hpm6750/controller_yy_app/middleware/opener/cip/cipepath.c

/*******************************************************************************
 * Copyright (c) 2009, Rockwell Automation, Inc.
 * All rights reserved.
 *
 ******************************************************************************/

#include <stdbool.h>
#include <stdlib.h>

#include "cipepath.h"

#include "endianconv.h"
#include "cipelectronickey.h"
#include "trace.h"
#include <assert.h>

const unsigned int kPortSegmentExtendedPort = 15; /**< Reserved port segment port value, indicating the use of the extended port field */

/*** Path Segment ***/
SegmentType GetPathSegmentType(const CipOctet *const cip_path) {
  const unsigned int kSegmentTypeMask = 0xE0;
  const unsigned int segment_type = *cip_path & kSegmentTypeMask;
  SegmentType result = kSegmentTypeInvalid;
  switch(segment_type) {
    case SEGMENT_TYPE_PORT_SEGMENT:
      result = kSegmentTypePortSegment;
      break;
    case SEGMENT_TYPE_LOGICAL_SEGMENT:
      result = kSegmentTypeLogicalSegment;
      break;
    case SEGMENT_TYPE_NETWORK_SEGMENT:
      result = kSegmentTypeNetworkSegment;
      break;
    case SEGMENT_TYPE_SYMBOLIC_SEGMENT:
      result = kSegmentTypeSymbolicSegment;
      break;
    case SEGMENT_TYPE_DATA_SEGMENT:
      result = kSegmentTypeDataSegment;
      break;
    case SEGMENT_TYPE_DATA_TYPE_CONSTRUCTED:
      result = kSegmentTypeDataTypeConstructed;
      break;
    case SEGMENT_TYPE_DATA_TYPE_ELEMENTARTY:
      result = kSegmentTypeDataTypeElementary;
      break;
    case SEGMENT_TYPE_SEGMENT_RESERVED:
      result = kSegmentTypeReserved;
      break;
    default:
      OPENER_TRACE_ERR(
        "Invalid Segment type in the message! We should never come here!\n");
      break;
  }
  return result;
}

void SetPathSegmentType(SegmentType segment_type,
                        unsigned char *const cip_path) {
  switch(segment_type) {
    case kSegmentTypePortSegment:
      *cip_path = SEGMENT_TYPE_PORT_SEGMENT;
      break;
    case kSegmentTypeLogicalSegment:
      *cip_path = SEGMENT_TYPE_LOGICAL_SEGMENT;
      break;
    case kSegmentTypeNetworkSegment:
      *cip_path = SEGMENT_TYPE_NETWORK_SEGMENT;
      break;
    case kSegmentTypeSymbolicSegment:
      *cip_path = SEGMENT_TYPE_SYMBOLIC_SEGMENT;
      break;
    case kSegmentTypeDataSegment:
      *cip_path = SEGMENT_TYPE_DATA_SEGMENT;
      break;
    case kSegmentTypeDataTypeConstructed:
      *cip_path = SEGMENT_TYPE_DATA_TYPE_CONSTRUCTED;
      break;
    case kSegmentTypeDataTypeElementary:
      *cip_path = SEGMENT_TYPE_DATA_TYPE_ELEMENTARTY;
      break;
    case kSegmentTypeReserved:
      *cip_path = SEGMENT_TYPE_SEGMENT_RESERVED;
      break;
    default:
      OPENER_TRACE_ERR(
        "Invalid Segment type chosen! We should never come here!\n");
      OPENER_ASSERT(false);
      break;
  }
}

/*** Port Segment ***/
bool GetPathPortSegmentExtendedLinkAddressSizeBit(
  const unsigned char *const cip_path) {
  const unsigned int kExtendedLinkAddressSizeMask = 0x10;
  if(kExtendedLinkAddressSizeMask ==
     (*cip_path & kExtendedLinkAddressSizeMask) ) {
    return true;
  }
  return false;
}

unsigned int GetPathPortSegmentPortIdentifier(
  const unsigned char *const cip_path) {
  const unsigned int kPortIdentifierMask = 0x0F;
  unsigned int port_identifier = *cip_path & kPortIdentifierMask;

