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

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2006  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

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 *  and/or modify it under the terms of the GNU General Public License

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 *  as published by the Free Software Foundation; either version 2 of the

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 *  License, or (at your option) any later version.

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 *

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 *  The IgH EtherCAT Master is distributed in the hope that it will be

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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 *  GNU General 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

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

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 *  charge under condition of compatibility of product made by

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 *  Licensee. People intending to distribute/sell products based on the

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 *  code, have to sign an agreement to guarantee that products using

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 *  software based on IgH EtherCAT master stay compatible with the actual

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 *  EtherCAT specification (which are released themselves as an open

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 *  standard) as the (only) precondition to have the right to use EtherCAT

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 *  Technology, IP and trade marks.

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 *

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

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/**

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   \file

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   CANopen-over-EtherCAT Sdo entry functions.

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*/

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

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#include <linux/module.h>

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#include "sdo.h"

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#include "sdo_request.h"

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#include "master.h"

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#include "sdo_entry.h"

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

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ssize_t ec_show_sdo_entry_attribute(struct kobject *, struct attribute *,

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                                    char *);

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void ec_sdo_entry_clear(struct kobject *);

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

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    57

/** \cond */

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    59

EC_SYSFS_READ_ATTR(info);

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EC_SYSFS_READ_ATTR(value);

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static struct attribute *sdo_entry_def_attrs[] = {

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    &attr_info,

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    &attr_value,

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    NULL,

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};

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static struct sysfs_ops sdo_entry_sysfs_ops = {

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    .show = &ec_show_sdo_entry_attribute,

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    .store = NULL

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};

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static struct kobj_type ktype_ec_sdo_entry = {

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    .release = ec_sdo_entry_clear,

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    .sysfs_ops = &sdo_entry_sysfs_ops,

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    .default_attrs = sdo_entry_def_attrs

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};

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/** \endcond */

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

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/** Sdo entry constructor.

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 *

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 * \todo Turn parameters.

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 */

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int ec_sdo_entry_init(

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        ec_sdo_entry_t *entry, /**< Sdo entry. */

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        uint8_t subindex, /**< Subindex. */

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        ec_sdo_t *sdo /**< Parent Sdo. */

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        )

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{

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    entry->sdo = sdo;

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    entry->subindex = subindex;

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    entry->data_type = 0x0000;

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    entry->bit_length = 0;

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    entry->description = NULL;

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    // Init kobject and add it to the hierarchy

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    memset(&entry->kobj, 0x00, sizeof(struct kobject));

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    kobject_init(&entry->kobj);

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    entry->kobj.ktype = &ktype_ec_sdo_entry;

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    entry->kobj.parent = &sdo->kobj;

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    if (kobject_set_name(&entry->kobj, "%02X", entry->subindex)) {

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        EC_ERR("Failed to set kobj name.\n");

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        kobject_put(&entry->kobj);

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        return -1;

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    }

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    if (kobject_add(&entry->kobj)) {

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        EC_ERR("Failed to add entry kobject.\n");

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        kobject_put(&entry->kobj);

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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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/** Sdo entry destructor.

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 *

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 * Clears and frees an Sdo entry object.

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 */

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void ec_sdo_entry_destroy(

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        ec_sdo_entry_t *entry /**< Sdo entry. */

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        )

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{

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    // destroy self

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    kobject_del(&entry->kobj);

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    kobject_put(&entry->kobj);

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}

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

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/** Clear and free the Sdo entry.

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 *

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 * This method is called by the kobject,

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 * once there are no more references to it.

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 */

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void ec_sdo_entry_clear(

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        struct kobject *kobj /**< Sdo entry's kobject. */

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        )

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{

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    ec_sdo_entry_t *entry = container_of(kobj, ec_sdo_entry_t, kobj);

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    if (entry->description) kfree(entry->description);

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    kfree(entry);

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}

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

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/** Print Sdo entry information to a buffer.

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 * 

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 * \return Number of bytes written.

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 */

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ssize_t ec_sdo_entry_info(

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        ec_sdo_entry_t *entry, /**< Sdo entry. */

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        char *buffer /**< Target buffer. */

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        )

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{

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    off_t off = 0;

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    off += sprintf(buffer + off, "Subindex: 0x%02X\n", entry->subindex);

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    off += sprintf(buffer + off, "Description: %s\n",

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                   entry->description ? entry->description : "");

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    off += sprintf(buffer + off, "Data type: 0x%04X\n", entry->data_type);

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    off += sprintf(buffer + off, "Bit length: %i\n", entry->bit_length);

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    return off;

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}

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

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/** Format entry data based on the CANopen data type and print it to a buffer.

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 *

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 * \return number of bytes written.

