objacces.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
*/
/* #define DEBUG_WAR_CONSOLE_ON */
/* #define DEBUG_ERR_CONSOLE_ON */


#include "objacces.h"


UNS8 accessDictionaryError(UNS16 index, UNS8 subIndex,
                           UNS8 sizeDataDict, UNS8 sizeDataGiven, UNS32 code)
{
#ifdef DEBUG_WAR_CONSOLE_ON
  MSG_WAR(0x2B09,"Dictionary index : ", index);
  MSG_WAR(0X2B10,"           subindex : ", subIndex);
  switch (code) {
  case  OD_NO_SUCH_OBJECT:
    MSG_WAR(0x2B11,"Index not found ", index);
    break;
  case OD_NO_SUCH_SUBINDEX :
    MSG_WAR(0x2B12,"SubIndex not found ", subIndex);
    break;
  case OD_WRITE_NOT_ALLOWED :
    MSG_WAR(0x2B13,"Write not allowed, data is read only ", index);
    break;
  case OD_LENGTH_DATA_INVALID :
    MSG_WAR(0x2B14,"Conflict size data. Should be (bytes)  : ", sizeDataDict);
    MSG_WAR(0x2B15,"But you have given the size  : ", sizeDataGiven);
    break;
  case OD_NOT_MAPPABLE :
    MSG_WAR(0x2B16,"Not mappable data in a PDO at index    : ", index);
    break;
  case OD_VALUE_TOO_LOW :
    MSG_WAR(0x2B17,"Value range error : value too low. SDOabort : ", code);
    break;
  case OD_VALUE_TOO_HIGH :
    MSG_WAR(0x2B18,"Value range error : value too high. SDOabort : ", code);
    break;
  default :
    MSG_WAR(0x2B20, "Unknown error code : ", code);
  }
#endif
  return 0;
}

UNS32 _getODentry( CO_Data* d,
                   UNS16 wIndex,
                   UNS8 bSubindex,
                   void * pDestData,
                   UNS8 * pExpectedSize,
                   UNS8 * pDataType,
                   UNS8 checkAccess,
                   UNS8 endianize)
{ /* DO NOT USE MSG_ERR because the macro may send a PDO -> infinite
    loop if it fails. */
  UNS32 errorCode;
  UNS8 szData;
  const indextable *ptrTable;
  ODCallback_t *Callback;

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

  if (errorCode != OD_SUCCESSFUL)
    return errorCode;
  if( ptrTable->bSubCount <= bSubindex ) {
    /* Subindex not found */
    accessDictionaryError(wIndex, bSubindex, 0, 0, OD_NO_SUCH_SUBINDEX);
    return OD_NO_SUCH_SUBINDEX;
  }

  if (checkAccess && !(ptrTable->pSubindex[bSubindex].bAccessType & WO)) {
    MSG_WAR(0x2B30, "Access Type : ", ptrTable->pSubindex[bSubindex].bAccessType);
    accessDictionaryError(wIndex, bSubindex, 0, 0, OD_WRITE_NOT_ALLOWED);
    return OD_READ_NOT_ALLOWED;
  }

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

  if(*pExpectedSize == 0 ||
     *pExpectedSize == szData ||
     (*pDataType == visible_string && *pExpectedSize < szData)) {
    /* We
      allow to fetch a shorter string than expected */

#  ifdef CANOPEN_BIG_ENDIAN
    if(endianize && *pDataType > boolean && *pDataType < visible_string) {
      /* data must be transmited with low byte first */
      UNS8 i, j = 0;
      MSG_WAR(boolean, "data type ", *pDataType);
      MSG_WAR(visible_string, "data type ", *pDataType);
      for ( i = szData ; i > 0 ; i--) {
        MSG_WAR(i," ", j);
        ((UNS8*)pDestData)[j++] =
          ((UNS8*)ptrTable->pSubindex[bSubindex].pObject)[i-1];
      }
    }
    else /* It it is a visible string no endianisation to perform */
      memcpy(pDestData, ptrTable->pSubindex[bSubindex].pObject,szData);
#  else
    memcpy(pDestData, ptrTable->pSubindex[bSubindex].pObject,szData);
#  endif

    *pExpectedSize = szData;
#if 0
    /* Me laisser a, please ! (FD) */
    {
      UNS8 i;
      for (i = 0 ; i < 10 ; i++) {
        MSG_WAR(*pExpectedSize, "dic data= ",
                *(UNS8 *)(ptrTable->pSubindex[bSubindex].pObject + i));
      }

    }
#endif
    return OD_SUCCESSFUL;
  }
  else { /* Error ! */
    *pExpectedSize = szData;
    accessDictionaryError(wIndex, bSubindex, szData,
                          *pExpectedSize, OD_LENGTH_DATA_INVALID);
    return OD_LENGTH_DATA_INVALID;
  }
}

UNS32 getODentry( CO_Data* d,
                  UNS16 wIndex,
                  UNS8 bSubindex,
                  void * pDestData,
                  UNS8 * pExpectedSize,
                  UNS8 * pDataType,
                  UNS8 checkAccess)
{
  return _getODentry( d,
                      wIndex,
                      bSubindex,
                      pDestData,
                      pExpectedSize,
                      pDataType,
                      checkAccess,
                      1);//endianize
}

