File content as of revision 3:12b3c25bdeba:

/**
 ******************************************************************************
 * @file
 * @author  Paul Paterson
 * @version
 * @date    2015-12-14
 * @brief   CANOpen implementation library
 ******************************************************************************
 * @attention
 *
 * <h2><center>&copy; COPYRIGHT(c) 2015 Paul Paterson
 *
 * All rights reserved.

 This program is free software: you can redistribute it and/or modify
 it under the terms of the GNU General Public License as published by
 the Free Software Foundation, either version 3 of the License, or
 (at your option) any later version.

 This program is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 GNU General Public License for more details.

 You should have received a copy of the GNU General Public License
 along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#include "Node.h"
#include "ServiceProvider.h"
#include "ObjectDictionary.h"

namespace ppCANOpen
{

Node::Node (ServiceProvider * provider) 
{
    provider->AddNode(this);
}

/*=============================================================================
 * Methods to handle message indication and confirmation
 *=============================================================================
 */

int Node::DispatchMessage(CanOpenMessage *canOpenMsg)
{
    int command = MESSAGE_GET_COMMAND(canOpenMsg->id);
    int nodeId = MESSAGE_GET_NODEID(canOpenMsg->id);
    
    switch (command) {
        case CANOPEN_FUNCTION_CODE_NMT:
            if (canOpenMsg->data[0] == nodeId) {
                HandleNodeControl ((int)canOpenMsg->data[1]);
            }
            break;
        default:
            break;
    }
    
    return 1;
}

/*=============================================================================
 * Methods to handle message indication and confirmation
 *=============================================================================
 */

int Node::ConsumePdo (const int pdoNum, char *const data)
{
    return 0;
}

int Node::HandlePdoReadRequest (const int pdoNum)
{
    return 0;
}

int Node::ConsumeEmergency (void)
{
    return 0;
}

int Node::HandleNodeControl (int commandSpecifier)
{
    int result = 0;
    
    switch (commandSpecifier) {
        case NMT_CS_START:
            if (state.nmtState != NMT_STATE_INITIALIZED) {
                state.nmtState = NMT_STATE_OPERATIONAL;
                state.bBoot         = 0;
                state.bSDO          = 1;
                state.bEmergency    = 1;
                state.bSYNC         = 1;
                state.bLifeGuard    = 1;
                state.bPDO          = 1;
                state.bLSS          = 0;
                OnOperational();
                result = 1;
            }
            break;
            
        case NMT_CS_STOP:
            if (state.nmtState != NMT_STATE_INITIALIZED) {
                state.nmtState = NMT_STATE_STOPPED;
                state.bBoot         = 0;
                state.bSDO          = 0;
                state.bEmergency    = 0;
                state.bSYNC         = 0;
                state.bLifeGuard    = 1;
                state.bPDO          = 0;
                state.bLSS          = 1;
            }
            OnStopped();
            result = 1;
            break;
            
        case NMT_CS_ENTER_PREOP:
            state.nmtState = NMT_STATE_PREOPERATIONAL;
            state.bBoot         = 0;
            state.bSDO          = 1;
            state.bEmergency    = 1;
            state.bSYNC         = 1;
            state.bLifeGuard    = 1;
            state.bPDO          = 0;
            state.bLSS          = 1;
            OnPreoperational();
            result = 1;
            break;
            
        case NMT_CS_RESET_NODE:
        case NMT_CS_RESET_COM:
            state.nmtState      = NMT_STATE_INITIALIZED;
            state.bBoot         = 1;
            state.bSDO          = 0;
            state.bEmergency    = 0;
            state.bSYNC         = 0;
            state.bLifeGuard    = 0;
            state.bPDO          = 0;
            state.bLSS          = 0;
            OnInitialize();
            result = 1;
            break;
            
        default:
            break;
    }
    
    return result;
}

int Node::HandleNodeGuardRequest (const int masterId)
{
    return 0;
}

int Node::ConsumeHeartbeat (const int producerId)
{
    return 0;
}

/*=============================================================================
 * Methods to handle operation of node device
 *=============================================================================
 */
 
void Node::Update (void)
{
     if (NMT_STATE_OPERATIONAL == state.nmtState) {
        OnUpdate();
     }
}

/*=============================================================================
 * Methods to implement node control in derived classes
 *=============================================================================
 */

/*=============================================================================
 * Local functions
 *=============================================================================
 */
 
 

} /* namspace ppCANOpen */