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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 <fstream>

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using namespace std;

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#include "CommandRegWrite.h"

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#include "sii_crc.h"

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#include "MasterDevice.h"

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

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CommandRegWrite::CommandRegWrite():

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    CommandReg("reg_write", "Write data to a slave's registers.")

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{

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}

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

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string CommandRegWrite::helpString() const

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{

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    stringstream str;

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    str << getName() << " [OPTIONS] <OFFSET> <DATA>" << endl

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        << endl 

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        << getBriefDescription() << endl

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        << endl

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        << "This command requires a single slave to be selected." << endl

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        << endl

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        << "Arguments:" << endl

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        << "  OFFSET  is the register address to write to." << endl

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        << "  DATA    depends on whether a datatype was specified" << endl

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        << "          with the --type option: If not, DATA must be" << endl

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        << "          either a path to a file with data to write," << endl

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        << "          or '-', which means, that data are read from" << endl

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        << "          stdin. If a datatype was specified, VALUE is" << endl

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        << "          interpreted respective to the given type." << endl

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        << endl

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        << "These are the valid data types:" << endl

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        << "  int8, int16, int32, int64, uint8, uint16, uint32," << endl

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        << "  uint64, string." << 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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        << "  --type     -t <type>   Data type (see above)." << 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 CommandRegWrite::execute(const StringVector &args)

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{

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    stringstream strOffset, err;

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    ec_ioctl_slave_reg_t data;

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    ifstream file;

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    SlaveList slaves;

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    if (args.size() != 2) {

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        err << "'" << getName() << "' takes exactly two arguments!";

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        throwInvalidUsageException(err);

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    }

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    strOffset << args[0];

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    strOffset

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

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        >> data.offset;

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    if (strOffset.fail()) {

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

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        throwInvalidUsageException(err);

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    }

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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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    if (getDataType().empty()) {

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        if (args[1] == "-") {

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            loadRegData(&data, cin);

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        } else {

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            file.open(args[1].c_str(), ifstream::in | ifstream::binary);

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            if (file.fail()) {

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                err << "Failed to open '" << args[1] << "'!";

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                throwCommandException(err);

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            }

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            loadRegData(&data, file);

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            file.close();

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        }

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    } else {

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        stringstream strValue;

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        const DataType *dataType = findDataType(getDataType());

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        if (!dataType) {

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            err << "Invalid data type '" << getDataType() << "'!";

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            throwInvalidUsageException(err);

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        }

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        if (dataType->byteSize) {

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            data.length = dataType->byteSize;

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            data.data = new uint8_t[data.length];

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        }

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        strValue << args[1];

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

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        strValue.exceptions(ios::failbit);

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        try {

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            if (string(dataType->name) == "int8") {

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                int16_t val; // uint8_t is interpreted as char

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                strValue >> val;

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                if (val > 127 || val < -128)

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                    throw ios::failure("Value out of range");

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                *data.data = (int8_t) val;

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            } else if (string(dataType->name) == "int16") {

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                int16_t val;

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                strValue >> val;

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                *(int16_t *) data.data = cpu_to_le16(val);

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            } else if (string(dataType->name) == "int32") {

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                int32_t val;

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                strValue >> val;

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                *(int32_t *) data.data = cpu_to_le32(val);

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            } else if (string(dataType->name) == "int64") {

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                int64_t val;

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                strValue >> val;

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                *(int64_t *) data.data = cpu_to_le64(val);

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            } else if (string(dataType->name) == "uint8") {

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                uint16_t val; // uint8_t is interpreted as char

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                strValue >> val;

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                if (val > 0xff)

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                    throw ios::failure("Value out of range");

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                *data.data = (uint8_t) val;

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            } else if (string(dataType->name) == "uint16") {

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                uint16_t val;

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                strValue >> val;

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                *(uint16_t *) data.data = cpu_to_le16(val);

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            } else if (string(dataType->name) == "uint32") {

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                uint32_t val;

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                strValue >> val;

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                *(uint32_t *) data.data = cpu_to_le32(val);

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            } else if (string(dataType->name) == "uint64") {

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                uint64_t val;

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                strValue >> val;

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                *(uint64_t *) data.data = cpu_to_le64(val);

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            } else if (string(dataType->name) == "string" ||

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                    string(dataType->name) == "octet_string") {

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                data.length = strValue.str().size();

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                if (!data.length) {

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                    err << "Zero-size string now allowed!";

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                    throwCommandException(err);

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                }

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                data.data = new uint8_t[data.length];

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                strValue >> (char *) data.data;

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            } else {

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                err << "Invalid data type " << dataType->name;

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                throwCommandException(err);

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            }

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        } catch (ios::failure &e) {

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            delete [] data.data;

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            err << "Invalid value argument '" << args[1]

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                << "' for type '" << dataType->name << "'!";

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            throwInvalidUsageException(err);

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        }

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    }

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    if ((uint32_t) data.offset + data.length > 0xffff) {

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        err << "Offset and length exceeding 64k!";

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        delete [] data.data;

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        throwInvalidUsageException(err);

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    }

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    try {

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        m.open(MasterDevice::ReadWrite);

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    } catch (MasterDeviceException &e) {

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        delete [] data.data;

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        throw e;

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    }

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    slaves = selectedSlaves(m);

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

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        delete [] data.data;

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        throwSingleSlaveRequired(slaves.size());

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    }

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    data.slave_position = slaves.front().position;

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    // send data to master

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    try {

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        m.writeReg(&data);

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    } catch (MasterDeviceException &e) {

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        delete [] data.data;

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        throw e;

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    }

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    if (getVerbosity() == Verbose) {

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        cerr << "Register writing finished." << endl;

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    }

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    delete [] data.data;

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}

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

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void CommandRegWrite::loadRegData(

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        ec_ioctl_slave_reg_t *data,

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        const istream &in

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        )

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{

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    stringstream err;

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    ostringstream tmp;

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    tmp << in.rdbuf();

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    string const &contents = tmp.str();

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    if (getVerbosity() == Verbose) {

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        cerr << "Read " << contents.size() << " bytes of data." << endl;

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    }

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    if (contents.size() > 0xffff) {

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        err << "Invalid data size " << contents.size() << "!";

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        throwInvalidUsageException(err);

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    }

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    data->length = contents.size();

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    // allocate buffer and read file into buffer

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    data->data = new uint8_t[data->length];

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    contents.copy((char *) data->data, contents.size());

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}

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