  OPENER_ASSERT(kSegmentTypePortSegment == GetPathSegmentType(cip_path) );
  /* Use of reserved port identifier 0 */
  OPENER_ASSERT(0 != port_identifier);
  return port_identifier;
}

void SetPathPortSegmentPortIdentifier(const unsigned int port_identifier,
                                      unsigned char *const cip_path) {
  /* OPENER_ASSERT(
     port_identifier < 16,
     "Port identifier too large for standard port identifier field\n"); */
  OPENER_ASSERT(port_identifier < 16);
  (*cip_path) |= port_identifier;
}

unsigned int GetPathPortSegmentLinkAddressSize(
  const unsigned char *const cip_path) {
  /*  OPENER_ASSERT(false == GetPathPortSegmentExtendedLinkAddressSizeBit(cip_path),
     "Call to non existent extended link address size\n"); */
  OPENER_ASSERT(true ==
                GetPathPortSegmentExtendedLinkAddressSizeBit(cip_path) );
  return *(cip_path + 1);
}

unsigned int GetPathPortSegmentExtendedPortNumber(
  const unsigned char *const cip_path) {
  /*  OPENER_ASSERT(kPortSegmentExtendedPort == GetPathPortSegmentPortIdentifier(cip_path),
     "There is no extended port available!\n");*/
  OPENER_ASSERT(kPortSegmentExtendedPort ==
                GetPathPortSegmentPortIdentifier(cip_path) );
  const unsigned int kExtendedPortSegmentPosition =
    GetPathPortSegmentExtendedLinkAddressSizeBit(cip_path) == true ? 2 : 1;
  return cip_path[kExtendedPortSegmentPosition] +
         (cip_path[kExtendedPortSegmentPosition + 1] << 8);
}

void SetPathPortSegmentExtendedPortIdentifier(
  const unsigned int extended_port_identifier,
  CipOctet *const cip_path) {
  SetPathPortSegmentPortIdentifier(kPortSegmentExtendedPort, cip_path);
  const unsigned int kExtendedPortSegmentPosition =
    GetPathPortSegmentExtendedLinkAddressSizeBit(cip_path) == true ? 2 : 1;
  cip_path[kExtendedPortSegmentPosition] =
    (char) (extended_port_identifier & 0x00FF);
  cip_path[kExtendedPortSegmentPosition +
           1] = (char) ( (extended_port_identifier & 0xFF00) >> 8 );
}
/*** Port Segment ***/

/*** Logical Segment ***/

LogicalSegmentLogicalType GetPathLogicalSegmentLogicalType(
  const unsigned char *const cip_path) {
  OPENER_ASSERT(kSegmentTypeLogicalSegment == GetPathSegmentType(cip_path) );
  const unsigned int kLogicalTypeMask = 0x1C;
  const unsigned int logical_type = (*cip_path) & kLogicalTypeMask;
  LogicalSegmentLogicalType result = kLogicalSegmentLogicalTypeInvalid;
  switch(logical_type) {
    case LOGICAL_SEGMENT_TYPE_CLASS_ID:
      result = kLogicalSegmentLogicalTypeClassId;
      break;
    case LOGICAL_SEGMENT_TYPE_INSTANCE_ID:
      result = kLogicalSegmentLogicalTypeInstanceId;
      break;
    case LOGICAL_SEGMENT_TYPE_MEMBER_ID:
      result = kLogicalSegmentLogicalTypeMemberId;
      break;
    case LOGICAL_SEGMENT_TYPE_CONNECTION_POINT:
      result = kLogicalSegmentLogicalTypeConnectionPoint;
      break;
    case LOGICAL_SEGMENT_TYPE_ATTRIBUTE_ID:
      result = kLogicalSegmentLogicalTypeAttributeId;
      break;
    case LOGICAL_SEGMENT_TYPE_SPECIAL:
      result = kLogicalSegmentLogicalTypeSpecial;
      break;
    case LOGICAL_SEGMENT_TYPE_SERVICE_ID:
      result = kLogicalSegmentLogicalTypeServiceId;
      break;
    case LOGICAL_SEGMENT_TYPE_EXTENDED_LOGICAL:
      result = kLogicalSegmentLogicalTypeExtendedLogical;
      break;
    default:
      OPENER_TRACE_ERR(
        "Logical segment/logical type: Invalid input!\n");
      break;
  }
  return result;
}

