预算内），直到有脉冲段、结束或预算耗尽。 */
static PLSR_PATH_ACTION PlsrPathAdvance(PLSR_PATH_CONTEXT *context,
                                        const PLSR_JOB_SNAPSHOT *job,
                                        int64_t logicalPosition)
{
    uint8_t error;
    int32_t target;
    uint16_t next;

    while (context->zeroJumpBudget > 0U)
    {
        target = PlsrPathResolveJumpTarget(job,
                                           context->currentSegment,
                                           &error);
        if (error != 0U)
        {
            context->jobEnded = 1U;
            context->phase = PLSR_PATH_ENDED;
            return PLSR_PATH_ACTION_ERROR;
        }
        if (target == 0)
        {
            if (context->currentSegment >= job->segmentCount)
            {
                context->jobEnded = 1U;
                context->phase = PLSR_PATH_ENDED;
                return PLSR_PATH_ACTION_JOB_COMPLETE;
            }
            next = (uint16_t)(context->currentSegment + 1U);
        }
        else
        {
            next = (uint16_t)target;
        }

        if (PlsrPathSegmentIsZeroPulse(job, next, logicalPosition) != 0U)
        {
            context->zeroJumpBudget--;
            context->currentSegment = next;
            context->nextSegment = next;
            PlsrPathEnterSegment(context, job);
            continue;
        }

        context->currentSegment = next;
        context->nextSegment = next;
        context->phase = PLSR_PATH_SEGMENT_RUNNING;
        PlsrPathEnterSegment(context, job);
        return PLSR_PATH_ACTION_NEXT_SEGMENT;
    }

    context->jumpChainPending = 1U;
    return PLSR_PATH_ACTION_YIELD;
}

void PlsrPathBegin(PLSR_PATH_CONTEXT *context,
                   const PLSR_JOB_SNAPSHOT *job,
                   int64_t logicalPosition)
{
    (void)memset(context, 0, sizeof(*context));
    context->currentSegment = job->startSegment;
    context->nextSegment = context->currentSegment;
    context->zeroJumpBudget = PLSR_PATH_ZERO_JUMP_BUDGET;
    context->phase = PLSR_PATH_SEGMENT_RUNNING;
    PlsrPathEnterSegment(context, job);
    if (PlsrPathSegmentIsZeroPulse(job,
                                   context->currentSegment,
                                   logicalPosition) != 0U)
    {
        /* 起点段就是零脉冲：直接走跳转链。 */
        (void)PlsrPathAdvance(context, job, logicalPosition);
    }
}

PLSR_PATH_ACTION PlsrPathOnSegmentDone(PLSR_PATH_CONTEXT *context,
                                       const PLSR_JOB_SNAPSHOT *job,
                                       int64_t logicalPosition)
{
    const PLSR_SEGMENT_SNAPSHOT *segmentSnapshot;
    int32_t waitValue;
    uint8_t level;

    if ((context->jobEnded != 0U) || (context->phase == PLSR_PATH_ENDED))
    {
        return PLSR_PATH_ACTION_NONE;
    }
    context->segmentEnded = 1U;
    context->zeroJumpBudget = PLSR_PATH_ZERO_JUMP_BUDGET;
    context->jumpChainPending = 0U;
    segmentSnapshot = &job->segments[context->currentSegment - 1U];

    switch (context->waitCondition)
    {
        case PLSR_WAIT_PULSE_COMPLETE:
        case PLSR_WAIT_EXT_OR_COMPLETE:
            return PlsrPathAdvance(context, job, logicalPosition);

        case PLSR_WAIT_TIME:
            /* 等待时间在段完成时求值一次。 */
            if (segmentSnapshot->waitSource == PLSR_VALUE_CONSTANT)
            {
                waitValue = segmentSnapshot->waitValueOrAddress;
            }
            else
            {
                waitValue = 0;
                (void)PlsrPathReadDword(
                    &job->source,
                    (PLSR_DEVICE_TYPE)PlsrPathDeviceFromSource(
                        segmentSnapshot->waitSource),
                    (uint32_t)segmentSnapshot->waitValueOrAddress,
                    &waitValue);
            }
            context->waitRemainingMs =
                (waitValue > 0) ? (uint32_t)waitValue : 0U;
            if (context->waitRemainingMs == 0U)
            {
                return PlsrPathAdvance(context, job, logicalPosition);
            }
            context->phase = PLSR_PATH_WAIT_TIME;
            return PLSR_PATH_ACTION_ENTER_WAIT;

