ethercat 0.3.1

// Part of ethercat-rs. Copyright 2018-2022 by the authors.
// This work is dual-licensed under Apache 2.0 and MIT terms.

use crate::ec;
use derive_new::new;
use std::io;
use thiserror::Error;

#[derive(Debug, Error)]
pub enum Error {
    #[error("No devices available")]
    NoDevices,
    #[error("Sync manager index is too large")]
    SmIdxTooLarge,
    #[error("Invalid domain index {0}")]
    DomainIdx(usize),
    #[error("Kernel module version mismatch: expected {0}, found {1}")]
    KernelModule(u32, u32),
    #[error("Domain is not available")]
    NoDomain,
    #[error("Master is not activated")]
    NotActivated,
    #[error("Invalid AL state 0x{0:X}")]
    InvalidAlState(u8),
    #[error("SDO/VoE/register request failed")]
    RequestFailed,
    #[error(transparent)]
    Io(#[from] io::Error),
}

impl From<Error> for io::Error {
    fn from(e: Error) -> Self {
        io::Error::new(io::ErrorKind::Other, e)
    }
}

pub use ethercat_types::*;

pub type Result<T> = std::result::Result<T, Error>;
pub type MasterIdx = u32;

#[derive(Debug, Clone, Copy)]
pub(crate) struct DomainDataPlacement {
    pub offset: usize,
    pub size: usize,
}

pub type SlaveConfigIdx = u32;

/// An EtherCAT slave identification, consisting of vendor ID and product code.
#[derive(Debug, Clone, Copy, new)]
pub struct SlaveId {
    pub vendor_id: u32,
    pub product_code: u32,
}

/// An EtherCAT slave revision identification.
#[derive(Debug, Clone, Copy, new)]
pub struct SlaveRev {
    pub revision_number: u32,
    pub serial_number: u32,
}

/// An EtherCAT slave, which is specified either by absolute position in the
/// ring or by offset from a given alias.
#[derive(Debug, Clone, Copy)]
pub enum SlaveAddr {
    ByPos(u16),
    ByAlias(u16, u16),
}

impl SlaveAddr {
    pub(crate) fn as_pair(self) -> (u16, u16) {
        match self {
            SlaveAddr::ByPos(x) => (0, x),
            SlaveAddr::ByAlias(x, y) => (x, y),
        }
    }
}

#[derive(Debug, Clone)]
pub struct MasterInfo {
    pub slave_count: u32,
    pub link_up: bool,
    pub scan_busy: bool,
    pub app_time: u64,
}

#[derive(Debug, Clone)]
pub struct MasterState {
    pub slaves_responding: u32,
    pub al_states: u8,
    pub link_up: bool,
}

#[derive(Debug, Clone)]
pub struct ConfigInfo {
    pub alias: u16,
    pub position: u16,
    pub id: SlaveId,
    pub slave_position: Option<SlavePos>,
    pub sdo_count: u32,
    pub idn_count: u32,
    // TODO: more attributes are returned:
    // syncs[*], watchdog_*, dc_*
}

#[derive(Debug, Clone)]
pub struct SlaveInfo {
    pub name: String,
    pub ring_pos: u16,
    pub id: SlaveId,
    pub rev: SlaveRev,
    pub alias: u16,
    pub current_on_ebus: i16,
    pub al_state: AlState,
    pub error_flag: u8,
    pub sync_count: u8,
    pub sdo_count: u16,
    pub ports: [SlavePortInfo; ec::EC_MAX_PORTS as usize],
}

#[derive(Debug, Clone, Copy)]
pub enum SlavePortType {
    NotImplemented,
    NotConfigured,
    EBus,
    MII,
}

#[allow(clippy::derivable_impls)] // later we can use the new #[default] attr
impl Default for SlavePortType {
    fn default() -> Self {
        SlavePortType::NotImplemented
    }
}