void SetPathLogicalSegmentLogicalType(LogicalSegmentLogicalType logical_type,
                                      CipOctet *const cip_path) {
  OPENER_ASSERT(kSegmentTypeLogicalSegment == GetPathSegmentType(cip_path) );
  switch(logical_type) {
    case kLogicalSegmentLogicalTypeClassId:
      (*cip_path) |= LOGICAL_SEGMENT_TYPE_CLASS_ID;
      break;
    case kLogicalSegmentLogicalTypeInstanceId:
      (*cip_path) |= LOGICAL_SEGMENT_TYPE_INSTANCE_ID;
      break;
    case kLogicalSegmentLogicalTypeMemberId:
      (*cip_path) |= LOGICAL_SEGMENT_TYPE_MEMBER_ID;
      break;
    case kLogicalSegmentLogicalTypeConnectionPoint:
      (*cip_path) |= LOGICAL_SEGMENT_TYPE_CONNECTION_POINT;
      break;
    case kLogicalSegmentLogicalTypeAttributeId:
      (*cip_path) |= LOGICAL_SEGMENT_TYPE_ATTRIBUTE_ID;
      break;
    case kLogicalSegmentLogicalTypeSpecial:
      (*cip_path) |= LOGICAL_SEGMENT_TYPE_SPECIAL;
      break;
    case kLogicalSegmentLogicalTypeServiceId:
      (*cip_path) |= LOGICAL_SEGMENT_TYPE_SERVICE_ID;
      break;
    case kLogicalSegmentLogicalTypeExtendedLogical:
      (*cip_path) |= LOGICAL_SEGMENT_TYPE_EXTENDED_LOGICAL;
      break;
    default:
      OPENER_TRACE_ERR(
        "Logical segment/logical type: It is not possible to reach this point!\n");
      OPENER_ASSERT(false);
      break;
  }
}

LogicalSegmentLogicalFormat GetPathLogicalSegmentLogicalFormat(
  const unsigned char *const cip_path) {
  OPENER_ASSERT(kSegmentTypeLogicalSegment == GetPathSegmentType(cip_path) );
  const unsigned int kLogicalFormatMask = 0x03;
  const unsigned int logical_format = (*cip_path) & kLogicalFormatMask;
  LogicalSegmentLogicalFormat result = kLogicalSegmentLogicalFormatInvalid;
  switch(logical_format) {
    case LOGICAL_SEGMENT_FORMAT_EIGHT_BIT:
      result = kLogicalSegmentLogicalFormatEightBit;
      break;
    case LOGICAL_SEGMENT_FORMAT_SIXTEEN_BIT:
      result = kLogicalSegmentLogicalFormatSixteenBit;
      break;
    case LOGICAL_SEGMENT_FORMAT_THIRTY_TWO_BIT:
      result = kLogicalSegmentLogicalFormatThirtyTwoBit;
      break;
    default:
      OPENER_TRACE_ERR(
        "Logical segment/logical type: Invalid logical type detected!\n");
      break;
  }
  return result;
}

void SetPathLogicalSegmentLogicalFormat(LogicalSegmentLogicalFormat format,
                                        CipOctet *const cip_path) {
  OPENER_ASSERT(kSegmentTypeLogicalSegment ==
                GetPathSegmentType( (const CipOctet * )cip_path ) );
  switch(format) {
    case kLogicalSegmentLogicalFormatEightBit:
      (*cip_path) |= LOGICAL_SEGMENT_FORMAT_EIGHT_BIT;
      break;
    case kLogicalSegmentLogicalFormatSixteenBit:
      (*cip_path) |= LOGICAL_SEGMENT_FORMAT_SIXTEEN_BIT;
      break;
    case kLogicalSegmentLogicalFormatThirtyTwoBit:
      (*cip_path) |= LOGICAL_SEGMENT_FORMAT_THIRTY_TWO_BIT;
      break;
    default:
      OPENER_TRACE_ERR(
        "Logical segment/logical type: Invalid logical type detected!\n");
      OPENER_ASSERT(false);
      break;
  }
}

