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

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 *  

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 * $Id$

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 * 

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 * Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH

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 * 

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 * This file is part of the IgH EtherCAT master userspace library.

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 * 

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 * The IgH EtherCAT master userspace library is free software: you can

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 * redistribute it and/or modify it under the terms of the GNU Lesser General

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 * Public License as published by the Free Software Foundation, version 2 of

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 * the License.

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 * 

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 * The IgH EtherCAT master userspace library is distributed in the hope that

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 * it will be useful, but WITHOUT ANY WARRANTY; without even the implied

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 * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 * GNU Lesser General Public License for more details.

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 * 

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

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 * along with the IgH EtherCAT master userspace library. If not, see

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 * <http://www.gnu.org/licenses/>.

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 * 

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 * The right to use EtherCAT Technology is granted and comes free of charge

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 * under condition of compatibility of product made by Licensee. People

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 * intending to distribute/sell products based on the code, have to sign an

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 * agreement to guarantee that products using software based on IgH EtherCAT

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 * master stay compatible with the actual EtherCAT specification (which are

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 * released themselves as an open standard) as the (only) precondition to have

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 * the right to use EtherCAT Technology, IP and trade marks.

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 *

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

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#include <stdlib.h>

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#include <sys/ioctl.h>

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#include <stdio.h>

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#include <errno.h>

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#include <string.h>

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#include "slave_config.h"

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#include "domain.h"

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#include "voe_handler.h"

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#include "master.h"

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#include "master/ioctl.h"

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

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int ecrt_slave_config_sync_manager(ec_slave_config_t *sc, uint8_t sync_index,

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        ec_direction_t dir)

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{

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    ec_ioctl_config_t data;

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    unsigned int i;

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    if (sync_index >= EC_MAX_SYNC_MANAGERS)

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        return -1;

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    memset(&data, 0x00, sizeof(ec_ioctl_config_t));

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    data.config_index = sc->index;

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    data.syncs[sync_index].dir = dir;

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    if (ioctl(sc->master->fd, EC_IOCTL_SC_SYNC, &data) == -1) {

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        fprintf(stderr, "Failed to config sync manager: %s\n",

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                strerror(errno));

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        return -1; 

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    }

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    return 0;

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}

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

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int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,

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        uint8_t sync_index, uint16_t pdo_index)

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{

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    ec_ioctl_config_pdo_t data;

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    data.config_index = sc->index;

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    data.sync_index = sync_index;

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    data.index = pdo_index;

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    if (ioctl(sc->master->fd, EC_IOCTL_SC_ADD_PDO, &data) == -1) {

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        fprintf(stderr, "Failed to add Pdo: %s\n",

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                strerror(errno));

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        return -1; 

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    }

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    return 0;

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}

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

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void ecrt_slave_config_pdo_assign_clear(ec_slave_config_t *sc,

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        uint8_t sync_index)

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{

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    ec_ioctl_config_pdo_t data;

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    data.config_index = sc->index;

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    data.sync_index = sync_index;

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    if (ioctl(sc->master->fd, EC_IOCTL_SC_CLEAR_PDOS, &data) == -1) {

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        fprintf(stderr, "Failed to clear Pdos: %s\n",

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                strerror(errno));

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    }

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}

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

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int ecrt_slave_config_pdo_mapping_add(ec_slave_config_t *sc,

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        uint16_t pdo_index, uint16_t entry_index, uint8_t entry_subindex,

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        uint8_t entry_bit_length)

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{

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    ec_ioctl_add_pdo_entry_t data;

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    data.config_index = sc->index;

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    data.pdo_index = pdo_index;

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    data.entry_index = entry_index;

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    data.entry_subindex = entry_subindex;

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    data.entry_bit_length = entry_bit_length;

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    if (ioctl(sc->master->fd, EC_IOCTL_SC_ADD_ENTRY, &data) == -1) {

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        fprintf(stderr, "Failed to add Pdo entry: %s\n",

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                strerror(errno));

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        return -1; 

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    }

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    return 0;

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}

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

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void ecrt_slave_config_pdo_mapping_clear(ec_slave_config_t *sc,

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        uint16_t pdo_index)

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{

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    ec_ioctl_config_pdo_t data;

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    data.config_index = sc->index;

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    data.index = pdo_index;

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    if (ioctl(sc->master->fd, EC_IOCTL_SC_CLEAR_ENTRIES, &data) == -1) {

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        fprintf(stderr, "Failed to clear Pdo entries: %s\n",

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                strerror(errno));

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    }

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}

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

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int ecrt_slave_config_pdos(ec_slave_config_t *sc,

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        unsigned int n_syncs, const ec_sync_info_t syncs[])

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{

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    unsigned int i, j, k;

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    const ec_sync_info_t *sync_info;

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    const ec_pdo_info_t *pdo_info;

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    const ec_pdo_entry_info_t *entry_info;

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    if (!syncs)

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        return 0;

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    for (i = 0; i < n_syncs; i++) {

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        sync_info = &syncs[i];

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        if (sync_info->index == (uint8_t) EC_END)

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            break;

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        if (sync_info->index >= EC_MAX_SYNC_MANAGERS) {

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            fprintf(stderr, "Invalid sync manager index %u!\n",

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                    sync_info->index);

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            return -1;

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        }

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        if (ecrt_slave_config_sync_manager(

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                    sc, sync_info->index, sync_info->dir))

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            return -1;

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        if (sync_info->n_pdos && sync_info->pdos) {