UNS32 readLocalDict( CO_Data* d,
                     UNS16 wIndex,
                     UNS8 bSubindex,
                     void * pDestData,
                     UNS8 * pExpectedSize,
                     UNS8 * pDataType,
                     UNS8 checkAccess)
{
  return _getODentry( d,
                      wIndex,
                      bSubindex,
                      pDestData,
                      pExpectedSize,
                      pDataType,
                      checkAccess,
                      0);//do not endianize
}

UNS32 _setODentry( CO_Data* d,
                   UNS16 wIndex,
                   UNS8 bSubindex,
                   void * pSourceData,
                   UNS8 * pExpectedSize,
                   UNS8 checkAccess,
                   UNS8 endianize)
{
  UNS8 szData;
  UNS8 dataType;
  UNS32 errorCode;
  const indextable *ptrTable;
  ODCallback_t *Callback;

  ptrTable =(*d->scanIndexOD)(wIndex, &errorCode, &Callback);
  if (errorCode != OD_SUCCESSFUL)
    return errorCode;

  if( ptrTable->bSubCount <= bSubindex ) {
    /* Subindex not found */
    accessDictionaryError(wIndex, bSubindex, 0, *pExpectedSize, OD_NO_SUCH_SUBINDEX);
    return OD_NO_SUCH_SUBINDEX;
  }
  if (checkAccess && (ptrTable->pSubindex[bSubindex].bAccessType == RO)) {
    MSG_WAR(0x2B25, "Access Type : ", ptrTable->pSubindex[bSubindex].bAccessType);
    accessDictionaryError(wIndex, bSubindex, 0, *pExpectedSize, OD_WRITE_NOT_ALLOWED);
    return OD_WRITE_NOT_ALLOWED;
  }


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

  if( *pExpectedSize == 0 ||
      *pExpectedSize == szData ||
      (dataType == visible_string && *pExpectedSize < szData)) /* We
                                                                  allow to store a shorter string than entry size */
    {
#ifdef CANOPEN_BIG_ENDIAN
      if(endianize && dataType > boolean && dataType < visible_string)
        {
          /* we invert the data source directly. This let us do range
            testing without */
          /* additional temp variable */
          UNS8 i;
          for ( i = 0 ; i < ( ptrTable->pSubindex[bSubindex].size >> 1)  ; i++)
            {
              UNS8 tmp =((UNS8 *)pSourceData) [(ptrTable->pSubindex[bSubindex].size - 1) - i];
              ((UNS8 *)pSourceData) [(ptrTable->pSubindex[bSubindex].size - 1) - i] = ((UNS8 *)pSourceData)[i];
              ((UNS8 *)pSourceData)[i] = tmp;
            }
        }
#endif
      errorCode = (*d->valueRangeTest)(dataType, pSourceData);
      if (errorCode) {
        accessDictionaryError(wIndex, bSubindex, szData, *pExpectedSize, errorCode);
        return errorCode;
      }
      memcpy(ptrTable->pSubindex[bSubindex].pObject,pSourceData, *pExpectedSize);
      *pExpectedSize = szData;

      /* Callbacks */
      if(Callback && Callback[bSubindex]){
        (*Callback[bSubindex])(d, ptrTable, bSubindex);
      }

      /* TODO : Store dans NVRAM */
      if (ptrTable->pSubindex[bSubindex].bAccessType & TO_BE_SAVE){
        (*d->storeODSubIndex)(wIndex, bSubindex);
      }
      return OD_SUCCESSFUL;
    }else{
      *pExpectedSize = szData;
      accessDictionaryError(wIndex, bSubindex, szData, *pExpectedSize, OD_LENGTH_DATA_INVALID);
      return OD_LENGTH_DATA_INVALID;
    }
}

UNS32 setODentry( CO_Data* d,
                  UNS16 wIndex,
                  UNS8 bSubindex,
                  void * pSourceData,
                  UNS8 * pExpectedSize,
                  UNS8 checkAccess)
{
  return _setODentry( d,
                      wIndex,
                      bSubindex,
                      pSourceData,
                      pExpectedSize,
                      checkAccess,
                      1);//endianize
}

UNS32 writeLocalDict( CO_Data* d,
                      UNS16 wIndex,
                      UNS8 bSubindex,
                      void * pSourceData,
                      UNS8 * pExpectedSize,
                      UNS8 checkAccess)
{
  return _setODentry( d,
                      wIndex,
                      bSubindex,
                      pSourceData,
                      pExpectedSize,
                      checkAccess,
                      0);//do not endianize
}

const indextable * scanIndexOD (CO_Data* d, UNS16 wIndex, UNS32 *errorCode, ODCallback_t **Callback)
{
  return (*d->scanIndexOD)(wIndex, errorCode, Callback);
}

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

  scanIndexOD (d, wIndex, &errorCode, &CallbackList);
  if(errorCode == OD_SUCCESSFUL && CallbackList)
    CallbackList[bSubindex] = Callback;
  return errorCode;
}

void _storeODSubIndex (UNS16 wIndex, UNS8 bSubindex){}

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