CipDword CipEpathGetLogicalValue(const EipUint8 **message) {
  LogicalSegmentLogicalFormat logical_format =
    GetPathLogicalSegmentLogicalFormat(*message);
  CipDword data = kLogicalSegmentLogicalFormatInvalid;
  (*message) += 1; /* Move to logical value */
  switch(logical_format) {
    case kLogicalSegmentLogicalFormatEightBit:
      data = GetByteFromMessage(message);
      break;
    case kLogicalSegmentLogicalFormatSixteenBit:
      (*message) += 1; /* Pad byte needs to be skipped */
      data = GetWordFromMessage(message);
      break;
    case kLogicalSegmentLogicalFormatThirtyTwoBit:
      (*message) += 1; /* Pad byte needs to be skipped */
      data = GetDwordFromMessage(message);
      break;
    default:
      OPENER_TRACE_ERR(
        "Logical segment/logical type: Invalid logical value detected!\n");
      break;
  }
  return data;
}

void CipEpathSetLogicalValue(const CipDword logical_value,
                             const LogicalSegmentLogicalFormat logical_format,
                             CipMessageRouterResponse *const message) {
  switch(logical_format) {
    case kLogicalSegmentLogicalFormatEightBit:
      OPENER_ASSERT( (logical_value <= UINT8_MAX) ); /* Sanity check before casting to a smaller integer. */
      AddSintToMessage( (EipUint8)logical_value, &message->message );
      break;
    case kLogicalSegmentLogicalFormatSixteenBit:
      MoveMessageNOctets(1, &message->message); /* Needed for padding */
      OPENER_ASSERT( (logical_value <= UINT16_MAX) ); /* Sanity check before casting to a smaller integer. */
      AddIntToMessage( (EipUint16)logical_value, &message->message );
      break;
    case kLogicalSegmentLogicalFormatThirtyTwoBit:
      MoveMessageNOctets(1, &message->message); /* Needed for padding */
      AddDintToMessage(logical_value, &message->message);
      break;
    default:
      OPENER_ASSERT(false); /* This should never happen! */
      break;
  }
}

LogicalSegmentExtendedLogicalType GetPathLogicalSegmentExtendedLogicalType(
  const unsigned char *const cip_path) {
  /*  OPENER_ASSERT(LOGICAL_SEGMENT_TYPE_EXTENDED_kLogicalSegmentLogicalTypeExtendedLogicalMessageValue == GetPathLogicalSegmentLogicalType(cip_path),
     "Trying to extract non-existent extended logical type") */
  OPENER_ASSERT(kLogicalSegmentLogicalTypeExtendedLogical == GetPathLogicalSegmentLogicalType(
                  cip_path) );
  const unsigned int extended_logical_type = *(cip_path + 1);
  LogicalSegmentExtendedLogicalType result =
    kLogicalSegmentExtendedLogicalTypeInvalid;
  switch(extended_logical_type) {
    case LOGICAL_SEGMENT_EXTENDED_TYPE_ARRAY_INDEX:
      result = kLogicalSegmentExtendedLogicalTypeArrayIndex;
      break;
    case LOGICAL_SEGMENT_EXTENDED_TYPE_INDIRECT_ARRAY_INDEX:
      result = kLogicalSegmentExtendedLogicalTypeIndirectArrayIndex;
      break;
    case LOGICAL_SEGMENT_EXTENDED_TYPE_BIT_INDEX:
      result = kLogicalSegmentExtendedLogicalTypeBitIndex;
      break;
    case LOGICAL_SEGMENT_EXTENDED_TYPE_INDIRECT_BIT_INDEX:
      result = kLogicalSegmentExtendedLogicalTypeIndirectBitIndex;
      break;
    case LOGICAL_SEGMENT_EXTENDED_TYPE_STRUCTURE_MEMBER_NUMBER:
      result = kLogicalSegmentExtendedLogicalTypeStructureMemberNumber;
      break;
    case LOGICAL_SEGMENT_EXTENDED_TYPE_STRUCTURE_MEMBER_HANDLE:
      result = kLogicalSegmentExtendedLogicalTypeStructureMemberHandle;
      break;
    case LOGICAL_SEGMENT_EXTENDED_TYPE_RESERVED:
      result = kLogicalSegmentExtendedLogicalTypeReserved;
      break;
    default:
      OPENER_TRACE_ERR(
        "Logical segment/logical type: Invalid extended type detected!\n");
  }
  return result;
}

