Diff: include/ServiceProvider.h

Revision:

4:2034b04c86d2

Parent:

3:12b3c25bdeba

Child:

5:22a337cdc0e3

--- a/include/ServiceProvider.h	Mon Jan 04 06:10:49 2016 +0000
+++ b/include/ServiceProvider.h	Sat Jan 09 17:15:29 2016 +0000
@@ -29,7 +29,15 @@
 #ifndef PPCAN_SERVICE_PROVIDER_H
 #define PPCAN_SERVICE_PROVIDER_H
 
-#include "canopen_protocol.h"
+#include "CanOpenMessage.h"
+#include <queue>
+
+/*=========================================================================
+ * Forward declarations
+ *=========================================================================
+ */  
+ 
+struct CanOpenHandle;
 
 namespace ppCANOpen
 {
@@ -43,117 +51,52 @@
 {
 public:
 
+    
+
     ServiceProvider (void);
     ~ServiceProvider (void);
     
-    /** Main loop
-     *  @note
-     *  @param
-     *  @retval
-     */
+    /** Main loop */
     void Run (void);
     
-    /**
-     *  @note
-     *  @param
-     *  @retval
-     */
+    /** Register a node to get messages and get update calls
+      * @note
+      * @param
+      * @retval
+      */
     int AddNode (Node * node);
     
+    /** Register a node to get messages and get update calls
+      * @note
+      * @param
+      * @retval
+      */
+      
+    /** Add a message to the message queue outbox
+      * @note
+      * @param
+      */
+    void PostMessage (CanOpenMessage * msg);
+    
     // TODO: remove node (swap pointers to fill in nicely
 private:
     
-    static const int SERVICE_MAX_NODES = 8;
-
-    /* ========================================================================
-     * Methods to handle message requests and responses
-     * Called by the node, usually during Update() or during handling of
-     * incoming messages.
-     * ========================================================================
-     */
-    
-    /* PDO (7.2.2), MPDO (7.2.3) --------------------------------------------*/
-    
-    /** Build and send a PDO request
-     *  @note
-     *  @param
-     */
-    void RequestPdo (int pdoNum);
-    
-    /** Build and send a PDO
-     *  @note
-     *  @param
-     */
-    void ProducePdo (int pdoNum, char * data);
-    
-    
-    /* SDO (7.2.4) ----------------------------------------------------------*/
-    
-    /** initiate SDO download
-     *  @note Handles automatically whether it will be a expedited transfer or
-     *  or if message will be split into   
-     *  @param
-     *
-     *  Node will create a big data array and Service provide will have to
-     *  iterate through and send all of the data.  ServiceProvider will pass
-     *  the confirmation to the node, and the node will free up it's buffer.
-     */
-    void DownloadSdo (int sdoNum, int index, int subindex, int size, char * data);
-    
-    /** initiate SDO upload
-     *  @note 
-     *  @param
-     */
-    void UploadSdo (int sdoNum, int index, int subindex);
-    
-    /** Acknowledge that SDO was recieved properly
-     *  @note 
-     *  @param
-     */
-    void ConfirmSdo (int sdoNum, int bSuccess);
-    
-    /** Abort current SDO transfer
-     *  @note 
-     *  @param
-     */
-    void AbortSdo (int sdoNum);
-    
-    
-    /* Emergency object (7.2.7) ---------------------------------------------*/
-    
-    // TODO: emergency producer
-    
-    
-    /* Network Management (7.2.8) -------------------------------------------*/
-    /* ---- Node Control (7.2.8.2.1) ----------------------------------------*/
-
-    /** Build a CANOpen nmt control message to a node
-     *  @note
-     *  @param
-     */
-    int  SendNodeControl (NmtCommandSpecifier cs, unsigned int nodeId);
-
-
-    /* ---- Error Control (7.2.8.2.2) ---------------------------------------*/
-
-    /** Build a CANOpen error control request to a node
-     *  @note
-     *  @param
-     */
-    int  RequestErrorControl (NmtCommandSpecifier cs, unsigned int nodeId);
-
-    /** Build a CANOpen error control response
-     *  @note
-     *  @param
-     */
-    int  RespondErrorControl (NmtCommandSpecifier cs, unsigned int nodeId);
-
+    /** define size of arrays in one place */
+    static const int SERVICE_MAX_NODES = 8;    
 
     /* ========================================================================
      * Private Members
      * ========================================================================
      */
 
+    /** array of messages in a queue
+      * @note twice number of max nodes is a bit arbitrary.  Will need at
+      * least max nodes, but not sure how much more to be safe.
+      */
+    std::queue<CanOpenMessage> outbox;
+    //CanOpenMessage outbox[SERVICE_MAX_NODES * 2];
+    //int messageCount;
+
     /** array of nodes to cycle through.
      *  @note
      */