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/*

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This file is part of CanFestival, a library implementing CanOpen 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  USA

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*/

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//#define DEBUG_WAR_CONSOLE_ON

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//#define DEBUG_ERR_CONSOLE_ON

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#include "objacces.h"

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#ifdef DEBUG_WAR_CONSOLE_ON

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UNS8 accessDictionaryError(UNS16 index, UNS8 subIndex, 

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			     UNS8 sizeDataDict, UNS8 sizeDataGiven, UNS32 code)

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{

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  MSG_WAR(0x2B09,"Dictionary index : ", index);

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  MSG_WAR(0X2B10,"           subindex : ", subIndex);

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  switch (code) {

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    case  OD_NO_SUCH_OBJECT: 

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      MSG_WAR(0x2B11,"Index not found ", index);

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      break;

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    case OD_NO_SUCH_SUBINDEX :

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      MSG_WAR(0x2B12,"SubIndex not found ", subIndex);

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      break;   

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    case OD_WRITE_NOT_ALLOWED :

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      MSG_WAR(0x2B13,"Write not allowed, data is read only ", index);

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      break;         

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    case OD_LENGTH_DATA_INVALID :    

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      MSG_WAR(0x2B14,"Conflict size data. Should be (bytes)  : ", sizeDataDict);

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      MSG_WAR(0x2B15,"But you have given the size  : ", sizeDataGiven);

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      break;

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    case OD_NOT_MAPPABLE :

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      MSG_WAR(0x2B16,"Not mappable data in a PDO at index    : ", index);

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      break;

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    case OD_VALUE_TOO_LOW :

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      MSG_WAR(0x2B17,"Value range error : value too low. SDOabort : ", code);

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      break;

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    case OD_VALUE_TOO_HIGH :

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      MSG_WAR(0x2B18,"Value range error : value too high. SDOabort : ", code);

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      break;

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  default :

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    MSG_WAR(0x2B20, "Unknown error code : ", code);

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  }

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  return 0; 

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}	

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#endif

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UNS32 getODentry( CO_Data* d, 

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                  UNS16 wIndex,

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		  UNS8 bSubindex,

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		  void * pDestData,

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		  UNS8 * pExpectedSize,

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		  UNS8 * pDataType,

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		  UNS8 checkAccess)

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{ // DO NOT USE MSG_ERR because the macro may send a PDO -> infinite loop if it fails.

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  UNS32 errorCode;

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  UNS8 szData;

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  const indextable *ptrTable;

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  ODCallback_t *Callback;

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

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  if (errorCode != OD_SUCCESSFUL)

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    return errorCode;

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  if( ptrTable->bSubCount <= bSubindex ) {

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    // Subindex not found

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    accessDictionaryError(wIndex, bSubindex, 0, 0, OD_NO_SUCH_SUBINDEX);

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    return OD_NO_SUCH_SUBINDEX;

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  }

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  if (checkAccess && !(ptrTable->pSubindex[bSubindex].bAccessType & WO)) {

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  	MSG_WAR(0x2B30, "Access Type : ", ptrTable->pSubindex[bSubindex].bAccessType);

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    accessDictionaryError(wIndex, bSubindex, 0, 0, OD_WRITE_NOT_ALLOWED);

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    return OD_READ_NOT_ALLOWED;

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  }

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  *pDataType = ptrTable->pSubindex[bSubindex].bDataType;

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   szData = ptrTable->pSubindex[bSubindex].size;

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   if(	*pExpectedSize == 0 ||

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  	*pExpectedSize == szData ||

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  	(*pDataType == visible_string && *pExpectedSize < szData)) {// We allow to fetch a shorter string than expected

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#  ifdef CANOPEN_BIG_ENDIAN

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     if(*pDataType > boolean && *pDataType < visible_string) {

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       // data must be transmited with low byte first

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       UNS8 i, j = 0;

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       MSG_WAR(boolean, "data type ", *pDataType);

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       MSG_WAR(visible_string, "data type ", *pDataType);

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       for ( i = szData ; i > 0 ; i--) {

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         MSG_WAR(i," ", j);

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	 ((UNS8*)pDestData)[j++] = 

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	   ((UNS8*)ptrTable->pSubindex[bSubindex].pObject)[i-1];

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       }

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     }

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     else // It it is a visible string no endianisation to perform

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       memcpy(pDestData, ptrTable->pSubindex[bSubindex].pObject,szData);

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#  else

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     memcpy(pDestData, ptrTable->pSubindex[bSubindex].pObject,szData);

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#  endif

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     *pExpectedSize = szData;

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#if 0

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     // Me laisser ça, please ! (FD)

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     {

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       UNS8 i;

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       for (i = 0 ; i < 10 ; i++) {

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	 MSG_WAR(*pExpectedSize, "dic data= ",

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		 *(UNS8 *)(ptrTable->pSubindex[bSubindex].pObject + i));

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       }

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     }

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#endif

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     return OD_SUCCESSFUL;

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   }

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   else { // Error !