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 */

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ssize_t ec_sdo_entry_format_data(

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        ec_sdo_entry_t *entry, /**< Sdo entry. */

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        ec_sdo_request_t *request, /**< Sdo request. */

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        char *buffer /**< Target buffer. */

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        )

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{

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    off_t off = 0;

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    unsigned int i;

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    if (request->data_size != entry->bit_length) {

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        EC_ERR("Dictionary size of Sdo entry 0x%04X:%02X (%u bit) does not "

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                "match size of uploaded data (%u byte)!\n", entry->sdo->index,

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                entry->subindex, entry->bit_length, request->data_size);

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        EC_DBG("Uploaded data:\n");

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        ec_print_data(request->data, request->data_size);

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        return -EIO;

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    }

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    if (entry->data_type == 0x0002) { // int8

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        int8_t value;

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        if (entry->bit_length != 8)

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            goto not_fit;

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        value = EC_READ_S8(request->data);

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        off += sprintf(buffer + off, "%i (0x%02X)\n", value, value);

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    }

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    else if (entry->data_type == 0x0003) { // int16

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        int16_t value;

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        if (entry->bit_length != 16)

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            goto not_fit;

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        value = EC_READ_S16(request->data);

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        off += sprintf(buffer + off, "%i (0x%04X)\n", value, value);

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    }

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    else if (entry->data_type == 0x0004) { // int32

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        int32_t value;

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        if (entry->bit_length != 32)

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            goto not_fit;

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        value = EC_READ_S16(request->data);

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        off += sprintf(buffer + off, "%i (0x%08X)\n", value, value);

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    }

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    else if (entry->data_type == 0x0005) { // uint8

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        uint8_t value;

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        if (entry->bit_length != 8)

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            goto not_fit;

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        value = EC_READ_U8(request->data);

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        off += sprintf(buffer + off, "%u (0x%02X)\n", value, value);

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    }

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    else if (entry->data_type == 0x0006) { // uint16

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        uint16_t value;

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        if (entry->bit_length != 16)

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            goto not_fit;

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        value = EC_READ_U16(request->data); 

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        off += sprintf(buffer + off, "%u (0x%04X)\n", value, value);

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    }

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    else if (entry->data_type == 0x0007) { // uint32

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        uint32_t value;

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        if (entry->bit_length != 32)

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            goto not_fit;

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        value = EC_READ_U32(request->data);

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        off += sprintf(buffer + off, "%i (0x%08X)\n", value, value);

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    }

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    else if (entry->data_type == 0x0009) { // string

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        off += sprintf(buffer + off, "%s\n", request->data);

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    }

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    else {

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        off += sprintf(buffer + off, "Unknown data type %04X. Data:\n",

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                entry->data_type);

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        goto raw_data;

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    }

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    return off;

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not_fit:

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    off += sprintf(buffer + off,

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            "Invalid bit length %u for data type 0x%04X. Data:\n",

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            entry->bit_length, entry->data_type);

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raw_data:

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    for (i = 0; i < request->data_size; i++)

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        off += sprintf(buffer + off, "%02X (%c)\n",

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                request->data[i], request->data[i]);

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    return off;

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}

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

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/** Start blocking Sdo entry reading.

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 *

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 * This function blocks, until reading is finished, and is interruptible as

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 * long as the master state machine has not begun with reading.

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 *

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 * \return number of bytes written to buffer, or error code.

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 */

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ssize_t ec_sdo_entry_read_value(

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        ec_sdo_entry_t *entry, /**< Sdo entry. */

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        char *buffer /**< Target buffer. */

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        )

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{

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    ec_master_t *master = entry->sdo->slave->master;

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    off_t off = 0;

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    ec_master_sdo_request_t request;

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    request.slave = entry->sdo->slave;

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    ec_sdo_request_init(&request.req);

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    ec_sdo_request_address(&request.req, entry->sdo->index, entry->subindex);

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    ecrt_sdo_request_read(&request.req);

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    // schedule request.

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    down(&master->sdo_sem);

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    list_add_tail(&request.list, &master->slave_sdo_requests);

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    up(&master->sdo_sem);

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    // wait for processing through FSM

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    if (wait_event_interruptible(master->sdo_queue,

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                request.req.state != EC_REQUEST_QUEUED)) {

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        // interrupted by signal

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        down(&master->sdo_sem);

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        if (request.req.state == EC_REQUEST_QUEUED) {

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            list_del(&request.req.list);

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            up(&master->sdo_sem);

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            return -EINTR;

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        }

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        // request already processing: interrupt not possible.

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        up(&master->sdo_sem);

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    }

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    // wait until master FSM has finished processing

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    wait_event(master->sdo_queue, request.req.state != EC_REQUEST_BUSY);

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    if (request.req.state != EC_REQUEST_SUCCESS)

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        return -EIO;

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    off += ec_sdo_entry_format_data(entry, &request.req, buffer);

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    ec_sdo_request_clear(&request.req);

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    return off;

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}

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

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/** Show the Sysfs attribute of an Sdo entry.

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 *

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 * /return Number of bytes written to buffer.

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 */ 

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ssize_t ec_show_sdo_entry_attribute(

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        struct kobject *kobj, /**< kobject. */

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        struct attribute *attr, /**< Sysfs attribute. */

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        char *buffer /**< Target buffer. */

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        )

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{

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    ec_sdo_entry_t *entry = container_of(kobj, ec_sdo_entry_t, kobj);

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    if (attr == &attr_info) {

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        return ec_sdo_entry_info(entry, buffer);

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    }

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    else if (attr == &attr_value) {

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        return ec_sdo_entry_read_value(entry, buffer);

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    }

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    return 0;

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}

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