/******************************************************************************
 *
 *  $Id$
 *
 *  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 Pdo mapping state machine.
 */

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

#include "globals.h"
#include "master.h"
#include "mailbox.h"
#include "slave_config.h"

#include "fsm_pdo_mapping.h"

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

void ec_fsm_pdo_mapping_state_start(ec_fsm_pdo_mapping_t *);
void ec_fsm_pdo_mapping_state_zero_count(ec_fsm_pdo_mapping_t *);
void ec_fsm_pdo_mapping_state_add_entry(ec_fsm_pdo_mapping_t *);
void ec_fsm_pdo_mapping_state_entry_count(ec_fsm_pdo_mapping_t *);
void ec_fsm_pdo_mapping_state_end(ec_fsm_pdo_mapping_t *);
void ec_fsm_pdo_mapping_state_error(ec_fsm_pdo_mapping_t *);

void ec_fsm_pdo_mapping_next_pdo(ec_fsm_pdo_mapping_t *);

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

/** Constructor.
 */
void ec_fsm_pdo_mapping_init(
        ec_fsm_pdo_mapping_t *fsm, /**< Pdo mapping state machine. */
        ec_fsm_coe_t *fsm_coe /**< CoE state machine to use. */
        )
{
    fsm->fsm_coe = fsm_coe;
    ec_sdo_request_init(&fsm->request);
}

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

/** Destructor.
 */
void ec_fsm_pdo_mapping_clear(
        ec_fsm_pdo_mapping_t *fsm /**< Pdo mapping state machine. */
        )
{
    ec_sdo_request_clear(&fsm->request);
}

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

/** Start Pdo mapping state machine.
 */
void ec_fsm_pdo_mapping_start(
        ec_fsm_pdo_mapping_t *fsm, /**< Pdo mapping state machine. */
        ec_slave_t *slave /**< slave to configure */
        )
{
    fsm->slave = slave;
    fsm->state = ec_fsm_pdo_mapping_state_start;
}

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

/** Get running state.
 *
 * \return false, if state machine has terminated
 */
int ec_fsm_pdo_mapping_running(
        const ec_fsm_pdo_mapping_t *fsm /**< Pdo mapping state machine. */
        )
{
    return fsm->state != ec_fsm_pdo_mapping_state_end
        && fsm->state != ec_fsm_pdo_mapping_state_error;
}

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

/** Executes the current state.
 *
 * \return false, if state machine has terminated
 */
int ec_fsm_pdo_mapping_exec(
        ec_fsm_pdo_mapping_t *fsm /**< Pdo mapping state machine. */
        )
{
    fsm->state(fsm);
    return ec_fsm_pdo_mapping_running(fsm);
}

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

/** Get execution result.
 *
 * \return true, if the state machine terminated gracefully
 */
int ec_fsm_pdo_mapping_success(
        const ec_fsm_pdo_mapping_t *fsm /**< Pdo mapping state machine. */
        )
{
    return fsm->state == ec_fsm_pdo_mapping_state_end;
}

/******************************************************************************
 * State functions.
 *****************************************************************************/

/** Start Pdo mapping.
 */
void ec_fsm_pdo_mapping_state_start(
        ec_fsm_pdo_mapping_t *fsm /**< Pdo mapping state machine. */
        )
{
    if (!fsm->slave->config) {
        fsm->state = ec_fsm_pdo_mapping_state_end;
        return;
    }

    fsm->pdo = NULL;
    fsm->num_configured_pdos = 0;
    ec_fsm_pdo_mapping_next_pdo(fsm);
}

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

/** Process mapping of next Pdo.
 */
void ec_fsm_pdo_mapping_next_pdo(
        ec_fsm_pdo_mapping_t *fsm /**< Pdo mapping state machine. */
        )
{
    ec_direction_t dir;
    const ec_pdo_list_t *pdos;
    const ec_pdo_t *pdo, *assigned_pdo;
    
    for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) {
        pdos = &fsm->slave->config->pdos[dir];

        list_for_each_entry(pdo, &pdos->list, list) {
            if (fsm->pdo) { // there was a Pdo mapping changed in the last run
                if (pdo == fsm->pdo) // this is the previously configured Pdo
                    fsm->pdo = NULL; // take the next one
            } else {
                if ((assigned_pdo = ec_slave_find_pdo(fsm->slave, pdo->index)))
                    if (ec_pdo_equal_entries(pdo, assigned_pdo))
                        continue; // Pdo entries mapped correctly

                fsm->pdo = pdo;
                fsm->num_configured_pdos++;
                break;
            }
        }
    }

    if (!fsm->pdo) {
        if (fsm->slave->master->debug_level && !fsm->num_configured_pdos)
            EC_DBG("Pdo mappings of slave %u are already configured"
                    " correctly.\n", fsm->slave->ring_position);
        fsm->state = ec_fsm_pdo_mapping_state_end;
        return;
    }

    // Pdo mapping has to be changed. Does the slave support this?
    if (!(fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)
            || (fsm->slave->sii.has_general
                && !fsm->slave->sii.coe_details.enable_pdo_configuration)) {
        EC_ERR("Slave %u does not support changing the Pdo mapping!\n",
                fsm->slave->ring_position);
        fsm->state = ec_fsm_pdo_mapping_state_error;
        return;
    }

    if (fsm->slave->master->debug_level) {
        EC_DBG("Changing mapping of Pdo 0x%04X of slave %u.\n",
                fsm->pdo->index, fsm->slave->ring_position);
    }

    if (ec_sdo_request_alloc(&fsm->request, 4)) {
        fsm->state = ec_fsm_pdo_mapping_state_error;
        return;
    }