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            ecrt_slave_config_pdo_assign_clear(sc, sync_info->index);

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            for (j = 0; j < sync_info->n_pdos; j++) {

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                pdo_info = &sync_info->pdos[j];

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                if (ecrt_slave_config_pdo_assign_add(

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                            sc, sync_info->index, pdo_info->index))

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                    return -1;

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                if (pdo_info->n_entries && pdo_info->entries) {

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                    ecrt_slave_config_pdo_mapping_clear(sc, pdo_info->index);

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                    for (k = 0; k < pdo_info->n_entries; k++) {

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                        entry_info = &pdo_info->entries[k];

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                        if (ecrt_slave_config_pdo_mapping_add(sc,

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                                    pdo_info->index, entry_info->index,

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                                    entry_info->subindex,

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                                    entry_info->bit_length))

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                            return -1;

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                    }

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                }

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            }

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        }

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    }

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    return 0;

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}

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

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int ecrt_slave_config_reg_pdo_entry(

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        ec_slave_config_t *sc,

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        uint16_t index,

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        uint8_t subindex,

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        ec_domain_t *domain,

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        unsigned int *bit_position

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        )

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{

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    ec_ioctl_reg_pdo_entry_t data;

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    int ret;

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    data.config_index = sc->index;

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    data.entry_index = index;

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    data.entry_subindex = subindex;

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    data.domain_index = domain->index;

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    ret = ioctl(sc->master->fd, EC_IOCTL_SC_REG_PDO_ENTRY, &data);

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    if (ret == -1) {

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        fprintf(stderr, "Failed to register Pdo entry: %s\n",

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                strerror(errno));

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        return -2;

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    }

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    if (bit_position) {

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        *bit_position = data.bit_position;

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    } else {

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        if (data.bit_position) {

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            fprintf(stderr, "Pdo entry 0x%04X:%02X does not byte-align "

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                    "in config %u:%u.\n", index, subindex,

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                    sc->alias, sc->position);

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            return -3;

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        }

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    }

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    return ret;

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}

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

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int ecrt_slave_config_sdo(ec_slave_config_t *sc, uint16_t index,

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        uint8_t subindex, const uint8_t *sdo_data, size_t size)

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{

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    ec_ioctl_sc_sdo_t data;

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    data.config_index = sc->index;

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    data.index = index;

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    data.subindex = subindex;

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    data.data = sdo_data;

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    data.size = size;

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    if (ioctl(sc->master->fd, EC_IOCTL_SC_REG_PDO_ENTRY, &data) == -1) {

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        fprintf(stderr, "Failed to configure Sdo.\n");

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        return -1;

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    }

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    return 0;

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}

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

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int ecrt_slave_config_sdo8(ec_slave_config_t *sc, uint16_t index,

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        uint8_t subindex, uint8_t value)

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{

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    uint8_t data[1];

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    EC_WRITE_U8(data, value);

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    return ecrt_slave_config_sdo(sc, index, subindex, data, 1);

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}

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

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int ecrt_slave_config_sdo16(ec_slave_config_t *sc, uint16_t index,

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        uint8_t subindex, uint16_t value)

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{

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    uint8_t data[2];

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    EC_WRITE_U16(data, value);

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    return ecrt_slave_config_sdo(sc, index, subindex, data, 2);

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}

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

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int ecrt_slave_config_sdo32(ec_slave_config_t *sc, uint16_t index,

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        uint8_t subindex, uint32_t value)

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{

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    uint8_t data[4];

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    EC_WRITE_U32(data, value);

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    return ecrt_slave_config_sdo(sc, index, subindex, data, 4);

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}

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

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ec_sdo_request_t *ecrt_slave_config_create_sdo_request(ec_slave_config_t *sc,

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        uint16_t index, uint8_t subindex, size_t size)

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{

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    return 0; // TODO

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}

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

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ec_voe_handler_t *ecrt_slave_config_create_voe_handler(ec_slave_config_t *sc,

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        size_t size)

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{

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    ec_ioctl_voe_t data;

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    ec_voe_handler_t *voe;

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    unsigned int index;

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    voe = malloc(sizeof(ec_voe_handler_t));

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    if (!voe) {

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        fprintf(stderr, "Failed to allocate memory.\n");

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        return 0;

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    }

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    if (size) {

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        voe->data = malloc(size);

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        if (!voe->data) {

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            fprintf(stderr, "Failed to allocate %u bytes of VoE data"

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                    " memory.\n", size);

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            free(voe);

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            return 0;

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        }

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    } else {

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        voe->data = NULL;

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    }

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    data.config_index = sc->index;

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    data.size = size;

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    if (ioctl(sc->master->fd, EC_IOCTL_SC_VOE, &data) == -1) {

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        fprintf(stderr, "Failed to create VoE handler: %s\n",

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                strerror(errno));

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        if (voe->data)

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            free(voe->data);

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        free(voe);

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        return NULL; 

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    }

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    voe->config = sc;

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    voe->index = data.voe_index;

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    voe->data_size = size;

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    voe->mem_size = size;

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    return voe;

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}

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

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void ecrt_slave_config_state(const ec_slave_config_t *sc,

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        ec_slave_config_state_t *state)

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{

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    ec_ioctl_sc_state_t data;

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    data.config_index = sc->index;

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    data.state = state;

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    if (ioctl(sc->master->fd, EC_IOCTL_SC_STATE, &data) == -1) {

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        fprintf(stderr, "Failed to get slave configuration state: %s\n",

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                strerror(errno));

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    }

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}

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