/home/epimerde/documents/tc11/CanFestival-3/src/dcf.c

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/*
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)();
                
}

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