/*
This file is part of CanFestival, a library implementing CanOpen Stack. 

Copyright (C): Edouard TISSERANT and Francis DUPIN

See COPYING file for copyrights details.

This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.

This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

#include "objacces.h"
#include "sdo.h"
#include "dcf.h"
#include "sysdep.h"


extern UNS8 _writeNetworkDict (CO_Data* d, UNS8 nodeId, UNS16 index, 
		       UNS8 subIndex, UNS8 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 endianize);

const indextable *ptrTable;

static void CheckSDOAndContinue(CO_Data* d, UNS8 nodeId)
{
	UNS32 abortCode;
	
	if(getWriteResultNetworkDict (d, nodeId, &abortCode) != SDO_FINISHED)
	{
		MSG_ERR(0x1A01, "SDO error in consise DCF", abortCode);
		MSG_WAR(0x2A02, "server node : ", nodeId);
	}

	closeSDOtransfer(d, nodeId, SDO_CLIENT);
	decompo_dcf(d,nodeId);
}

UNS32 decompo_dcf(CO_Data* d,UNS8 nodeId)
{
		UNS32 errorCode;
		UNS16 target_Index;
		UNS8 target_Subindex;
		UNS32 target_Size;
		UNS32 res;
  		ODCallback_t *Callback;

		ptrTable = (*d->scanIndexOD)(0x1F22, &errorCode, &Callback);
		if (errorCode != OD_SUCCESSFUL)
		{
    		return errorCode;
		}

		/*Loop on all Nodes supported in DCF subindexes*/
		while (nodeId < ptrTable->bSubCount){
			UNS32 nb_targets;
	  		
	  		UNS8 szData = ptrTable->pSubindex[nodeId].size;
	  		UNS8* dcfend;
	  		
		  	{
			  	UNS8* dcf = *((UNS8**)ptrTable->pSubindex[nodeId].pObject);
		  		dcfend = dcf + szData;
				if (!d->dcf_cursor)	{
					d->dcf_cursor = (UNS8*)dcf + 4;
					d->dcf_count_targets = 0;
				}
				nb_targets = UNS32_LE(*((UNS32*)dcf));
		  	}
			
			// condition on consise DCF string for NodeID, if big enough
			if((UNS8*)d->dcf_cursor + 7 < (UNS8*)dcfend && d->dcf_count_targets < nb_targets)
			{
				// pointer to the DCF string for NodeID
				target_Index = UNS16_LE(*((UNS16*)(d->dcf_cursor))); d->dcf_cursor += 2;
				target_Subindex = *((UNS8*)(((UNS8*)d->dcf_cursor)++));
				target_Size = UNS32_LE(*((UNS32*)(d->dcf_cursor))); d->dcf_cursor += 4;
					
					/*printf("Master : ConfigureSlaveNode %2.2x (Concise DCF)\n",nodeId);*/
					res = _writeNetworkDict(d, /*CO_Data* d*/
							nodeId, /*UNS8 nodeId*/
							target_Index, /*UNS16 index*/
							target_Subindex, /*UNS8 subindex*/
							target_Size, /*UNS8 count*/
							0, /*UNS8 dataType*/
							d->dcf_cursor,/*void *data*/
							CheckSDOAndContinue,/*SDOCallback_t Callback*/	
							0); /* no endianize		*/
					/*Push d->dcf_cursor to the end of data*/
					
					d->dcf_cursor += target_Size;
					d->dcf_count_targets++;
					
					return ;
			}			
				nodeId++;
				d->dcf_cursor = NULL;
		}
		/* Switch Master to preOperational state */
		(*d->preOperational)();
		
}