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

#include <iostream>
#include <iomanip>
using namespace std;

#include "CommandSoeWrite.h"
#include "MasterDevice.h"

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

CommandSoeWrite::CommandSoeWrite():
    Command("soe_write", "Write an SoE IDN to a slave.")
{
}

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

string CommandSoeWrite::helpString(const string &binaryBaseName) const
{
    stringstream str;

    str << binaryBaseName << " " << getName()
        << " [OPTIONS] <IDN> <VALUE>" << endl
        << binaryBaseName << " " << getName()
        << " [OPTIONS] <DRIVE> <IDN> <VALUE>" << endl
        << endl
        << getBriefDescription() << endl
        << endl
        << "This command requires a single slave to be selected." << endl
        << endl
        << "Arguments:" << endl
        << "  DRIVE    is the drive number (0 - 7). If omitted, 0 is assumed."
        << endl
        << "  IDN      is the IDN and must be either an unsigned" << endl
        << "           16 bit number acc. to IEC 61800-7-204:" << endl
        << "             Bit 15: (0) Standard data, (1) Product data" << endl
        << "             Bit 14 - 12: Parameter set (0 - 7)" << endl
        << "             Bit 11 - 0: Data block number" << endl
        << "           or a string like 'P-0-150'." << endl
        << "  VALUE    is the value to write (see below)." << endl
		<< endl
        << "The VALUE argument is interpreted as the given data type" << endl
		<< "(--type is mandatory) and written to the selected slave." << endl
        << endl
		<< typeInfo()
        << endl
        << "Command-specific options:" << endl
        << "  --alias    -a <alias>" << endl
        << "  --position -p <pos>    Slave selection. See the help of" << endl
        << "                         the 'slaves' command." << endl
        << "  --type     -t <type>   Data type (see above)." << endl
        << endl
        << numericInfo();

    return str.str();
}

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

void CommandSoeWrite::execute(const StringVector &args)
{
    stringstream err;
    const DataType *dataType = NULL;
    ec_ioctl_slave_soe_write_t ioctl;
    SlaveList slaves;
    size_t memSize;
    int driveArgIndex = -1, idnArgIndex = -1, valueArgIndex = -1;

    if (args.size() == 2) {
        idnArgIndex = 0;
        valueArgIndex = 1;
    } else if (args.size() == 3) {
        driveArgIndex = 0;
        idnArgIndex = 1;
        valueArgIndex = 2;
    } else {
        err << "'" << getName() << "' takes eiter 2 or 3 arguments!";
        throwInvalidUsageException(err);
    }

    if (driveArgIndex >= 0) {
        stringstream str;
        unsigned int number;
        str << args[driveArgIndex];
        str
            >> resetiosflags(ios::basefield) // guess base from prefix
            >> number;
        if (str.fail() || number > 7) {
            err << "Invalid drive number '" << args[driveArgIndex] << "'!";
            throwInvalidUsageException(err);
        }
        ioctl.drive_no = number;
    } else {
        ioctl.drive_no = 0;
    }

    try {
        ioctl.idn = parseIdn(args[idnArgIndex]);
    } catch (runtime_error &e) {
        err << "Invalid IDN '" << args[idnArgIndex] << "': " << e.what();
        throwInvalidUsageException(err);
    }

    MasterDevice m(getSingleMasterIndex());
    m.open(MasterDevice::ReadWrite);
    slaves = selectedSlaves(m);
    if (slaves.size() != 1) {
        throwSingleSlaveRequired(slaves.size());
    }
    ioctl.slave_position = slaves.front().position;

    if (!getDataType().empty()) { // data type specified
        if (!(dataType = findDataType(getDataType()))) {
            err << "Invalid data type '" << getDataType() << "'!";
            throwInvalidUsageException(err);
        }
    } else { // no data type specified
        err << "Please specify a data type.";
        throwInvalidUsageException(err); // FIXME read from stream
    }

    if (dataType->byteSize) {
        memSize = dataType->byteSize;
    } else {
        // guess string type size
        memSize = args[valueArgIndex].size() + 1;
        if (!memSize) {
            err << "Empty argument not allowed.";
            throwInvalidUsageException(err);
        }
    }

    ioctl.data = new uint8_t[memSize];

    try {
        ioctl.data_size = interpretAsType(
                dataType, args[valueArgIndex], ioctl.data, memSize);
    } catch (SizeException &e) {
        delete [] ioctl.data;
        throwCommandException(e.what());
    } catch (ios::failure &e) {
        delete [] ioctl.data;
        err << "Invalid value argument '" << args[valueArgIndex]
            << "' for type '" << dataType->name << "'!";
        throwInvalidUsageException(err);
    }

    try {
        m.writeSoe(&ioctl);
    } catch (MasterDeviceSoeException &e) {
        delete [] ioctl.data;
        err << "SoE write command failed with code " << errorMsg(e.errorCode);
        throwCommandException(err);
    } catch (MasterDeviceException &e) {
        delete [] ioctl.data;
        throw e;
    }

    delete [] ioctl.data;
}

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