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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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#include <sstream>

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using namespace std;

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#include "CommandAlias.h"

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#include "sii_crc.h"

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#include "MasterDevice.h"

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

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CommandAlias::CommandAlias():

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    Command("alias", "Write alias addresses.")

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{

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}

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

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string CommandAlias::helpString() const

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{

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    stringstream str;

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

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        << endl

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        << getBriefDescription() << endl

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        << endl

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        << "Arguments:" << endl

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        << "  ALIAS must be an unsigned 16 bit number. Zero means" << endl

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        << "        removing an alias address." << endl

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        << endl

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        << "If multiple slaves are selected, the --force option" << endl

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        << "is required." << endl

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        << endl

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

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        << "  --alias    -a <alias>" << endl

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        << "  --position -p <pos>    Slave selection. See the help of" << endl

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        << "                         the 'slaves' command." << endl

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        << "  --force    -f          Acknowledge writing aliases of" << endl

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        << "                         multiple slaves." << 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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/** Writes the Secondary slave address (alias) to the slave's SII.

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 */

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void CommandAlias::execute(const StringVector &args)

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{

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    uint16_t alias;

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    stringstream err, strAlias;

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    int number;

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    SlaveList slaves;

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    SlaveList::const_iterator si;

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    if (args.size() != 1) {

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        err << "'" << getName() << "' takes exactly one argument!";

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        throwInvalidUsageException(err);

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    }

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    strAlias << args[0];

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    strAlias

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        >> resetiosflags(ios::basefield) // guess base from prefix

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        >> number;

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    if (strAlias.fail() || number < 0x0000 || number > 0xffff) {

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        err << "Invalid alias '" << args[0] << "'!";

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        throwInvalidUsageException(err);

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    }

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    alias = number;

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    if (getMasterIndices().size() != 1) {

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        err << getName() << " requires to select a single master!";

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        throwInvalidUsageException(err);

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    }

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    MasterDevice m(getMasterIndices().front());

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    m.open(MasterDevice::ReadWrite);

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    slaves = selectedSlaves(m);

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    if (slaves.size() > 1 && !getForce()) {

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        err << "This will write the alias addresses of "

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            << slaves.size() << " slaves to " << alias

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            << "! Please specify --force to proceed.";

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        throwCommandException(err);

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    }

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    if (!slaves.size() && getVerbosity() != Quiet) {

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        cerr << "Warning: Selection matches no slaves!" << endl;

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    }

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    for (si = slaves.begin(); si != slaves.end(); si++) {

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        writeSlaveAlias(m, *si, alias);

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    }

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}

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

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/** Writes the Secondary slave address (alias) to the slave's SII.

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 */

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void CommandAlias::writeSlaveAlias(

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        MasterDevice &m,

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        const ec_ioctl_slave_t &slave,

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        uint16_t alias

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        )

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{

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    ec_ioctl_slave_sii_t data;

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    stringstream err;

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    uint8_t crc;

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    if (slave.sii_nwords < 8) {

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        err << "Current SII contents are too small to set an alias "

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            << "(" << slave.sii_nwords << " words)!";

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        throwCommandException(err);

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    }

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    // read first 8 SII words

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    data.slave_position = slave.position;

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    data.offset = 0;

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    data.nwords = 8;

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    data.words = new uint16_t[data.nwords];

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    try {

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        m.readSii(&data);

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    } catch (MasterDeviceException &e) {

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        delete [] data.words;

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        err << "Failed to read SII: " << e.what();

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        throwCommandException(err);

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    }

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    // write new alias address in word 4

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    data.words[4] = cpu_to_le16(alias);

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    // calculate checksum over words 0 to 6

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    crc = calcSiiCrc((const uint8_t *) data.words, 14);

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    // write new checksum into first byte of word 7

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    *(uint8_t *) (data.words + 7) = crc;

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    // write first 8 words with new alias and checksum

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    try {

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        m.writeSii(&data);

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    } catch (MasterDeviceException &e) {

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        delete [] data.words;

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        err << "Failed to read SII: " << e.what();

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        throwCommandException(err);

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    }

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    delete [] data.words;

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}

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