#[derive(Debug, Default, Clone, Copy)]
pub struct SlavePortLink {
    pub link_up: bool,
    pub loop_closed: bool,
    pub signal_detected: bool,
}

#[derive(Debug, Default, Clone, Copy)]
pub struct SlavePortInfo {
    pub desc: SlavePortType,
    pub link: SlavePortLink,
    pub receive_time: u32,
    pub next_slave: u16,
    pub delay_to_next_dc: u32,
}

#[derive(Debug, Clone, Copy)]
pub struct SlaveConfigState {
    pub online: bool,
    pub operational: bool,
    pub al_state: AlState,
}

#[derive(Debug, Clone, Copy)]
pub enum SyncDirection {
    Invalid,
    Output,
    Input,
}

#[derive(Debug, Clone, Copy)]
pub enum WatchdogMode {
    Default,
    Enable,
    Disable,
}

/// Sync Manager Info
#[derive(Debug, Copy, Clone)]
pub struct SmInfo {
    pub idx: SmIdx,
    pub start_addr: u16,
    pub default_size: u16,
    pub control_register: u8,
    pub enable: bool,
    pub pdo_count: u8,
}

/// Sync Manager Config
#[derive(Debug, Clone, Copy)]
pub struct SmCfg {
    pub idx: SmIdx,
    pub watchdog_mode: WatchdogMode,
    pub direction: SyncDirection,
}

impl SmCfg {
    pub const fn input(idx: SmIdx) -> Self {
        Self {
            idx,
            direction: SyncDirection::Input,
            watchdog_mode: WatchdogMode::Default,
        }
    }
    pub const fn output(idx: SmIdx) -> Self {
        Self {
            idx,
            direction: SyncDirection::Output,
            watchdog_mode: WatchdogMode::Default,
        }
    }
}

/// PDO Config
#[derive(Debug, Clone)]
pub struct PdoCfg {
    pub idx: PdoIdx,
    pub entries: Vec<PdoEntryInfo>,
}

impl PdoCfg {
    pub const fn new(idx: PdoIdx) -> PdoCfg {
        Self {
            idx,
            entries: vec![],
        }
    }
}

pub trait SdoData {
    fn data_ptr(&self) -> *const u8 {
        self as *const _ as _
    }
    fn data_size(&self) -> usize {
        std::mem::size_of_val(self)
    }
}

impl SdoData for u8 {}
impl SdoData for u16 {}
impl SdoData for u32 {}
impl SdoData for u64 {}
impl SdoData for i8 {}
impl SdoData for i16 {}
impl SdoData for i32 {}
impl SdoData for i64 {}
impl SdoData for f32 {}
impl SdoData for f64 {}

impl SdoData for &'_ [u8] {
    fn data_ptr(&self) -> *const u8 {
        self.as_ptr()
    }
    fn data_size(&self) -> usize {
        self.len()
    }
}

#[derive(Debug, Clone)]
pub struct DomainState {
    pub working_counter: u32,
    pub wc_state: WcState,
    pub redundancy_active: bool,
}

#[derive(Debug, Clone, Copy)]
pub enum WcState {
    Zero = 0,
    Incomplete,
    Complete,
}

pub(crate) fn get_sdo_entry_access(read: [u8; 3], write: [u8; 3]) -> SdoEntryAccess {
    SdoEntryAccess {
        pre_op: access(read[0], write[0]),
        safe_op: access(read[1], write[1]),
        op: access(read[2], write[2]),
    }
}

fn access(read: u8, write: u8) -> Access {
    match (read, write) {
        (1, 0) => Access::ReadOnly,
        (0, 1) => Access::WriteOnly,
        (1, 1) => Access::ReadWrite,
        _ => Access::Unknown,
    }
}

impl From<u32> for WcState {
    fn from(st: u32) -> Self {
        match st {
            0 => WcState::Zero,
            1 => WcState::Incomplete,
            2 => WcState::Complete,
            x => panic!("invalid state {}", x),
        }
    }
}