LogicalSegmentSpecialTypeLogicalFormat
GetPathLogicalSegmentSpecialTypeLogicalType(const unsigned char *const cip_path)
{
  /*  OPENER_ASSERT(kSegmentTypeLogicalSegment == GetPathSegmentType(cip_path), "Not a logical segment!\n") */
  OPENER_ASSERT(kSegmentTypeLogicalSegment == GetPathSegmentType(cip_path) );
  OPENER_ASSERT(kLogicalSegmentLogicalTypeSpecial == GetPathLogicalSegmentLogicalType(
                  cip_path) );
  const unsigned int kLogicalFormatMask = 0x03;
  const unsigned int logical_format = (*cip_path) & kLogicalFormatMask;

  LogicalSegmentSpecialTypeLogicalFormat result =
    kLogicalSegmentSpecialTypeLogicalFormatReserved;
  switch(logical_format) {
    case LOGICAL_SEGMENT_SPECIAL_TYPE_FORMAT_ELECTRONIC_KEY:
      result = kLogicalSegmentSpecialTypeLogicalFormatElectronicKey;
      break;
    default:
      result = kLogicalSegmentSpecialTypeLogicalFormatReserved;
      break;
  }
  return result;
}

ElectronicKeySegmentFormat GetPathLogicalSegmentElectronicKeyFormat(
  const unsigned char *const cip_path) {
  /*  OPENER_ASSERT(kLogicalSegmentSpecialTypeLogicalFormatElectronicKey ==
     GetPathLogicalSegmentSpecialTypeLogicalType(cip_path), "Not an electronic key!\n") */
  OPENER_ASSERT(kLogicalSegmentSpecialTypeLogicalFormatElectronicKey == GetPathLogicalSegmentSpecialTypeLogicalType(
                  cip_path) );
  ElectronicKeySegmentFormat result = kElectronicKeySegmentFormatReserved;
  switch(*(cip_path + 1) ) {
    case ELECTRONIC_KEY_SEGMENT_KEY_FORMAT_4:
      result = kElectronicKeySegmentFormatKeyFormat4;
      break;
    default:
      result = kElectronicKeySegmentFormatReserved;
      break;
  }
  return result;
}

void GetElectronicKeyFormat4FromMessage(const CipOctet **const message,
                                        ElectronicKeyFormat4 *key) {
  OPENER_ASSERT(kElectronicKeySegmentFormatKeyFormat4 == GetPathLogicalSegmentElectronicKeyFormat(
                  *message) );

  (*message) += 2;
  ElectronicKeyFormat4SetVendorId(key, GetUintFromMessage(message) );
  ElectronicKeyFormat4SetDeviceType(key, GetUintFromMessage(message) );
  ElectronicKeyFormat4SetProductCode(key, GetUintFromMessage(message) );
  ElectronicKeyFormat4SetMajorRevisionCompatibility(key,
                                                    GetByteFromMessage(message) );
  ElectronicKeyFormat4SetMinorRevision(key, GetUsintFromMessage(message) );
}

