/******************************************************************************
 *
 *  $Id: fsm_coe.c 920 2007-09-12 10:07:55Z fp $
 *
 *  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 CoE mapping state machines.
*/

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

#include "globals.h"
#include "master.h"
#include "mailbox.h"
#include "canopen.h"
#include "fsm_coe_map.h"

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

void ec_fsm_coe_map_state_start(ec_fsm_coe_map_t *);
void ec_fsm_coe_map_state_pdo_count(ec_fsm_coe_map_t *);
void ec_fsm_coe_map_state_pdo(ec_fsm_coe_map_t *);
void ec_fsm_coe_map_state_pdo_entry_count(ec_fsm_coe_map_t *);
void ec_fsm_coe_map_state_pdo_entry(ec_fsm_coe_map_t *);

void ec_fsm_coe_map_state_end(ec_fsm_coe_map_t *);
void ec_fsm_coe_map_state_error(ec_fsm_coe_map_t *);

void ec_fsm_coe_map_action_next_sync(ec_fsm_coe_map_t *);
void ec_fsm_coe_map_action_next_pdo(ec_fsm_coe_map_t *);
void ec_fsm_coe_map_action_next_pdo_entry(ec_fsm_coe_map_t *);

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

/**
   Constructor.
*/

void ec_fsm_coe_map_init(
        ec_fsm_coe_map_t *fsm, /**< finite state machine */
        ec_fsm_coe_t *fsm_coe /*< CoE state machine to use */
        )
{
    fsm->state = NULL;
    fsm->fsm_coe = fsm_coe;
}

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

/**
   Destructor.
*/

void ec_fsm_coe_map_clear(ec_fsm_coe_map_t *fsm /**< finite state machine */)
{
}

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

/**
   Starts to upload an SDO from a slave.
*/

void ec_fsm_coe_map_start(
        ec_fsm_coe_map_t *fsm, /**< finite state machine */
        ec_slave_t *slave /**< EtherCAT slave */
        )
{
    fsm->slave = slave;
    fsm->state = ec_fsm_coe_map_state_start;
}

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

/**
   Executes the current state of the state machine.
   \return false, if state machine has terminated
*/

int ec_fsm_coe_map_exec(ec_fsm_coe_map_t *fsm /**< finite state machine */)
{
    fsm->state(fsm);

    return fsm->state != ec_fsm_coe_map_state_end
        && fsm->state != ec_fsm_coe_map_state_error;
}

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

/**
   Returns, if the state machine terminated with success.
   \return non-zero if successful.
*/

int ec_fsm_coe_map_success(ec_fsm_coe_map_t *fsm /**< Finite state machine */)
{
    return fsm->state == ec_fsm_coe_map_state_end;
}

/******************************************************************************
 *  CoE dictionary state machine
 *****************************************************************************/

/**
 */

void ec_fsm_coe_map_state_start(ec_fsm_coe_map_t *fsm /**< finite state machine */)
{
    // read mapping of first sync manager
    fsm->sync_index = 0;
    ec_fsm_coe_map_action_next_sync(fsm);
}

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

/**
 */

void ec_fsm_coe_map_action_next_sync(
        ec_fsm_coe_map_t *fsm /**< finite state machine */
        )
{
    ec_slave_t *slave = fsm->slave;
    ec_sdo_entry_t *entry;

    for (; fsm->sync_index < 4; fsm->sync_index++) {
        if (!(fsm->sync_sdo = ec_slave_get_sdo(slave, 0x1C10 + fsm->sync_index)))
            continue;

        if (slave->master->debug_level)
            EC_DBG("Reading PDO mapping of sync manager %u of slave %u.\n",
                    fsm->sync_index, slave->ring_position);

        if (!(entry = ec_sdo_get_entry(fsm->sync_sdo, 0))) {
            EC_ERR("SDO 0x%04X has no subindex 0 on slave %u.\n",
                    fsm->sync_sdo->index,
                    fsm->slave->ring_position);
            fsm->state = ec_fsm_coe_map_state_error;
            return;
        }

        ec_sdo_request_init_read(&fsm->request, entry);
        fsm->state = ec_fsm_coe_map_state_pdo_count;
        ec_fsm_coe_upload(fsm->fsm_coe, fsm->slave, &fsm->request);
        ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
        return;
    }

    fsm->state = ec_fsm_coe_map_state_end;
}

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

/**
 */

void ec_fsm_coe_map_state_pdo_count(
        ec_fsm_coe_map_t *fsm /**< finite state machine */
        )
{
    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;

    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
        EC_ERR("Failed to read number of mapped PDOs from slave %u.\n",
                fsm->slave->ring_position);
        fsm->state = ec_fsm_coe_map_state_error;
        return;
    }

    fsm->sync_subindices = EC_READ_U8(fsm->request.data);

    if (fsm->slave->master->debug_level)
        EC_DBG("  %u PDOs mapped.\n", fsm->sync_subindices);

    // read first PDO
    fsm->sync_subindex = 1;
    ec_fsm_coe_map_action_next_pdo(fsm);
}

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

/**
 */

void ec_fsm_coe_map_action_next_pdo(
        ec_fsm_coe_map_t *fsm /**< finite state machine */
        )
{
    ec_sdo_entry_t *entry;

    if (fsm->sync_subindex <= fsm->sync_subindices) {
        if (!(entry = ec_sdo_get_entry(fsm->sync_sdo,
                        fsm->sync_subindex))) {
            EC_ERR("SDO 0x%04X has no subindex %u on slave %u.\n",
                    fsm->sync_sdo->index,
                    fsm->sync_subindex,
                    fsm->slave->ring_position);
            fsm->state = ec_fsm_coe_map_state_error;
            return;
        }

        ec_sdo_request_init_read(&fsm->request, entry);
        fsm->state = ec_fsm_coe_map_state_pdo;
        ec_fsm_coe_upload(fsm->fsm_coe, fsm->slave, &fsm->request);
        ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
        return;
    }

