/******************************************************************************
 *
 *  $Id$
 *
 *  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 master state machine.
*/

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

#ifndef __EC_FSM_MASTER_H__
#define __EC_FSM_MASTER_H__

#include "../include/ecrt.h"

#include "globals.h"
#include "datagram.h"
#include "sdo_request.h"
#include "fsm_slave_config.h"
#include "fsm_slave_scan.h"
#include "fsm_coe_map.h"

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

/** SII write request.
 */
typedef struct {
    struct list_head list; /**< list head */
    ec_slave_t *slave; /**< EtherCAT slave */
    off_t word_offset; /**< SII address in words */
    size_t word_size; /**< data size in words */
    const uint8_t *data; /**< pointer to the data */
    ec_request_state_t state; /**< state of the request */
} ec_sii_write_request_t;

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

/** Slave/Sdo request record for master's Sdo request list.
 */
typedef struct {
    struct list_head list; /**< List element. */
    ec_slave_t *slave; /**< Slave. */
    ec_sdo_request_t req; /**< Sdo request. */
} ec_master_sdo_request_t;

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

typedef struct ec_fsm_master ec_fsm_master_t; /**< \see ec_fsm_master */

/** Finite state machine of an EtherCAT master.
 */
struct ec_fsm_master {
    ec_master_t *master; /**< master the FSM runs on */
    ec_datagram_t *datagram; /**< datagram used in the state machine */
    unsigned int retries; /**< retries on datagram timeout. */

    void (*state)(ec_fsm_master_t *); /**< master state function */
    int idle; /**< state machine is in idle phase */
    unsigned long scan_jiffies; /**< beginning of slave scanning */
    unsigned int slaves_responding; /**< number of responding slaves */
    unsigned int topology_change_pending; /**< bus topology changed */
    ec_slave_state_t slave_states; /**< states of responding slaves */
    unsigned int validate; /**< non-zero, if validation to do */
    unsigned int tainted; /**< non-zero, if the current bus topology does
                            not meet the initial conditions */
    unsigned int config_error; /**< error during slave configuration */
    ec_slave_t *slave; /**< current slave */
    ec_sii_write_request_t *sii_request; /**< SII write request */
    off_t sii_index; /**< index to SII write request data */
    ec_sdo_request_t *sdo_request; /**< Sdo request to process. */

    ec_fsm_slave_config_t fsm_slave_config; /**< slave state machine */
    ec_fsm_slave_scan_t fsm_slave_scan; /**< slave state machine */
    ec_fsm_sii_t fsm_sii; /**< SII state machine */
    ec_fsm_change_t fsm_change; /**< State change state machine */
    ec_fsm_coe_t fsm_coe; /**< CoE state machine */
    ec_fsm_coe_map_t fsm_coe_map; /**< CoE mapping state machine */
};

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

void ec_fsm_master_init(ec_fsm_master_t *, ec_master_t *, ec_datagram_t *);
void ec_fsm_master_clear(ec_fsm_master_t *);

int ec_fsm_master_exec(ec_fsm_master_t *);
int ec_fsm_master_running(const ec_fsm_master_t *);
int ec_fsm_master_idle(const ec_fsm_master_t *);

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

#endif