%% Copyright (C) 2014 Czech Technical University in Prague
%%
%% Authors:
%%     Michal Horn  <hornmich@fel.cvut.cz>
%%     Michal Sojka <sojkam1@fel.cvut.cz>
%%
%% 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.
%%
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%%
%% File : rpp_can_common.tlc
%% Abstract:
%%     TLC file with common functions and variables for sfunction_canreceive, sfunction_cansetup and sfunction_cantransmit
%%
%% References:
%%     Coding Convention: refs/rtw_tlc.pdf p. 58 (TODO)
%%

%% Function: RppCANCommonBlockTypeSetup ========================================
%% 	Declares and initializes all common variables and constants.

%function RppCANCommonBlockTypeSetup() void
  %if EXISTS("::_RPP_MAX_MAILBOX_CNT") == 0
	%assign ::_RPP_MAX_MAILBOX_CNT = 64

	/% Global data structure used in call CAN blocks %/
	%createrecord ::Rpp { Can { ...
	  Tx { NumBlocks 0 } ...
	  Rx { NumBlocks 0 } ...
	}}

	/% Add records for helping with message object allocation  %/
	%foreach i = 3  %% We have 3 CAN controllers
	  %addtorecord Rpp.Can Ctrl {}
	%endforeach

	%<LibAddToCommonIncludes("<stdio.h>")>
	%<LibAddToCommonIncludes("<sys/socket.h>")>
	%<LibAddToCommonIncludes("<net/if.h>")>
	%<LibAddToCommonIncludes("<sys/ioctl.h>")>
	%<LibAddToCommonIncludes("<linux/can.h>")>
	%<LibAddToCommonIncludes("<linux/can/raw.h>")>
	%<LibAddToCommonIncludes("<fcntl.h>")>
	%<LibAddToCommonIncludes("<errno.h>")>
  %endif
%endfunction

%function RppCanAssignMsgObj(msgObjNum, blockInfo) void
  %if msgObjNum < 1 || msgObjNum > ::_RPP_MAX_MAILBOX_CNT
	%<LibBlockReportError(block, "Invalid mailbox number!")>
  %endif
  %addtorecord Rpp.Can.Ctrl[blockInfo.Controller-1] MsgObj%<msgObjNum>UsedBy blockInfo
  %assign blockInfo.MsgObj = msgObjNum
%endfunction

%function RppCanGetBlockInfoFromMsgObj(module, mailbox_number)
  %return Rpp.Can.Ctrl[module-1].MsgObj%<mailbox_number>UsedBy
%endfunction

%function RppCanIsMsgObjAssigned(module, mailbox_number)
  %return ISFIELD(Rpp.Can.Ctrl[%<module-1>], "MsgObj%<mailbox_number>UsedBy")
%endfunction

%% Function: RppFindFreeMailboxNumber =========================================
%%	Returns the lowest possible free mailbox number or 0 if no mailbox is free.

%function RppFindFreeMailboxNumber(module) void
	%foreach mn = ::_RPP_MAX_MAILBOX_CNT + 1
	    %if mn == 0
		  %continue
		%endif
		%if RppCanIsMsgObjAssigned(module, mn) == 0
			%return %<mn>
		%endif
	%endforeach
	%return 0
%endfunction

%% Function: RppPlaceAutomaticMailboxNumber ===================================
%% 	Assignes an automaticaly determined mailbox number for the CAN block.

%function RppPlaceAutomaticMailboxNumber(blockInfo) void
	%assign msg_obj_number = RppFindFreeMailboxNumber(blockInfo.Controller)
	%if %<msg_obj_number> == 0
		%<LibBlockReportError(block, "Too many blocks in one module!")>
	%endif
	%addtorecord blockInfo ManualMsgObj 0 /% For MsgObj collision detection %/
	%<RppCanAssignMsgObj(msg_obj_number, blockInfo)>
%endfunction

%% Function: RppPlaceManualMailboxNumber ======================================

%% Assigns a manualy specified mailbox number to the CAN blocks.
%% Reports collisions with other manually assigned blocks and optionally
%% reassignes mailbox numbers of previously assigned automatic blocks.
%%
%%	Params:	msg_obj_num		The requested number of the mailbox.

%function RppPlaceManualMailboxNumber(blockInfo, msg_obj_number) void
	%if RppCanIsMsgObjAssigned(blockInfo.Controller, msg_obj_number)
	  %assign prevBlockInfo = RppCanGetBlockInfoFromMsgObj(blockInfo.Controller, msg_obj_number)
	  %if prevBlockInfo.ManualMsgObj
		%<LibBlockReportError(block, "Colliding mailbox number found!")>
	  %endif
	  %assign new_msg_obj_number = RppFindFreeMailboxNumber(blockInfo.Controller)
	  %if new_msg_obj_number == 0
		%<LibBlockReportError(block, "Too many blocks in one module!")>
	  %endif
	  %<RppCanAssignMsgObj(new_msg_obj_number, prevBlockInfo)>
	%endif
	%addtorecord blockInfo ManualMsgObj 1 /% For MsgObj collision detection %/
	%<RppCanAssignMsgObj(msg_obj_number, blockInfo)>
%endfunction

%% [EOF]