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

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 *

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 * $Id$

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 *

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

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#include <sys/types.h>

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#include <sys/stat.h>

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#include <fcntl.h>

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#include <errno.h>

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#include <sys/ioctl.h>

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#include <iostream>

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#include <iomanip>

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#include <sstream>

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using namespace std;

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#include "Master.h"

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

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Master::Master()

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{

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    index = 0;

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    fd = -1;

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}

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

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Master::~Master()

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{

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    close();

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}

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

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void Master::open(unsigned int index)

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{

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    stringstream deviceName;

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    Master::index = index;

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    deviceName << "/dev/EtherCAT" << index;

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    if ((fd = ::open(deviceName.str().c_str(), O_RDONLY)) == -1) {

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        stringstream err;

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        err << "Failed to open master device " << deviceName.str() << ": "

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            << strerror(errno);

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        throw MasterException(err.str());

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    }

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}

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

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void Master::close()

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{

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    if (fd == -1)

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        return;

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    ::close(fd);

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}

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

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void Master::listSlaves()

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{

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    unsigned int numSlaves = slaveCount(), i;

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    ec_ioctl_slave_t slave;

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    uint16_t lastAlias, aliasIndex;

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    lastAlias = 0;

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    aliasIndex = 0;

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

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        getSlave(&slave, i);

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        cout << setw(2) << i << "  ";

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        if (slave.alias) {

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            lastAlias = slave.alias;

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            aliasIndex = 0;

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        }

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        if (lastAlias) {

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            cout << setw(10) << "#" << lastAlias << ":" << aliasIndex;

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        }

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        cout << "  " << slaveState(slave.state) << "  ";

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        if (strlen(slave.name)) {

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            cout << slave.name;

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        } else {

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            cout << "0x" << hex << setfill('0') << slave.vendor_id

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                << ":0x" << slave.product_code;

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        }

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        cout << endl;

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    }

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}

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

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void Master::listPdos(int slavePosition)

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{

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    if (slavePosition == -1) {

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        unsigned int numSlaves = slaveCount(), i;

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

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            listSlavePdos(i, true);

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        }

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    } else {

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        listSlavePdos(slavePosition, false);

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    }

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}

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

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void Master::listSlavePdos(uint16_t slavePosition, bool printSlave)

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{

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    ec_ioctl_slave_t slave;

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    ec_ioctl_sync_t sync;

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    ec_ioctl_pdo_t pdo;

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    ec_ioctl_pdo_entry_t entry;

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    unsigned int i, j, k;

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    getSlave(&slave, slavePosition);

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    if (printSlave)

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        cout << "=== Slave " << slavePosition << " ===" << endl;

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    for (i = 0; i < slave.sync_count; i++) {

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        getSync(&sync, slavePosition, i);

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        cout << "SM" << i << ":"

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            << " PhysAddr 0x"

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            << hex << setfill('0') << setw(4) << sync.physical_start_address

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            << ", DefaultSize "

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            << dec << setfill(' ') << setw(4) << sync.default_size

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            << ", ControlRegister 0x"

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            << hex << setfill('0') << setw(2)

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            << (unsigned int) sync.control_register

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            << ", Enable " << dec << (unsigned int) sync.enable

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            << endl;

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        for (j = 0; j < sync.pdo_count; j++) {

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            getPdo(&pdo, slavePosition, i, j);

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            cout << "  " << (pdo.dir ? "T" : "R") << "xPdo 0x"

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                << hex << setfill('0') << setw(4) << pdo.index

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                << " \"" << pdo.name << "\"" << endl;

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            for (k = 0; k < pdo.entry_count; k++) {

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                getPdoEntry(&entry, slavePosition, i, j, k);

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                cout << "    Pdo entry 0x"

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                    << hex << setfill('0') << setw(4) << entry.index

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                    << ":" << hex << setfill('0') << setw(2)

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                    << (unsigned int) entry.subindex

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                    << ", " << dec << (unsigned int) entry.bit_length