/*** Logical Segment ***/

/*** Network Segment ***/

/** @brief Return the Network Segment subtype
 *
 *  @param cip_path Pointer to the start of the EPath message
 *  @return The Network Segment subtype of the EPath
 */
NetworkSegmentSubtype GetPathNetworkSegmentSubtype(
  const unsigned char *const cip_path) {
  OPENER_ASSERT(kSegmentTypeNetworkSegment == GetPathSegmentType(cip_path) );
  const unsigned int kSubtypeMask = 0x1F;
  const unsigned int subtype = (*cip_path) & kSubtypeMask;
  NetworkSegmentSubtype result = kNetworkSegmentSubtypeReserved;
  switch(subtype) {
    case NETWORK_SEGMENT_SCHEDULE:
      result = kNetworkSegmentSubtypeScheduleSegment;
      break;
    case NETWORK_SEGMENT_FIXED_TAG:
      result = kNetworkSegmentSubtypeFixedTagSegment;
      break;
    case NETWORK_SEGMENT_PRODUCTION_INHIBIT_TIME_IN_MILLISECONDS:
      result = kNetworkSegmentSubtypeProductionInhibitTimeInMilliseconds;
      break;
    case NETWORK_SEGMENT_SAFETY:
      result = kNetworkSegmentSubtypeSafetySegment;
      break;
    case NETWORK_SEGMENT_PRODUCTION_INHIBIT_TIME_IN_MICROSECONDS:
      result = kNetworkSegmentSubtypeProductionInhibitTimeInMicroseconds;
      break;
    case NETWORK_SEGMENT_EXTENDED_NETWORK:
      result = kNetworkSegmentSubtypeExtendedNetworkSegment;
      break;
    default:
      result = kNetworkSegmentSubtypeReserved;
      break;
  }

  return result;
}

/**
 * @brief Return the Production Inhibit Time in milliseconds from an EPath
 *
 * @param cip_path Pointer to the start of the EPath message
 * @return the Production Inhibit Time in milliseconds ranging from 0 to 255
 */
CipUsint GetPathNetworkSegmentProductionInhibitTimeInMilliseconds(
  const unsigned char *const cip_path) {
  /*  OPENER_ASSERT(kSegmentTypeNetworkSegment == GetPathSegmentType(cip_path),"Not a network segment!\n")
     OPENER_ASSERT(kNetworkSegmentSubtypeProductionInhibitTimeInMilliseconds == GetPathNetworkSegmentSubtype(cip_path),
     "Not a Production Inhibit Time milliseconds segment!\n") */
  OPENER_ASSERT(kSegmentTypeNetworkSegment == GetPathSegmentType(cip_path) );
  OPENER_ASSERT(kNetworkSegmentSubtypeProductionInhibitTimeInMilliseconds == GetPathNetworkSegmentSubtype(
                  cip_path) );
  return *(cip_path + 1);
}

/**
 * @brief Return the Production Inhibit Time in microseconds from an EPath
 *
 * @param cip_path Pointer to the start of the EPath message
 * @return the Production Inhibit Time in microseconds ranging from 0 to 4294967295
 */
CipUdint GetPathNetworkSegmentProductionInhibitTimeInMicroseconds(
  const unsigned char *const cip_path) {
  /*  OPENER_ASSERT(kSegmentTypeNetworkSegment == GetPathSegmentType(cip_path),"Not a network segment!\n")
     OPENER_ASSERT(kNetworkSegmentSubtypeProductionInhibitTimeInMicroseconds == GetPathNetworkSegmentSubtype(cip_path),
     "Not a Production Inhibit Time microseconds segment!\n")
     OPENER_ASSERT(2 == *(cip_path + 1), "Data Words length is incorrect! See CIP Spec Vol.1 C-1.4.3.3.2\n") */

  OPENER_ASSERT(kSegmentTypeNetworkSegment == GetPathSegmentType(cip_path) );
  OPENER_ASSERT(kNetworkSegmentSubtypeProductionInhibitTimeInMicroseconds == GetPathNetworkSegmentSubtype(
                  cip_path) );
  OPENER_ASSERT(2 == *(cip_path + 1) );

  const unsigned char *message_runner = cip_path + 2;
  return GetUdintFromMessage(&message_runner);
}

/*** Network Segment ***/

/*** Symbolic Segment ***/

SymbolicSegmentFormat GetPathSymbolicSegmentFormat(
  const unsigned char *const cip_path) {
  const unsigned int kSymbolicSegmentFormatMask = 0x1F;
  if(SYMBOLIC_SEGMENT_FORMAT_EXTENDED_STRING ==
     (*cip_path & kSymbolicSegmentFormatMask) ) {
    return kSymbolicSegmentFormatExtendedString;
  }
  return kSymbolicSegmentFormatASCII;
}

unsigned int GetPathSymbolicSegmentASCIIFormatLength(
  const unsigned char *const cip_path) {
  const unsigned int kSymbolicSegmentASCIIFormatLength = 0x1F;
  const unsigned int length = *cip_path & kSymbolicSegmentASCIIFormatLength;
  OPENER_ASSERT(0 != length);
  return length;
}

