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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.

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 *

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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

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 *  modify it under the terms of the GNU General Public License version 2, as

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 *  published by the Free Software Foundation.

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 *

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

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

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

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 *  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 along

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 *  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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 *  ---

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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 <iostream>

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#include <iomanip>

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using namespace std;

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#include "CommandDomains.h"

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

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CommandDomains::CommandDomains():

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    Command("domains", "Show configured domains.")

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{

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}

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

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string CommandDomains::helpString() const

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{

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    stringstream str;

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    str << getName() << " [OPTIONS]" << endl

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        << endl

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        << getBriefDescription() << endl

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        << endl

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        << "Without the --verbose option, the domains are displayed" << endl

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        << "one-per-line. Example:" << endl

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        << endl

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        << "Domain0: LogBaseAddr 0x00000000, Size   6, WorkingCounter 0/1"

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        << endl << endl

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        << "The domain's base address for the logical datagram" << endl

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        << "(LRD/LWR/LRW) is displayed followed by the domain's" << endl

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        << "process data size in byte. The last values are the current" << endl

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        << "datagram working counter sum and the expected working" << endl

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        << "counter sum. If the values are equal, all PDOs were" << endl

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        << "exchanged during the last cycle." << endl

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        << endl

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        << "If the --verbose option is given, the participating slave" << endl

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        << "configurations/FMMUs and the current process data are" << endl

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        << "additionally displayed:" << endl

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        << endl

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        << "Domain1: LogBaseAddr 0x00000006, Size   6, WorkingCounter 0/1"

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        << endl

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        << "  SlaveConfig 1001:0, SM3 ( Input), LogAddr 0x00000006, Size 6"

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        << endl

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        << "    0x00 0x00 0x00 0x00 0x00 0x00" << endl

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        << endl

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        << "The process data are displayed as hexadecimal bytes." << endl

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        << endl

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        << "Command-specific options:" << endl

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        << "  --domain  -d <index>  Positive numerical domain index." << endl

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        << "                        If ommitted, all domains are" << endl

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        << "                        displayed." << endl

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        << endl

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        << "  --verbose -v          Show FMMUs and process data" << endl

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        << "                        in addition." << endl

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        << endl

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        << numericInfo();

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    return str.str();

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}

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

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void CommandDomains::execute(MasterDevice &m, const StringVector &args)

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{

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    DomainList domains;

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    DomainList::const_iterator di;

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    if (args.size()) {

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        stringstream err;

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        err << "'" << getName() << "' takes no arguments!";

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        throwInvalidUsageException(err);

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    }

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    m.open(MasterDevice::Read);

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    domains = selectedDomains(m);

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    for (di = domains.begin(); di != domains.end(); di++) {

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        showDomain(m, *di);

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    }

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}

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

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void CommandDomains::showDomain(

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        MasterDevice &m,

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        const ec_ioctl_domain_t &domain

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        )

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{

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    unsigned char *processData;

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    ec_ioctl_domain_data_t data;

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    unsigned int i, j;

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    ec_ioctl_domain_fmmu_t fmmu;

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    unsigned int dataOffset;

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    cout << "Domain" << dec << domain.index << ":"

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        << " LogBaseAddr 0x"

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        << hex << setfill('0')

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        << setw(8) << domain.logical_base_address

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        << ", Size " << dec << setfill(' ')

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        << setw(3) << domain.data_size

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        << ", WorkingCounter "

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        << domain.working_counter << "/"

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        << domain.expected_working_counter << endl;

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    if (!domain.data_size || getVerbosity() != Verbose)

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        return;

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    processData = new unsigned char[domain.data_size];

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    try {

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        m.getData(&data, domain.index, domain.data_size, processData);

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    } catch (MasterDeviceException &e) {

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        delete [] processData;

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        throw e;

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    }

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    for (i = 0; i < domain.fmmu_count; i++) {

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        m.getFmmu(&fmmu, domain.index, i);

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        cout << "  SlaveConfig "

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            << dec << fmmu.slave_config_alias

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            << ":" << fmmu.slave_config_position

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            << ", SM" << (unsigned int) fmmu.sync_index << " ("

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            << setfill(' ') << setw(6)

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            << (fmmu.dir == EC_DIR_INPUT ? "Input" : "Output")

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            << "), LogAddr 0x"

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            << hex << setfill('0')

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            << setw(8) << fmmu.logical_address

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            << ", Size " << dec << fmmu.data_size << endl;

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        dataOffset = fmmu.logical_address - domain.logical_base_address;

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        if (dataOffset + fmmu.data_size > domain.data_size) {

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            stringstream err;

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            delete [] processData;

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            err << "Fmmu information corrupted!";

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            throwCommandException(err);

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        }

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        cout << "    " << hex << setfill('0');

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        for (j = 0; j < fmmu.data_size; j++) {

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            if (j && !(j % BreakAfterBytes))

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                cout << endl << "    ";

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            cout << "0x" << setw(2)

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                << (unsigned int) *(processData + dataOffset + j) << " ";

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        }

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        cout << endl;

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    }

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    delete [] processData;

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}

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