sdo.cpp

/*
 * Copyright (c) 2015, Thomas Keh
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *    1. Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *
 *    2. Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *
 *    3. Neither the name of the copyright holder nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
 
#include "sdo.h"
#include "core.h"
#include "logger.h"
#include "sdo_error.h"
#include "global_config.h"

#include <iostream>
#include <chrono>
#include <cassert>
#include <future>

namespace kaco {

SDO::SDO(Core& core)
    : m_core(core) {
    m_send_and_wait_receivers.fill(received_unassigned_sdo);
}

void SDO::download(uint8_t node_id, uint16_t index, uint8_t subindex, uint32_t size, const std::vector<uint8_t>& data) {

    assert(size>0);
    assert(data.size()>=size);

    if (size<=4) {
        
        // expedited transfer

        uint8_t command = Flag::initiate_download_request
                            | size_flag(size)
                            | Flag::size_indicated
                            | Flag::expedited_transfer;

        SDOResponse response = send_sdo_and_wait(command, node_id, index, subindex, {{
            data[0],
            (size>1) ? data[1] : (uint8_t) 0,
            (size>2) ? data[2] : (uint8_t) 0,
            (size>3) ? data[3] : (uint8_t) 0
        }});

        if (response.failed()) {
            throw sdo_error(response.get_data());
        }

    } else {

        // segmented transfer
        throw sdo_error(sdo_error::type::segmented_download);

    }

}

std::vector<uint8_t> SDO::upload(uint8_t node_id, uint16_t index, uint8_t subindex) {
    
    std::vector<uint8_t> result;

    uint8_t command = Flag::initiate_upload_request;
    SDOResponse response = send_sdo_and_wait(command, node_id, index, subindex, {{0,0,0,0}});

    if (response.failed()) {
        throw sdo_error(response.get_data());
    }

    if (response.command & Flag::expedited_transfer) {

        for (unsigned i=0; i<response.get_length(); ++i) {
            result.push_back(response.data[3+i]);
        }

    } else {

        if ((response.command & Flag::size_indicated)==0) {
            throw sdo_error(sdo_error::type::response_command,"Command "+std::to_string(response.command)+" is reserved for further use.");
        }

        // TODO: the &0xFF is necessary (tested with sysWOORXX IO-X1) but I haven't found this restriction in CiA301...
        uint32_t original_size = response.get_data() & 0xFFFF;
        uint32_t size = original_size;
        bool more_segments = true;
        uint8_t toggle_bit = 0;

        // request data
        while (more_segments) {

            if (size==0) {
                WARN("[SDO::upload] [Restrictive] Uploaded already all "<<original_size<<" bytes but there are still more segments. Ignore...");
                return result;
            }

            uint8_t command = Flag::upload_segment_request
                                | toggle_bit;
            SDOResponse response = send_sdo_and_wait(command, node_id, 0, 0, {{0,0,0,0}});

            if (response.failed()) {
                throw sdo_error(response.get_data());
            }

            if (toggle_bit != (response.command & Flag::toggle_bit)) {
                throw sdo_error(sdo_error::type::response_toggle_bit);
            }

            unsigned i=0;
            while(i<7 && size>0) {
                result.push_back(response.data[i]);
                ++i;
                --size;
            }

            toggle_bit = (toggle_bit>0) ? 0 : Flag::toggle_bit;
            more_segments = (response.command & Flag::no_more_segments)==0;

        }

        if (size>0) {
            WARN("[SDO::upload] [Restrictive] Uploaded just "<<(original_size-size)<<" of "<<original_size<<" bytes but there are no more segments. Ignore...");
            return result;
        }

    }

    return result;

}

void SDO::process_incoming_message(const Message& message) {

    SDOResponse response;
    response.node_id = message.get_node_id();
    response.command = message.data[0];

    for (unsigned i=0; i<7; ++i) {
        response.data[i] = message.data[1+i];
    }

    DEBUG_LOG("Received SDO (transmit/server) from node "<<(unsigned)response.node_id<<". thread=" << std::this_thread::get_id()) ;

    // This calls either a callback which was registered by send_sdo_and_wait or received_unassigned_sdo().
    {
        std::lock_guard<std::mutex> scoped_lock(m_send_and_wait_receiver_mutexes[response.node_id]);
        m_send_and_wait_receivers[response.node_id](response);
    }

    // TODO: Also call custom callbacks, not only internal ones.

