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

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 *  

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 *  $Id$

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 * 

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 *  Copyright (C) 2006-2009  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 2.1

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 *  of 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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 *  ---

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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 <sys/types.h>

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#include <sys/stat.h>

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#include <fcntl.h>

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#include <stdio.h>

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#include <stdlib.h>

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#include <errno.h>

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#include <string.h>

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#include <sys/ioctl.h>

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#include <sys/mman.h>

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#include "master.h"

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#include "master/ioctl.h"

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

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unsigned int ecrt_version_magic(void)

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{

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    return ECRT_VERSION_MAGIC;

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}

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

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ec_master_t *ecrt_request_master(unsigned int master_index)

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{

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    ec_master_t *master = ecrt_open_master(master_index);

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    if (master) {

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        if (ecrt_master_reserve(master) < 0) {

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            close(master->fd);

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            free(master);

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            master = 0;

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        }

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    }

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    return master;

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}

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

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#define MAX_PATH_LEN 64

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ec_master_t *ecrt_open_master(unsigned int master_index)

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{

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    char path[MAX_PATH_LEN];

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    ec_master_t *master = NULL;

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    ec_ioctl_module_t module_data;

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    master = malloc(sizeof(ec_master_t));

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    if (!master) {

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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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    master->process_data = NULL;

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    master->process_data_size = 0;

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    snprintf(path, MAX_PATH_LEN - 1, "/dev/EtherCAT%u", master_index);

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    master->fd = open(path, O_RDWR);

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    if (master->fd == -1) {

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

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        goto out_free;

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    }

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    if (ioctl(master->fd, EC_IOCTL_MODULE, &module_data) < 0) {

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        fprintf(stderr, "Failed to get module information from %s: %s\n",

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                path, strerror(errno));

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        goto out_close;

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    }

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    if (module_data.ioctl_version_magic != EC_IOCTL_VERSION_MAGIC) {

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        fprintf(stderr, "ioctl() version magic is differing:"

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                " %s: %u, libethercat: %u.\n",

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                path, module_data.ioctl_version_magic,

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                EC_IOCTL_VERSION_MAGIC);

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        goto out_close;

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    }

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    return master;

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out_close:

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    close(master->fd);

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out_free:

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    free(master);

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    return 0;

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}

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

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void ecrt_release_master(ec_master_t *master)

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{

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    if (master->process_data)  {

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        munmap(master->process_data, master->process_data_size);

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    }

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    close(master->fd);

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    free(master);

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}

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