Paul Paterson / ppCANOpen

library for C++ CANOpen implementation. mbed independant, but is easy to attach into with mbed.

Dependents:   ppCANOpen_Example DISCO-F746NG_rtos_test

Example:

Import programppCANOpen_Example

I am no longer actively working on the ppCANOpen library, however, I want to publish this project so that anyone who wants to pick up any of the pieces can have a good example. This is a a project I was working on using the ppCANOpen library. It has a pretty in deep use of the object dictionary structure. And a number of functions to control high voltage pinball drivers, if you're into that sort of thing.

Last commit 19 Mar 2016 by Paul Paterson

include/ServiceProvider.h

Committer:
ptpaterson
Date:
2016-01-09
Revision:
4:2034b04c86d2
Parent:
3:12b3c25bdeba
Child:
5:22a337cdc0e3

File content as of revision 4:2034b04c86d2:

/**
 ******************************************************************************
 * @file
 * @author  Paul Paterson
 * @version
 * @date    2015-12-22
 * @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/>.
 */

#ifndef PPCAN_SERVICE_PROVIDER_H
#define PPCAN_SERVICE_PROVIDER_H

#include "CanOpenMessage.h"
#include <queue>

/*=========================================================================
 * Forward declarations
 *=========================================================================
 */  
 
struct CanOpenHandle;

namespace ppCANOpen
{

/* Avoid circular reference */
class Node;

/** Node Class to implement feature of a CANOpen NMT node
 */
class ServiceProvider
{
public:

    

    ServiceProvider (void);
    ~ServiceProvider (void);
    
    /** Main loop */
    void Run (void);
    
    /** 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:
    
    /** 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
     */
    Node * nodes[SERVICE_MAX_NODES];
    
    /** Keeps count of current number of nodes.
      * @note
      */
    int nodeCount;
    
    /** stores handle for can open api */
    CanOpenHandle * hCanOpen;

};    
    
} /* namspace ppCANOpen */

#endif /* PPCAN_SERVICE_PROVIDER_H */