}

SDOResponse SDO::send_sdo_and_wait(uint8_t command, uint8_t node_id, uint16_t index, uint8_t subindex, const std::array<uint8_t,4>& data) {

    DEBUG_LOG_EXHAUSTIVE("SDO::send_sdo_and_wait: thread=" << std::this_thread::get_id() << " node_id=" << node_id
        << " command=" << command << " index=" << index << " subindex=" << subindex << " START.");

    // We lock this method so requests and responses to/from the same node are not mixed up
    // and m_send_and_wait_receivers[node_id] manipulation is safe.
    // SDO callbacks are specific to their node id.
    // assert: m_send_and_wait_mutex.size() == 256 > std::numeric_limits<uint8_t>::max()
    std::lock_guard<std::mutex> scoped_lock(m_send_and_wait_mutex[node_id]);

    std::promise<SDOResponse> received_promise;
    std::future<SDOResponse> received_future = received_promise.get_future();

    {
        std::lock_guard<std::mutex> scoped_lock(m_send_and_wait_receiver_mutexes[node_id]);
        m_send_and_wait_receivers[node_id] = [&] (SDOResponse response) {
            // This is only called if the response comes from the correct node
            //   (process_incoming_message takes care of this).
            // The reference to received_promise is assured to be alive
            //   since the receiver is removed before this method returns.
            received_promise.set_value(response);
        };
    }

    // send message
    Message message;
    message.cob_id = 0x600+node_id;
    message.rtr = false;
    message.len = 8;
    message.data[0] = command;
    message.data[1] = index & 0xFF;
    message.data[2] = (index >> 8) & 0xFF;
    message.data[3] = subindex;
    message.data[4] = data[0];
    message.data[5] = data[1];
    message.data[6] = data[2];
    message.data[7] = data[3];
    m_core.send(message);

    DEBUG_LOG_EXHAUSTIVE("SDO::send_sdo_and_wait: thread=" << std::this_thread::get_id() << " node_id=" << node_id
        << " command=" << command << " index=" << index << " subindex=" << subindex << " WAIT.");

    const auto timeout = std::chrono::milliseconds(Config::sdo_response_timeout_ms);
    const auto status = received_future.wait_for(timeout);

    // remove receiver
    {
        std::lock_guard<std::mutex> scoped_lock(m_send_and_wait_receiver_mutexes[node_id]);
        m_send_and_wait_receivers[node_id] = received_unassigned_sdo;
    }

    if (status == std::future_status::timeout) {
        DEBUG_LOG_EXHAUSTIVE("SDO::send_sdo_and_wait: thread=" << std::this_thread::get_id() << " node_id=" << node_id
            << " command=" << command << " index=" << index << " subindex=" << subindex << " TIMEOUT.");
        throw sdo_error(sdo_error::type::response_timeout, "Timeout was "+std::to_string(timeout.count())+"ms.");
    }

    DEBUG_LOG_EXHAUSTIVE("SDO::send_sdo_and_wait: thread=" << std::this_thread::get_id() << " node_id=" << node_id
        << " command=" << command << " index=" << index << " subindex=" << subindex << " DONE.");

    return received_future.get();

}

void SDO::received_unassigned_sdo(SDOResponse response) {
    DEBUG_LOG("Received unassigned SDO (transmit/server):");
    DEBUG(response.print();)
}


uint8_t SDO::size_flag(uint8_t size) {
    assert(size>0);
    assert(size<=4);
    switch(size) {
        case 1: return 0x0C;
        case 2: return 0x08;
        case 3: return 0x04;
        case 4: return 0x00;
    }
    assert(false && "Dead code!");
    return 0;
}

}