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     *pExpectedSize = szData;

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     accessDictionaryError(wIndex, bSubindex, szData, 

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			   *pExpectedSize, OD_LENGTH_DATA_INVALID);

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     return OD_LENGTH_DATA_INVALID;

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   }

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}

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UNS32 setODentry( CO_Data* d, 

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                  UNS16 wIndex,

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		  UNS8 bSubindex, 

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		  void * pSourceData, 

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		  UNS8 * pExpectedSize, 

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		  UNS8 checkAccess)

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{

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  UNS8 szData;

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  UNS8 dataType;

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  UNS32 errorCode;

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  const indextable *ptrTable;

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  ODCallback_t *Callback;

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

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  if (errorCode != OD_SUCCESSFUL)

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    return errorCode;

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  if( ptrTable->bSubCount <= bSubindex ) {

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    // Subindex not found

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    accessDictionaryError(wIndex, bSubindex, 0, *pExpectedSize, OD_NO_SUCH_SUBINDEX);

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    return OD_NO_SUCH_SUBINDEX;

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  }

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  if (checkAccess && (ptrTable->pSubindex[bSubindex].bAccessType == RO)) {

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  	MSG_WAR(0x2B25, "Access Type : ", ptrTable->pSubindex[bSubindex].bAccessType);

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    accessDictionaryError(wIndex, bSubindex, 0, *pExpectedSize, OD_WRITE_NOT_ALLOWED);

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    return OD_WRITE_NOT_ALLOWED;

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  }

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   dataType = ptrTable->pSubindex[bSubindex].bDataType;

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   szData = ptrTable->pSubindex[bSubindex].size;

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  if( *pExpectedSize == 0 ||

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  	*pExpectedSize == szData ||

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  	(dataType == visible_string && *pExpectedSize < szData)) // We allow to store a shorter string than entry size

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  {

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      #ifdef CANOPEN_BIG_ENDIAN

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	      if(dataType > boolean && dataType < visible_string)

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	      {

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			// we invert the data source directly. This let us do range testing without

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			// additional temp variable

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		 	UNS8 tmp, i;

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	  		for ( i = 0 ; i < ( ptrTable->pSubindex[bSubindex].size >> 1)  ; i++) 

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	  		{

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	    		UNS8 tmp =((UNS8 *)pSourceData) [(ptrTable->pSubindex[bSubindex].size - 1) - i];

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	    		((UNS8 *)pSourceData) [(ptrTable->pSubindex[bSubindex].size - 1) - i] = ((UNS8 *)pSourceData)[i];

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	    		((UNS8 *)pSourceData)[i] = tmp;

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	    	}

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		}  

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      #endif

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      errorCode = (*d->valueRangeTest)(dataType, pSourceData);

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      if (errorCode) {

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	accessDictionaryError(wIndex, bSubindex, szData, *pExpectedSize, errorCode);

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	return errorCode;

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      }

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      memcpy(ptrTable->pSubindex[bSubindex].pObject,pSourceData, *pExpectedSize);

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      *pExpectedSize = szData;

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      // Callbacks

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      if(Callback && Callback[bSubindex]){

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      	 (*Callback[bSubindex])(d, ptrTable, bSubindex);

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      }

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      // TODO : Store dans NVRAM      

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      // if (ptrTable->pSubindex[bSubindex].bAccessType & TO_BE_SAVED)

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      return OD_SUCCESSFUL;

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  }else{

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      *pExpectedSize = szData;

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      accessDictionaryError(wIndex, bSubindex, szData, *pExpectedSize, OD_LENGTH_DATA_INVALID);

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      return OD_LENGTH_DATA_INVALID;

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  }

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}

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const indextable * scanIndexOD (CO_Data* d, UNS16 wIndex, UNS32 *errorCode, ODCallback_t **Callback)

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{

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  return (*d->scanIndexOD)(wIndex, errorCode, Callback);

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}

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UNS32 RegisterSetODentryCallBack(CO_Data* d, UNS16 wIndex, UNS8 bSubindex, ODCallback_t Callback)

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{

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	UNS32 errorCode;

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	ODCallback_t *CallbackList;

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	scanIndexOD (d, wIndex, &errorCode, &CallbackList);

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	if(errorCode == OD_SUCCESSFUL && CallbackList) 

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		CallbackList[bSubindex] = Callback;

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	return errorCode;

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}

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