    // set mapped Pdo count to zero
    EC_WRITE_U8(fsm->request.data, 0);
    fsm->request.data_size = 1;
    ec_sdo_request_address(&fsm->request, fsm->pdo->index, 0);
    ecrt_sdo_request_write(&fsm->request);
    if (fsm->slave->master->debug_level)
        EC_DBG("Setting entry count to zero for Pdo 0x%04X.\n",
                fsm->pdo->index);

    fsm->state = ec_fsm_pdo_mapping_state_zero_count;
    ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
    ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
}

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

/** Process next Pdo entry.
 */
ec_pdo_entry_t *ec_fsm_pdo_mapping_next_entry(
        const ec_fsm_pdo_mapping_t *fsm, /**< Pdo mapping state machine. */
        const struct list_head *list /**< current entry list item */
        )
{
    list = list->next; 
    if (list == &fsm->pdo->entries)
        return NULL; // no next entry
    return list_entry(list, ec_pdo_entry_t, list);
}

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

/** Starts to add a Pdo entry.
 */
void ec_fsm_pdo_mapping_add_entry(
        ec_fsm_pdo_mapping_t *fsm /**< Pdo mapping state machine. */
        )
{
    uint32_t value;

    value = fsm->entry->index << 16
        | fsm->entry->subindex << 8 | fsm->entry->bit_length;
    EC_WRITE_U32(fsm->request.data, value);
    fsm->request.data_size = 4;
    ec_sdo_request_address(&fsm->request, fsm->pdo->index, fsm->entry_count);
    ecrt_sdo_request_write(&fsm->request);
    if (fsm->slave->master->debug_level)
        EC_DBG("Configuring Pdo entry %08X at position %u.\n",
                value, fsm->entry_count);
    
    fsm->state = ec_fsm_pdo_mapping_state_add_entry;
    ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
    ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
}

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

/** Set the number of mapped entries to zero.
 */
void ec_fsm_pdo_mapping_state_zero_count(
        ec_fsm_pdo_mapping_t *fsm /**< Pdo mapping state machine. */
        )
{
    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;

    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
        EC_ERR("Failed to clear Pdo mapping for slave %u.\n",
                fsm->slave->ring_position);
        fsm->state = ec_fsm_pdo_mapping_state_error;
        return;
    }

    // find first entry
    if (!(fsm->entry =
                ec_fsm_pdo_mapping_next_entry(fsm, &fsm->pdo->entries))) {
        if (fsm->slave->master->debug_level)
            EC_DBG("No entries to map for Pdo 0x%04X of slave %u.\n",
                    fsm->pdo->index, fsm->slave->ring_position);
        ec_fsm_pdo_mapping_next_pdo(fsm);
        return;
    }

    // add first entry
    fsm->entry_count = 1;
    ec_fsm_pdo_mapping_add_entry(fsm);
}

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

/** Add a Pdo entry.
 */
void ec_fsm_pdo_mapping_state_add_entry(
        ec_fsm_pdo_mapping_t *fsm /**< Pdo mapping state machine. */
        )
{
    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;

    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
        EC_ERR("Failed to add entry 0x%04X:%02X for slave %u.\n",
                fsm->entry->index, fsm->entry->subindex,
                fsm->slave->ring_position);
        fsm->state = ec_fsm_pdo_mapping_state_error;
        return;
    }

    // find next entry
    if (!(fsm->entry = ec_fsm_pdo_mapping_next_entry(fsm, &fsm->entry->list))) {
        // No more entries to add. Write entry count.
        EC_WRITE_U8(fsm->request.data, fsm->entry_count);
        fsm->request.data_size = 1;
        ec_sdo_request_address(&fsm->request, fsm->pdo->index, 0);
        ecrt_sdo_request_write(&fsm->request);
        if (fsm->slave->master->debug_level)
            EC_DBG("Setting number of Pdo entries to %u.\n",
                    fsm->entry_count);
        
        fsm->state = ec_fsm_pdo_mapping_state_entry_count;
        ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
        ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
        return;
    }

    // add next entry
    fsm->entry_count++;
    ec_fsm_pdo_mapping_add_entry(fsm);
}

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

/** Set the number of entries.
 */
void ec_fsm_pdo_mapping_state_entry_count(
        ec_fsm_pdo_mapping_t *fsm /**< Pdo mapping state machine. */
        )
{
    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;

    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
        EC_ERR("Failed to set number of entries for slave %u.\n",
                fsm->slave->ring_position);
        fsm->state = ec_fsm_pdo_mapping_state_error;
        return;
    }

    if (fsm->slave->master->debug_level)
        EC_DBG("Successfully configured mapping for Pdo 0x%04X on slave %u.\n",
                fsm->pdo->index, fsm->slave->ring_position);

    ec_fsm_pdo_mapping_next_pdo(fsm);
}

/******************************************************************************
 * Common state functions
 *****************************************************************************/

/** State: ERROR.
 */
void ec_fsm_pdo_mapping_state_error(
        ec_fsm_pdo_mapping_t *fsm /**< Pdo mapping state machine. */
        )
{
}

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

/** State: END.
 */
void ec_fsm_pdo_mapping_state_end(
        ec_fsm_pdo_mapping_t *fsm /**< Pdo mapping state machine. */
        )
{
}

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