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/*****************************************************************************

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 *

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 *  Copyright (C) 2006-2017  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

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 *

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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

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 *  modify it under the terms of the GNU General Public License version 2, as

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 *  published by the Free Software Foundation.

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 *

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 *  The IgH EtherCAT Master 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 General

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 *  Public License for more details.

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 *

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 *  You should have received a copy of the GNU General Public License along

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 *  with the IgH EtherCAT Master; if not, write to the Free Software

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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

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 *

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 *  ---

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 *

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 *  The license mentioned above concerns the source code only. Using the

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 *  EtherCAT technology and brand is only permitted in compliance with the

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

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 *

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 ****************************************************************************/

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#include <iostream>

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#include <iomanip>

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#include <algorithm>

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using namespace std;

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#include "CommandCrc.h"

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#include "MasterDevice.h"

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/*****************************************************************************/

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CommandCrc::CommandCrc():

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    Command("crc", "CRC error register diagnosis.")

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{

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}

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/*****************************************************************************/

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string CommandCrc::helpString(const string &binaryBaseName) const

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{

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    stringstream str;

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    str

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        << binaryBaseName << " " << getName() << endl

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        << binaryBaseName << " " << getName() << " reset" << endl

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        << endl

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        << getBriefDescription() << endl

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        << endl

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        << "CRC - CRC Error Counter                0x300, 0x302, 0x304, 0x306"

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        << endl

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        << "PHY - Physical Interface Error Counter 0x301, 0x303, 0x305, 0x307"

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        << endl

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        << "FWD - Forwarded RX Error Counter       0x308, 0x309, 0x30a, 0x30b"

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        << endl

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        << "NXT - Next slave" << endl

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        << endl;

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    return str.str();

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}

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/****************************************************************************/

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#define REG_SIZE  (20)

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void CommandCrc::execute(const StringVector &args)

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{

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    bool reset = false;

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    if (args.size() > 1) {

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        stringstream err;

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        err << "'" << getName() << "' takes either no or 'reset' argument!";

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        throwInvalidUsageException(err);

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    }

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    if (args.size() == 1) {

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        string arg = args[0];

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        transform(arg.begin(), arg.end(),

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                arg.begin(), (int (*) (int)) std::tolower);

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        if (arg != "reset") {

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            stringstream err;

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            err << "'" << getName() << "' takes either no or 'reset' argument!";

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            throwInvalidUsageException(err);

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        }

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        reset = true;

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    }

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    MasterDevice m(getSingleMasterIndex());

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    m.open(reset ? MasterDevice::ReadWrite : MasterDevice::Read);

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    ec_ioctl_master_t master;

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    m.getMaster(&master);

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    uint8_t data[REG_SIZE];

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    ec_ioctl_slave_reg_t io;

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    io.emergency = 0;

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    io.address = 0x0300;

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    io.size = REG_SIZE;

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    io.data = data;

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    if (reset) {

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        for (int j = 0; j < REG_SIZE; j++) {

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            data[j] = 0x00;

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        }

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        for (unsigned int i = 0; i < master.slave_count; i++) {

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            io.slave_position = i;

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            try {

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                m.writeReg(&io);

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            } catch (MasterDeviceException &e) {

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                throw e;

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            }

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        }

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        return;

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    }

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    cout << "   |";

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    for (unsigned int port = 0; port < EC_MAX_PORTS; port++) {

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        cout << "Port " << port << "         |";

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    }

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    cout << endl;

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    cout << "   |";

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    for (unsigned int port = 0; port < EC_MAX_PORTS; port++) {

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        cout << "CRC PHY FWD NXT|";

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    }

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    cout << endl;

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    for (unsigned int i = 0; i < master.slave_count; i++) {

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        ec_ioctl_slave_t slave;

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        m.getSlave(&slave, i);

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        io.slave_position = i;

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        try {

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            m.readReg(&io);

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        } catch (MasterDeviceException &e) {

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            throw e;

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        }

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        cout << setw(3) << i << "|";

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        for (int port = 0; port < 4; port++) {

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            if (slave.ports[port].link.loop_closed) {

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                cout << "               |";

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                continue;

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            }

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            cout << setw(3) << (unsigned int) io.data[ 0 + port * 2]; // CRC

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            cout << setw(4) << (unsigned int) io.data[ 1 + port * 2]; // PHY

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            cout << setw(4) << (unsigned int) io.data[ 8 + port]; // FWD

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            if (slave.ports[port].next_slave == i - 1) {

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                cout << "   ↑";

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            }

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            else if (slave.ports[port].next_slave == i + 1) {

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                cout << "   ↓";

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            }

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            else if (slave.ports[port].next_slave != 0xffff) {

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                cout << setw(4) << slave.ports[port].next_slave;

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            }

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            else {

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                cout << "    ";

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            }

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            cout << "|";

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        }

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        std::string slaveName(slave.name);

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        slaveName = slaveName.substr(0, 11);

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        cout << slaveName << endl;

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    }

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}

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/*****************************************************************************/