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/*

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  This file is part of CanFestival, a library implementing CanOpen

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  Stack.

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  Copyright (C): Edouard TISSERANT and Francis DUPIN

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  See COPYING file for copyrights details.

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  This library is free software; you can redistribute it and/or

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  modify it under the terms of the GNU Lesser General Public

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  License as published by the Free Software Foundation; either

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  version 2.1 of the License, or (at your option) any later version.

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  This library is distributed in the hope that it will be useful,

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  but WITHOUT ANY WARRANTY; without even the implied warranty of

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  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

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  Lesser General Public License for more details.

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  You should have received a copy of the GNU Lesser General Public

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  License along with this library; if not, write to the Free Software

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  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307

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  USA

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*/

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/**

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** @file   dcf.c

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** @author Edouard TISSERANT and Francis DUPIN

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** @date   Mon Jun  4 17:06:12 2007

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**

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** @brief EXEMPLE OF SOMMARY

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**

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**

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*/

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#include "objacces.h"

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#include "sdo.h"

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#include "dcf.h"

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#include "sysdep.h"

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/**

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**

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**

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** @param d fuck fuck fuck

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** @param nodeId

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** @param index

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** @param subIndex

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** @param count

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** @param dataType

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** @param data

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** @param Callback

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** @param endianize

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*/

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extern UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index,

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                               UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize);

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const indextable *ptrTable;

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/**

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**

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**

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** @param d

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** @param nodeId

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*/

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static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)

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{

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  UNS32 abortCode;

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  if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)

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    {

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      MSG_ERR(0x1A01, "SDO error in consise DCF", abortCode);

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      MSG_WAR(0x2A02, "server node : ", nodeId);

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    }

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  closeSDOtransfer(d, nodeId, SDO_CLIENT);

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  decompo_dcf(d,nodeId);

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}

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/**

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**

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**

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** @param d

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** @param nodeId

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**

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** @return

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*/

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UNS32 decompo_dcf(CO_Data* d,UNS8 nodeId)

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{

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  UNS32 errorCode;

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  UNS16 target_Index;

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  UNS8 target_Subindex;

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  UNS32 target_Size;

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  UNS32 res;

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  ODCallback_t *Callback;

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  ptrTable = (*d->scanIndexOD)(0x1F22, &errorCode, &Callback);

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  if (errorCode != OD_SUCCESSFUL)

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    {

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      return errorCode;

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    }

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  /** Loop on all Nodes supported in DCF subindexes*/

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  while (nodeId < ptrTable->bSubCount){

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    UNS32 nb_targets;

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    UNS8 szData = ptrTable->pSubindex[nodeId].size;

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    UNS8* dcfend;

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    {

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      UNS8* dcf = *((UNS8**)ptrTable->pSubindex[nodeId].pObject);

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      dcfend = dcf + szData;

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      if (!d->dcf_cursor){

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        d->dcf_cursor = (UNS8*)dcf + 4;

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        d->dcf_count_targets = 0;

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      }

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      nb_targets = UNS32_LE(*((UNS32*)dcf));

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    }

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    /** condition on consise DCF string for NodeID, if big enough */

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    if((UNS8*)d->dcf_cursor + 7 < (UNS8*)dcfend && d->dcf_count_targets < nb_targets)

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      {

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        /** pointer to the DCF string for NodeID */

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        target_Index = UNS16_LE(*((UNS16*)(d->dcf_cursor))); d->dcf_cursor += 2;

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        target_Subindex = *((UNS8*)(((UNS8*)d->dcf_cursor)++));

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        target_Size = UNS32_LE(*((UNS32*)(d->dcf_cursor))); d->dcf_cursor += 4;

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        /* printf("Master : ConfigureSlaveNode %2.2x (Concise

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          DCF)\n",nodeId);*/

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        res = _writeNetworkDict(d, /** CO_Data* d*/

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                                nodeId, /** UNS8 nodeId*/

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                                target_Index, /** UNS16 index*/

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                                target_Subindex, /** UNS8 subindex*/

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                                target_Size, /** UNS8 count*/

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                                0, /** UNS8 dataType*/

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                                d->dcf_cursor,/** void *data*/

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                                CheckSDOAndContinue,/** SDOCallback_t

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                                                      Callback*/

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                                0); /** no endianize*/

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        /** Push d->dcf_cursor to the end of data*/

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        d->dcf_cursor += target_Size;

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        d->dcf_count_targets++;

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        return ;

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      }

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    nodeId++;

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    d->dcf_cursor = NULL;

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  }

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  /**  Switch Master to preOperational state */

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  (*d->preOperational)();

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}