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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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/** \file

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 *  \brief Responsible for accessing the object dictionary.

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 *

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 *  This file contains functions for accessing the object dictionary and

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 *  variables that are contained by the object dictionary.

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 *  Accessing the object dictionary contains setting local variables

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 *  as PDOs and accessing (read/write) all entries of the object dictionary

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 *  \warning Only the basic entries of an object dictionary are included

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 *           at the moment.

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 */

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#ifndef __objacces_h__

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#define __objacces_h__

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#include <applicfg.h>

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typedef UNS32 (*valueRangeTest_t)(UNS8 typeValue, void *Value);

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typedef void (* storeODSubIndex_t)(CO_Data* d, UNS16 wIndex, UNS8 bSubindex);

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void _storeODSubIndex (CO_Data* d, UNS16 wIndex, UNS8 bSubindex);

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/*

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Print MSG_WAR (s) if error to the access to the object dictionary occurs.

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You must uncomment the lines

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//#define DEBUG_CAN

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//#define DEBUG_WAR_CONSOLE_ON

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//#define DEBUG_ERR_CONSOLE_ON

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in the file objaccess.c

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sizeDataDict : Size of the data defined in the dictionary

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sizeDataGiven : Size data given by the user.

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code : error code to print. (SDO abort code. See file def.h)

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Beware that sometimes, we force the sizeDataDict or sizeDataGiven to 0, when we wants to use

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this function but we do not have the access to the right value. One example is

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getSDOerror(). So do not take attention to these variables if they are null.

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*/

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UNS8 accessDictionaryError(UNS16 index, UNS8 subIndex, 

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			   UNS8 sizeDataDict, UNS8 sizeDataGiven, UNS32 code);

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/* _getODentry() Reads an entry from the object dictionary.\n

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 * 

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 *    use getODentry() macro to read from object and endianize

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 *    use readLocalDict() macro to read from object and not endianize   

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 *

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 *  \code

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 *  // Example usage:

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 *  UNS8  *pbData;

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 *  UNS8 length;

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 *  UNS32 returnValue;

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 *

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 *  returnValue = getODentry( (UNS16)0x100B, (UNS8)1, 

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 *  (void * *)&pbData, (UNS8 *)&length );

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 *  if( returnValue != SUCCESSFUL )

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 *  {

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 *      // error handling

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 *  }

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 *  \endcode 

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 *  \param wIndex The index in the object dictionary where you want to read

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 *                an entry

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 *  \param bSubindex The subindex of the Index. e.g. mostly subindex 0 is

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 *                   used to tell you how many valid entries you can find

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 *                   in this index. Look at the canopen standard for further

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 *                   information

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 *  \param ppbData Pointer to the pointer which points to the variable where

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 *                 the value of this object dictionary entry should be copied

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 *  \param pdwSize This function writes the size of the copied value (in Byte)

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 *                 into this variable.

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 *  \param pDataType : The type of the data. See objdictdef.h

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 *  \param CheckAccess if other than 0, do not read if the data is Write Only

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 *                     [Not used today. Put always 0].

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 *  \param Endianize  when not 0, data is endianized into network byte order

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 *                    when 0, data is not endianized and copied in machine native

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 *                    endianness 

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 *  \return OD_SUCCESSFUL or SDO abort code. (See file def.h)

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 */

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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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		  UNS8 endianize);

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#define getODentry( OD, wIndex, bSubindex, pDestData, pExpectedSize, \

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		          pDataType,  checkAccess)                         \

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       _getODentry( OD, wIndex, bSubindex, pDestData, pExpectedSize, \

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		          pDataType,  checkAccess, 1)            

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/*

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 * readLocalDict() reads an entry from the object dictionary, but in 

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 * contrast to getODentry(), readLocalDict() doesn't endianize entry and reads

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 * entry in machine native endianness.

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 */

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#define readLocalDict( OD, wIndex, bSubindex, pDestData, pExpectedSize, \

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		          pDataType,  checkAccess)                         \

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       _getODentry( OD, wIndex, bSubindex, pDestData, pExpectedSize, \

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		          pDataType,  checkAccess, 0)

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/* By this function you can write an entry into the object dictionary\n

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 *  \code

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 *  // Example usage:

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 *  UNS8 B;

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 *  B = 0xFF; // set transmission type

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 *

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 *  retcode = setODentry( (UNS16)0x1800, (UNS8)2, &B, sizeof(UNS8), 1 );

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 *  \endocde

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 *  \param wIndex The index in the object dictionary where you want to write

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 *                an entry

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 *  \param bSubindex The subindex of the Index. e.g. mostly subindex 0 is

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 *                   used to tell you how many valid entries you can find

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 *                   in this index. Look at the canopen standard for further

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 *                   information

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 *  \param pbData Pointer to the variable that holds the value that should

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 *                 be copied into the object dictionary

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 *  \param dwSize The size of the value (in Byte).

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 *  \param CheckAccess if other than 0, do not read if the data is Read Only or Constant

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 *  \return OD_SUCCESSFUL or SDO abort code. (See file def.h)

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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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                   UNS8 endianize);

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/*

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 * setODentry converts SourceData from network byte order to machine native 

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 *            format, and writes that to OD.

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 */

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#define setODentry( d, wIndex, bSubindex, pSourceData, pExpectedSize, checkAccess) \

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       _setODentry( d, wIndex, bSubindex, pSourceData, pExpectedSize, checkAccess, 1)

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/*

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 * writeLocalDict writes machine native SourceData to OD.

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 */

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#define writeLocalDict( d, wIndex, bSubindex, pSourceData, pExpectedSize, checkAccess) \

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       _setODentry( d, wIndex, bSubindex, pSourceData, pExpectedSize, checkAccess, 0)

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/* Scan the index of object dictionary. Used only by setODentry and getODentry.

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 *  *errorCode :  OD_SUCCESSFUL if index foundor SDO abort code. (See file def.h)

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 *  Return NULL if index not found. Else : return the table part of the object dictionary.

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

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#endif /* __objacces_h__ */