SymbolicSegmentExtendedFormat GetPathSymbolicSegmentNumericType(
  const unsigned char *const cip_path) {
  const unsigned int kSymbolicSegmentExtendedFormatNumericTypeMask = 0x1F;
  const unsigned int numeric_subtype = *(cip_path + 1) &
                                       kSymbolicSegmentExtendedFormatNumericTypeMask;
  SymbolicSegmentExtendedFormat result = kSymbolicSegmentExtendedFormatReserved;
  switch(numeric_subtype) {
    case SYMBOLIC_SEGMENT_EXTENDED_FORMAT_NUMERIC_USINT_TYPE:
      result = kSymbolicSegmentExtendedFormatNumericSymbolUSINT;
      break;
    case SYMBOLIC_SEGMENT_EXTENDED_FORMAT_NUMERIC_UINT_TYPE:
      result = kSymbolicSegmentExtendedFormatNumericSymbolUINT;
      break;
    case SYMBOLIC_SEGMENT_EXTENDED_FORMAT_NUMERIC_UDINT_TYPE:
      result = kSymbolicSegmentExtendedFormatNumericSymbolUDINT;
      break;
    default:
      result = kSymbolicSegmentExtendedFormatReserved;
      break;
  }
  return result;
}

SymbolicSegmentExtendedFormat GetPathSymbolicSegmentExtendedFormat(
  const unsigned char *const cip_path) {
  OPENER_ASSERT(kSegmentTypeSymbolicSegment == GetPathSegmentType(cip_path) );
  OPENER_ASSERT(kSymbolicSegmentFormatExtendedString == GetPathSymbolicSegmentFormat(
                  cip_path) );
  const unsigned int kSymbolicSegmentExtendedFormatMask = 0xE0;
  const unsigned int extended_type = *(cip_path + 1) &
                                     kSymbolicSegmentExtendedFormatMask;
  SymbolicSegmentExtendedFormat result = kSymbolicSegmentExtendedFormatReserved;
  switch(extended_type) {
    case SYMBOLIC_SEGMENT_EXTENDED_FORMAT_DOUBLE_CHAR:
      result = kSymbolicSegmentExtendedFormatDoubleByteChars;
      break;
    case SYMBOLIC_SEGMENT_EXTENDED_FORMAT_TRIPLE_CHAR:
      result = kSymbolicSegmentExtendedFormatTripleByteChars;
      break;
    case SYMBOLIC_SEGMENT_EXTENDED_FORMAT_NUMERIC:
      result = GetPathSymbolicSegmentNumericType(cip_path);
      break;
    default:
      result = kSymbolicSegmentExtendedFormatReserved;
      break;
  }
  return result;
}

/*** Symbolic Segment ***/

/*** Data Segment ***/

DataSegmentSubtype GetPathDataSegmentSubtype(const unsigned char *const cip_path)
{
  const unsigned int kDataSegmentSubtypeMask = 0x1F;
  const unsigned int data_subtype = (*cip_path) & kDataSegmentSubtypeMask;

  DataSegmentSubtype result = kDataSegmentSubtypeReserved;
  switch(data_subtype) {
    case DATA_SEGMENT_SUBTYPE_SIMPLE_DATA:
      result = kDataSegmentSubtypeSimpleData;
      break;
    case DATA_SEGMENT_SUBTYPE_ANSI_EXTENDED_SYMBOL:
      result = kDataSegmentSubtypeANSIExtendedSymbol;
      break;
    default:
      result = kDataSegmentSubtypeReserved;
      break;
  }
  return result;
}