        case PLSR_WAIT_SIGNAL:
            /* 信号地址已在进入段时求值；先立即检查一次，已有效则直接跳。 */
            if (PlsrPathReadBit(&job->source,
                                (PLSR_DEVICE_TYPE)context->waitSignalDevice,
                                context->waitSignalAddress,
                                &level) != 0U)
            {
                if (level != 0U)
                {
                    return PlsrPathAdvance(context, job, logicalPosition);
                }
            }
            context->phase = PLSR_PATH_WAIT_SIGNAL;
            return PLSR_PATH_ACTION_ENTER_WAIT;

        case PLSR_WAIT_ACT_TIME:
            if (context->waitRemainingMs == 0U)
            {
                return PlsrPathAdvance(context, job, logicalPosition);
            }
            /* 段已完成但 ACT 未到：停在 ACT_PENDING（core 处于 WAIT）。 */
            context->phase = PLSR_PATH_ACT_PENDING;
            return PLSR_PATH_ACTION_ENTER_WAIT;

        case PLSR_WAIT_EXT:
            /* 段已完成但 EXT 未触发：继续等新边沿。 */
            context->phase = PLSR_PATH_WAIT_SIGNAL;
            return PLSR_PATH_ACTION_ENTER_WAIT;

        default:
            return PlsrPathAdvance(context, job, logicalPosition);
    }
}

PLSR_PATH_ACTION PlsrPathTick(PLSR_PATH_CONTEXT *context,
                              const PLSR_JOB_SNAPSHOT *job,
                              int64_t logicalPosition)
{
    uint8_t level;

    if ((context->jobEnded != 0U) || (context->phase == PLSR_PATH_ENDED))
    {
        return PLSR_PATH_ACTION_NONE;
    }

    if (context->jumpChainPending != 0U)
    {
        /* 上轮预算耗尽让出：本轮重置预算继续跳转链。 */
        context->zeroJumpBudget = PLSR_PATH_ZERO_JUMP_BUDGET;
        context->jumpChainPending = 0U;
        return PlsrPathAdvance(context, job, logicalPosition);
    }

    switch (context->phase)
    {
        case PLSR_PATH_SEGMENT_RUNNING:
            if ((context->actActive != 0U)
                && (context->waitRemainingMs > 0U))
            {
                context->waitRemainingMs--;
                if (context->waitRemainingMs == 0U)
                {
                    /* ACT 到时：截断当前段，立即跳转。 */
                    return PlsrPathAdvance(context, job, logicalPosition);
                }
            }
            if ((context->extActive != 0U)
                && (PlsrPathPollExt(context, job) != 0U))
            {
                return PlsrPathAdvance(context, job, logicalPosition);
            }
            break;

        case PLSR_PATH_WAIT_TIME:
            if (context->waitRemainingMs > 0U)
            {
                context->waitRemainingMs--;
            }
            if (context->waitRemainingMs == 0U)
            {
                return PlsrPathAdvance(context, job, logicalPosition);
            }
            break;

        case PLSR_PATH_WAIT_SIGNAL:
            if (context->waitCondition == PLSR_WAIT_SIGNAL)
            {
                /* H02：电平有效即触发。 */
                if (PlsrPathReadBit(&job->source,
                                    (PLSR_DEVICE_TYPE)
                                        context->waitSignalDevice,
                                    context->waitSignalAddress,
                                    &level) != 0U)
                {
                    if (level != 0U)
                    {
                        return PlsrPathAdvance(context, job, logicalPosition);
                    }
                }
            }
            else
            {
                /* H04 段完成后的 EXT 等待：新边沿触发。 */
                if (PlsrPathPollExt(context, job) != 0U)
                {
                    return PlsrPathAdvance(context, job, logicalPosition);
                }
            }
            break;

        case PLSR_PATH_ACT_PENDING:
            if (context->waitRemainingMs > 0U)
            {
                context->waitRemainingMs--;
            }
            if (context->waitRemainingMs == 0U)
            {
                return PlsrPathAdvance(context, job, logicalPosition);
            }
            break;

        default:
            break;
    }
    return PLSR_PATH_ACTION_NONE;
}

uint16_t PlsrPathGetCurrentSegment(const PLSR_PATH_CONTEXT *context)
{
    if (context == NULL)
    {
        return 0U;
    }
    return context->currentSegment;
}

void PlsrPathTerminate(PLSR_PATH_CONTEXT *context)
{
    if (context == NULL)
    {
        return;
    }
    context->phase = PLSR_PATH_ENDED;
    context->jobEnded = 1U;
    context->jumpChainPending = 0U;
    context->zeroJumpBudget = 0U;
}