/******************************************************************************
 *
 *  $Id$
 *
 *  Copyright (C) 2006  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
 *  as published by the Free Software Foundation; either version 2 of the
 *  License, or (at your option) any later version.
 *
 *  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
 *
 *  The right to use EtherCAT Technology is granted and comes free of
 *  charge under condition of compatibility of product made by
 *  Licensee. People intending to distribute/sell products based on the
 *  code, have to sign an agreement to guarantee that products using
 *  software based on IgH EtherCAT master stay compatible with the actual
 *  EtherCAT specification (which are released themselves as an open
 *  standard) as the (only) precondition to have the right to use EtherCAT
 *  Technology, IP and trade marks.
 *
 *****************************************************************************/

/**
   \file
   EtherCAT domain methods.
*/

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

#include <sys/ioctl.h>
#include <sys/mman.h>
#include <stdio.h>
#include <errno.h>
#include <string.h>

#include "domain.h"
#include "master.h"
#include "master/ioctl.h"

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

int ecrt_domain_reg_pdo_entry_list(ec_domain_t *domain,
        const ec_pdo_entry_reg_t *regs)
{
    const ec_pdo_entry_reg_t *reg;
    ec_slave_config_t *sc;
    int ret;
    
    for (reg = regs; reg->index; reg++) {
        if (!(sc = ecrt_master_slave_config(domain->master, reg->alias,
                        reg->position, reg->vendor_id, reg->product_code)))
            return -1;

        if ((ret = ecrt_slave_config_reg_pdo_entry(sc, reg->index,
                        reg->subindex, domain, reg->bit_position)) < 0)
            return -1;

        *reg->offset = ret;
    }

    return 0;
}

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

uint8_t *ecrt_domain_data(ec_domain_t *domain)
{
    if (!domain->process_data) {
        int offset = 0;

        offset = ioctl(domain->master->fd, EC_IOCTL_DOMAIN_OFFSET,
                domain->index);
        if (offset == -1) {
            fprintf(stderr, "Failed to get domain offset: %s\n",
                    strerror(errno));
            return NULL; 
        }
    
        domain->process_data = domain->master->process_data + offset;
    }

    return domain->process_data;
}

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

void ecrt_domain_process(ec_domain_t *domain)
{
    if (ioctl(domain->master->fd, EC_IOCTL_DOMAIN_PROCESS,
                domain->index) == -1) {
        fprintf(stderr, "Failed to process domain offset: %s\n",
                strerror(errno));
    }
}

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

void ecrt_domain_queue(ec_domain_t *domain)
{
    if (ioctl(domain->master->fd, EC_IOCTL_DOMAIN_QUEUE,
                domain->index) == -1) {
        fprintf(stderr, "Failed to queue domain offset: %s\n",
                strerror(errno));
    }
}

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

void ecrt_domain_state(const ec_domain_t *domain, ec_domain_state_t *state)
{
    ec_ioctl_domain_state_t data;

    data.domain_index = domain->index;
    data.state = state;
    
    if (ioctl(domain->master->fd, EC_IOCTL_DOMAIN_STATE, &data) == -1) {
        fprintf(stderr, "Failed to get domain state: %s\n",
                strerror(errno));
    }
}

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