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                    << " bit, \"" << entry.name << "\"" << endl;

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            }

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        }

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    }

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}

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

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unsigned int Master::slaveCount()

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{

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    int ret;

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    if ((ret = ioctl(fd, EC_IOCTL_SLAVE_COUNT, 0)) < 0) {

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        stringstream err;

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        err << "Failed to get slave: " << strerror(errno);

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        throw MasterException(err.str());

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    }

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    return ret;

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}

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

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void Master::getSlave(ec_ioctl_slave_t *slave, uint16_t slaveIndex)

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{

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    slave->position = slaveIndex;

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    if (ioctl(fd, EC_IOCTL_SLAVE, slave)) {

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        stringstream err;

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        err << "Failed to get slave: ";

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        if (errno == EINVAL)

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            err << "Slave " << slaveIndex << " does not exist!";

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        else

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            err << strerror(errno);

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        throw MasterException(err.str());

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    }

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}

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

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void Master::getSync(

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        ec_ioctl_sync_t *sync,

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        uint16_t slaveIndex,

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        uint8_t syncIndex

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        )

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{

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    sync->slave_position = slaveIndex;

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    sync->sync_index = syncIndex;

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    if (ioctl(fd, EC_IOCTL_SYNC, sync)) {

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        stringstream err;

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        err << "Failed to get sync manager: ";

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        if (errno == EINVAL)

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            err << "Either slave " << slaveIndex << " does not exist, "

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                << "or contains less than " << (unsigned int) syncIndex + 1

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                << " sync managers!";

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        else

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            err << strerror(errno);

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        throw MasterException(err.str());

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    }

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}

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

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void Master::getPdo(

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        ec_ioctl_pdo_t *pdo,

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        uint16_t slaveIndex,

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        uint8_t syncIndex,

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        uint8_t pdoPos

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        )

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{

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    pdo->slave_position = slaveIndex;

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    pdo->sync_index = syncIndex;

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    pdo->pdo_pos = pdoPos;

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    if (ioctl(fd, EC_IOCTL_PDO, pdo)) {

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        stringstream err;

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        err << "Failed to get Pdo: ";

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        if (errno == EINVAL)

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            err << "Either slave " << slaveIndex << " does not exist, "

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                << "or contains less than " << (unsigned int) syncIndex + 1

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                << " sync managers, or sync manager "

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                << (unsigned int) syncIndex << " contains less than "

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                << pdoPos + 1 << " Pdos!" << endl;

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        else

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            err << strerror(errno);

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        throw MasterException(err.str());

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    }

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}

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

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void Master::getPdoEntry(

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        ec_ioctl_pdo_entry_t *entry,

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        uint16_t slaveIndex,

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        uint8_t syncIndex,

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        uint8_t pdoPos,

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        uint8_t entryPos

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        )

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{

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    entry->slave_position = slaveIndex;

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    entry->sync_index = syncIndex;

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    entry->pdo_pos = pdoPos;

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    entry->entry_pos = entryPos;

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    if (ioctl(fd, EC_IOCTL_PDO_ENTRY, entry)) {

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        stringstream err;

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        err << "Failed to get Pdo entry: ";

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        if (errno == EINVAL)

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            err << "Either slave " << slaveIndex << " does not exist, "

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                << "or contains less than " << (unsigned int) syncIndex + 1

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                << " sync managers, or sync manager "

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                << (unsigned int) syncIndex << " contains less than "

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                << pdoPos + 1 << " Pdos, or the Pdo at position " << pdoPos

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                << " contains less than " << (unsigned int) entryPos + 1

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                << " entries!" << endl;

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        else

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            err << strerror(errno);

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        throw MasterException(err.str());

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    }

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}

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

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string Master::slaveState(uint8_t state)

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{

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    switch (state) {

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        case 1: return "INIT";

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        case 2: return "PREOP";

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        case 4: return "SAFEOP";

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        case 8: return "OP";

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        default: return "???";

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    }

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}

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