/******************************************************************************
 *
 *  $Id$
 *
 *  Copyright (C) 2006-2009  Florian Pose, Ingenieurgemeinschaft IgH
 *
 *  This file is part of the IgH EtherCAT Master.
 *
 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
 *  modify it under the terms of the GNU General Public License version 2, as
 *  published by the Free Software Foundation.
 *
 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
 *  Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License along
 *  with the IgH EtherCAT Master; if not, write to the Free Software
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 *
 *  Using the EtherCAT technology and brand is permitted in compliance with
 *  the industrial property and similar rights of Beckhoff Automation GmbH.
 *
 *****************************************************************************/

/** \file
 * Canopen over EtherCAT SDO request functions.
 */

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

#include <stdio.h>
#include <errno.h>
#include <string.h>

#include "sdo_request.h"
#include "master/ioctl.h"
#include "slave_config.h"
#include "master.h"

/*****************************************************************************
 * Realtime interface.
 ****************************************************************************/

void ecrt_sdo_request_timeout(ec_sdo_request_t *req, uint32_t timeout)
{
    ec_ioctl_sdo_request_t data;

    data.config_index = req->config->index;
    data.request_index = req->index;
    data.timeout = timeout;

    if (ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_TIMEOUT,
                &data) == -1)
        fprintf(stderr, "Failed to set SDO request timeout: %s\n",
                strerror(errno));
}

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

uint8_t *ecrt_sdo_request_data(ec_sdo_request_t *req)
{
    return req->data;
}

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

size_t ecrt_sdo_request_data_size(const ec_sdo_request_t *req)
{
    return req->data_size;
}

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

ec_request_state_t ecrt_sdo_request_state(ec_sdo_request_t *req)
{
    ec_ioctl_sdo_request_t data;

    data.config_index = req->config->index;
    data.request_index = req->index;

    if (ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_STATE,
                &data) == -1)
        fprintf(stderr, "Failed to get SDO request state: %s\n",
                strerror(errno));

    if (data.size) { // new data waiting to be copied
        if (req->mem_size < data.size) {
            if (req->data)
                free(req->data);
            req->data = malloc(data.size);
            if (!req->data) {
                req->mem_size = 0;
                fprintf(stderr, "Failed to allocate %u bytes of SDO data"
                        " memory!\n", data.size);
                return EC_REQUEST_ERROR;
            }
            req->mem_size = data.size;
        }

        data.data = req->data;

        if (ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_DATA,
                    &data) == -1) {
            fprintf(stderr, "Failed to get SDO data: %s\n", strerror(errno));
            return EC_REQUEST_ERROR;
        }
        req->data_size = data.size;
    }

    return data.state;
}

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

void ecrt_sdo_request_read(ec_sdo_request_t *req)
{
    ec_ioctl_sdo_request_t data;

    data.config_index = req->config->index;
    data.request_index = req->index;

    if (ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_READ,
                &data) == -1)
        fprintf(stderr, "Failed to command an SDO read operation : %s\n",
                strerror(errno));
}

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

void ecrt_sdo_request_write(ec_sdo_request_t *req)
{
    ec_ioctl_sdo_request_t data;

    data.config_index = req->config->index;
    data.request_index = req->index;
    data.data = req->data;
    data.size = req->data_size;

    if (ioctl(req->config->master->fd, EC_IOCTL_SDO_REQUEST_WRITE,
                &data) == -1)
        fprintf(stderr, "Failed to command an SDO write operation : %s\n",
                strerror(errno));
}

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