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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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#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 "master.h"

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#include "domain.h"

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#include "slave_config.h"

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#include "master/ioctl.h"

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

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ec_domain_t *ecrt_master_create_domain(ec_master_t *master)

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{

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    ec_domain_t *domain;

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    int index;

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    domain = malloc(sizeof(ec_domain_t));

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    if (!domain) {

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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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    index = ioctl(master->fd, EC_IOCTL_CREATE_DOMAIN, NULL);

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    if (index == -1) {

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        fprintf(stderr, "Failed to create domain: %s\n", strerror(errno));

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        free(domain);

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        return 0; 

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    }

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    domain->index = (unsigned int) index;

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    return domain;

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}

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

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ec_slave_config_t *ecrt_master_slave_config(ec_master_t *master,

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        uint16_t alias, uint16_t position, uint32_t vendor_id,

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        uint32_t product_code)

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{

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    ec_ioctl_config_t data;

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    ec_slave_config_t *sc;

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    int index;

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    sc = malloc(sizeof(ec_slave_config_t));

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    if (!sc) {

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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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    data.alias = alias;

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    data.position = position;

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    data.vendor_id = vendor_id;

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    data.product_code = product_code;

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

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        fprintf(stderr, "Failed to create slave config: %s\n",

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                strerror(errno));

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        free(sc);

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        return 0; 

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    }

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    sc->index = data.config_index;

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    return sc;

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}

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

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int ecrt_master_activate(ec_master_t *master)

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{

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    if (ioctl(master->fd, EC_IOCTL_ACTIVATE, NULL) == -1) {

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        fprintf(stderr, "Failed to activate master: %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_master_send(ec_master_t *master)

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{

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    if (ioctl(master->fd, EC_IOCTL_SEND, NULL) == -1) {

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        fprintf(stderr, "Failed to send: %s\n", strerror(errno));

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    }

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}

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

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void ecrt_master_receive(ec_master_t *master)

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{

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    if (ioctl(master->fd, EC_IOCTL_RECEIVE, NULL) == -1) {

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        fprintf(stderr, "Failed to receive: %s\n", strerror(errno));

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    }

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}

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

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void ecrt_master_state(const ec_master_t *master, ec_master_state_t *state)

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{

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}

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