sitara_depot/components/free_rtos/ethernet_industry/eth_ecat_telegram.cpp

/*
 * eth_ecat_telegram.cpp
 *
 *  Created on: Jun 5, 2023
 *      Author: algin
 */

#include "free_rtos/ethernet_industry/eth_ecat_telegram.hpp"

namespace free_rtos {

namespace telegram {

const char EcatTelegramStatus::SuccessString[]       = "Success !";
const char EcatTelegramStatus::BusyString[]          = "Busy. Transfer in progress...";
const char EcatTelegramStatus::WarningString[]       = "Warning ! Check error counters";
const char EcatTelegramStatus::FatalErrorString[]    = "Fatal error ! Transfer attempts exceeded";

const EcatDescription EcatTelegramStatus::descriptions[] = {
                                         {EcatTelegramStatus::SuccessString, sizeof(EcatTelegramStatus::SuccessString)},
                                         {EcatTelegramStatus::BusyString, sizeof(EcatTelegramStatus::BusyString)},
                                         {EcatTelegramStatus::WarningString, sizeof(EcatTelegramStatus::WarningString)},
                                         {EcatTelegramStatus::FatalErrorString, sizeof(EcatTelegramStatus::FatalErrorString)}
};

int32_t EcatTelegram::Process(uint8_t *p_data, uint32_t len) {
    // TODO: Don't forget to subtract sizeof(TEthFrameHeader) !
    unpack(p_data - sizeof(TEthFrameHeader));

/*
    DebugP_log((char*)"Process started\r\n");

    for(uint8_t *data = p_data; data < p_data + len; data++) {
        DebugP_log((char*)"0x%01x ", *data);
    }

    DebugP_log((char*)"\r\n");
*/

    rx_sem_.post();

    return 0;
}

uint32_t EcatTelegram::Sender(uint8_t *p_data, size_t scatter_segment) {
    uint8_t *raw = pack(p_data);

    //DebugP_log((char*)"Sender started\r\n");

    return raw - p_data;
}

uint8_t* EcatTelegram::pack(uint8_t *raw) {
    TEthFrameHeader *p_eth_hdr = new(raw) TEthFrameHeader{  {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF},
                                                            {0x01, 0x01, 0x01, 0x01, 0x01, 0x01},
                                                            ETH_PROT_ECAT_LE };
    TEcatFrameHeader *p_hdr = new(raw + sizeof(TEthFrameHeader)) TEcatFrameHeader{  .bits = {  .length = 0,
                                                                                            .type = static_cast<uint16_t>(ec_network::PROTOCOL_TYPE) } };
    uint8_t *p_datagram_first = raw + sizeof(TEthFrameHeader) + sizeof(TEcatFrameHeader);
    uint8_t *p_datagram_last = p_datagram_first;
    auto first = datagram_queue_.get_first();

    (void)p_eth_hdr;
    (void)p_hdr;

    p_datagram_last = first->pack_all(p_datagram_first);

    p_hdr->bits.length = p_datagram_last - p_datagram_first;

    return p_datagram_last;
}

uint8_t* EcatTelegram::unpack(uint8_t *raw) {
    TEthFrameHeader *p_eth_hdr = reinterpret_cast<TEthFrameHeader*>(raw);
    TEcatFrameHeader *p_hdr = reinterpret_cast<TEcatFrameHeader*>(raw + sizeof(TEthFrameHeader));
    uint8_t *p_datagram_first = raw + sizeof(TEthFrameHeader) + sizeof(TEcatFrameHeader);
    uint8_t *p_datagram_last = p_datagram_first;
    auto first = datagram_queue_.get_first();

    p_datagram_last = first->unpack_all(p_datagram_first);

    return p_datagram_last;
}

bool EcatTelegram::transfer() {
    auto first = datagram_queue_.get_first();
    uint32_t transfer_attempts = 0;
    bool stat;
    bool as_expected;

    if(first == nullptr) {
        status_.result = EcatTelegramResult::SUCCESS;

        return true;
    }

    datagram_queue_.clear();
    status_.result = EcatTelegramResult::BUSY;

    first->reset_all_wkc();

    while(1) {
        transfer_attempts++;

        if(transfer_attempts > max_transfer_attempts_) {
            status_.attempts_exceeded_errors++;
            status_.result = EcatTelegramResult::FATAL_ERROR;

            DebugP_log((char*)"Transfer attempts exceeded !\r\n");
            break;
        }

        // stat = eth_stack_.send_pkt(port_id_, ETH_PROT_ECAT_LE, 1);
        stat = tx_flow_.send(port_id_, this, 1);

        if(stat == false) {
            status_.transfer_errors++;
            status_.result = EcatTelegramResult::WARNING;

            continue;
        }

        rx_sem_.pend();

        as_expected = first->all_as_expected();

        if(as_expected == false) {
            status_.expected_wkc_errors++;
            status_.result = EcatTelegramResult::WARNING;

            continue;
        }

        if(status_.result == EcatTelegramResult::BUSY) {
            status_.result = EcatTelegramResult::SUCCESS;
        }

        break;
    }

    return (status_.result != EcatTelegramResult::FATAL_ERROR);
}

bool EcatTelegram::transfer(datagram::IEcatDatagram& next) {
    datagram_queue_ + next;

    return transfer();
}

bool EcatTelegram::transfer(queue::Queue<datagram::IEcatDatagram>& next) {
    datagram_queue_ + next;

    return transfer();
}

}

}