    // next sync manager
    fsm->sync_index++;
    ec_fsm_coe_map_action_next_sync(fsm);
}

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

/**
 */

void ec_fsm_coe_map_state_pdo(
        ec_fsm_coe_map_t *fsm /**< finite state machine */
        )
{
    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;

    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
        EC_ERR("Failed to read mapped PDO index from slave %u.\n",
                fsm->slave->ring_position);
        fsm->state = ec_fsm_coe_map_state_error;
        return;
    }

    {
        uint16_t pdo_index = EC_READ_U16(fsm->request.data);
        ec_sdo_entry_t *entry;

        if (fsm->slave->master->debug_level)
            EC_DBG("  PDO 0x%04X.\n", pdo_index);

        if (!(fsm->pdo_sdo = ec_slave_get_sdo(fsm->slave, pdo_index))) {
            EC_ERR("Slave %u has no SDO 0x%04X.\n",
                    fsm->slave->ring_position, pdo_index);
            fsm->state = ec_fsm_coe_map_state_error;
            return;
        }

        if (!(entry = ec_sdo_get_entry(fsm->pdo_sdo, 0))) {
            EC_ERR("SDO 0x%04X has no subindex 0 on slave %u.\n",
                    fsm->pdo_sdo->index,
                    fsm->slave->ring_position);
            fsm->state = ec_fsm_coe_map_state_error;
            return;
        }

        ec_sdo_request_init_read(&fsm->request, entry);
        fsm->state = ec_fsm_coe_map_state_pdo_entry_count;
        ec_fsm_coe_upload(fsm->fsm_coe, fsm->slave, &fsm->request);
        ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
        return;
    }
}

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

/**
 */

void ec_fsm_coe_map_state_pdo_entry_count(
        ec_fsm_coe_map_t *fsm /**< finite state machine */
        )
{
    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;

    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
        EC_ERR("Failed to read number of mapped PDO entries from slave %u.\n",
                fsm->slave->ring_position);
        fsm->state = ec_fsm_coe_map_state_error;
        return;
    }

    fsm->pdo_subindices = EC_READ_U8(fsm->request.data);

    if (fsm->slave->master->debug_level)
        EC_DBG("    %u PDO entries mapped.\n", fsm->pdo_subindices);

    // read first PDO entry
    fsm->pdo_subindex = 1;
    ec_fsm_coe_map_action_next_pdo_entry(fsm);
}

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

/**
 */

void ec_fsm_coe_map_action_next_pdo_entry(
        ec_fsm_coe_map_t *fsm /**< finite state machine */
        )
{
    ec_sdo_entry_t *entry;

    if (fsm->pdo_subindex <= fsm->pdo_subindices) {
        if (!(entry = ec_sdo_get_entry(fsm->pdo_sdo,
                        fsm->pdo_subindex))) {
            EC_ERR("SDO 0x%04X has no subindex %u on slave %u.\n",
                    fsm->pdo_sdo->index, fsm->pdo_subindex,
                    fsm->slave->ring_position);
            fsm->state = ec_fsm_coe_map_state_error;
            return;
        }

        ec_sdo_request_init_read(&fsm->request, entry);
        fsm->state = ec_fsm_coe_map_state_pdo_entry;
        ec_fsm_coe_upload(fsm->fsm_coe, fsm->slave, &fsm->request);
        ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
        return;
    }

    // next PDO
    fsm->sync_subindex++;
    ec_fsm_coe_map_action_next_pdo(fsm);
}

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

/**
 */

void ec_fsm_coe_map_state_pdo_entry(
        ec_fsm_coe_map_t *fsm /**< finite state machine */
        )
{
    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;

    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
        EC_ERR("Failed to read index of mapped PDO entry from slave %u.\n",
                fsm->slave->ring_position);
        fsm->state = ec_fsm_coe_map_state_error;
        return;
    }

    {
        uint32_t pdo_entry_info;
        uint16_t pdo_entry_index;
        ec_sdo_t *sdo;

        pdo_entry_info = EC_READ_U32(fsm->request.data);
        pdo_entry_index = pdo_entry_info >> 16;

        if (!(sdo = ec_slave_get_sdo(fsm->slave, pdo_entry_index))) {
            EC_ERR("Slave %u has no SDO 0x%04X.\n",
                    fsm->slave->ring_position, pdo_entry_index);
            fsm->state = ec_fsm_coe_map_state_error;
            return;
        }

        if (fsm->slave->master->debug_level) {
            size_t bitsize = pdo_entry_info & 0xFFFF;
            EC_DBG("    PDO entry 0x%04X \"%s\" (%u bit).\n",
                    pdo_entry_index, sdo->name, bitsize);
        }

        // next PDO entry
        fsm->pdo_subindex++;
        ec_fsm_coe_map_action_next_pdo_entry(fsm);
    }
}

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

/**
   State: ERROR.
*/

void ec_fsm_coe_map_state_error(
        ec_fsm_coe_map_t *fsm /**< finite state machine */
        )
{
}

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

/**
   State: END.
*/

void ec_fsm_coe_map_state_end(
        ec_fsm_coe_map_t *fsm /**< finite state machine */
        )
{
}

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