/** @brief Returns the amount of 16-bit data words in the Simple Data EPath
 *
 * @param cip_path Pointer to the start of the EPath message
 * @return The amount of 16-bit words of data in the EPath
 */
CipUsint GetPathDataSegmentSimpleDataWordLength(
  const unsigned char *const cip_path) {
  /*  OPENER_ASSERT(kSegmentTypeDataSegment == GetPathSegmentType(cip_path),"Not a data segment!\n");
     OPENER_ASSERT(kDataSegmentSubtypeSimpleData == GetPathDataSegmentSubtype(cip_path), "Not a simple data segment!\n") */
  OPENER_ASSERT(kSegmentTypeDataSegment == GetPathSegmentType(cip_path) );
  OPENER_ASSERT(kDataSegmentSubtypeSimpleData ==
                GetPathDataSegmentSubtype(cip_path) );

  const unsigned char *message_runner = cip_path + 1;
  return GetUsintFromMessage(&message_runner);
}

/*** End Data Segment ***/

/* Special purpose functions */

LogicalSegmentLogicalFormat CipEpathGetNeededLogicalFormatForValue(
  CipDword value) {
  LogicalSegmentLogicalFormat logical_format =
    kLogicalSegmentLogicalFormatEightBit;
  if(0xFF < value) {
    logical_format = kLogicalSegmentLogicalFormatSixteenBit;
  }
  if(0xFFFF < value) {
    logical_format = kLogicalSegmentLogicalFormatThirtyTwoBit;
  }
  return logical_format;
}

//TODO: Does not match the actual interface anymore, check how to fix
size_t CipEpathEncodeConnectionEpath(
  const CipConnectionPathEpath *const connection_epath,
  CipOctet **encoded_path) {

  size_t encoded_path_length = 0;
  {
    SetPathSegmentType(kSegmentTypeLogicalSegment, *encoded_path);
    SetPathLogicalSegmentLogicalType(kLogicalSegmentLogicalTypeClassId,
                                     *encoded_path);
    LogicalSegmentLogicalFormat logical_value =
      CipEpathGetNeededLogicalFormatForValue(connection_epath->class_id);
    SetPathLogicalSegmentLogicalFormat(logical_value, *encoded_path);
    encoded_path_length += 1;
    MoveMessageNOctets(1, (ENIPMessage *const) encoded_path);
    CipEpathSetLogicalValue(connection_epath->class_id,
                            logical_value,
                            (CipMessageRouterResponse *const)encoded_path);
  }

  {
    SetPathSegmentType(kSegmentTypeLogicalSegment, *encoded_path);
    SetPathLogicalSegmentLogicalType(kLogicalSegmentLogicalTypeClassId,
                                     *encoded_path);
    LogicalSegmentLogicalFormat logical_value =
      CipEpathGetNeededLogicalFormatForValue(connection_epath->instance_id);
    SetPathLogicalSegmentLogicalFormat(logical_value, *encoded_path);
    encoded_path_length += 1;
    MoveMessageNOctets(1, (ENIPMessage *const) encoded_path);
    CipEpathSetLogicalValue(connection_epath->instance_id,
                            logical_value,
                            (CipMessageRouterResponse *const)encoded_path);
  }

  if(0 != connection_epath->attribute_id_or_connection_point) {
    SetPathSegmentType(kSegmentTypeLogicalSegment, *encoded_path);
    SetPathLogicalSegmentLogicalType(kLogicalSegmentLogicalTypeClassId,
                                     *encoded_path);
    LogicalSegmentLogicalFormat logical_value =
      CipEpathGetNeededLogicalFormatForValue(
        connection_epath->attribute_id_or_connection_point);
    SetPathLogicalSegmentLogicalFormat(logical_value, *encoded_path);
    encoded_path_length += 1;
    MoveMessageNOctets(1, (ENIPMessage *const) encoded_path);
    CipEpathSetLogicalValue(connection_epath->attribute_id_or_connection_point,
                            logical_value,
                            (CipMessageRouterResponse *const)encoded_path);
  }
  return encoded_path_length += 1;
}

bool CipEpathEqual(const CipOctet *const path1,
                   const CipUint path1_length,
                   const CipOctet *const path2,
                   const CipUint path2_length) {
  if(path1_length != path2_length) {
    return false;
  }
  for(size_t i = 0; i < path1_length; ++i) {
    if(path1[i] != path2[i]) {
      return false;
    }
  }
  return true;
}