Diff: include/Node.h

Revision:

5:22a337cdc0e3

Parent:

4:2034b04c86d2

diff -r 2034b04c86d2 -r 22a337cdc0e3 include/Node.h
--- a/include/Node.h	Sat Jan 09 17:15:29 2016 +0000
+++ b/include/Node.h	Sat Feb 13 20:22:59 2016 +0000
@@ -29,12 +29,14 @@
 #ifndef PPCAN_NODE_H
 #define PPCAN_NODE_H
 
+#include "ObjectDictionary.h"
 
 /*=========================================================================
  * Forward declarations
  *=========================================================================
  */
 struct CanOpenMessage;
+//struct ObjectData;
 
 /* NMT Constants --------------------------------------------------------*/
 #define NMT_STATE_TOGGLE_BIT      0x80
@@ -47,8 +49,6 @@
 
 /* Avoid circular reference */
 class ServiceProvider;
-class ObjectDictionary;
-
 
 
 /** Node Class to implement feature of a CANOpen NMT node
@@ -57,6 +57,11 @@
 {
 public:
 
+    /* ========================================================================
+     * Internal structures and constants
+     * ========================================================================
+     */
+     
     /** Node network management state */
     struct State {
         static const int INITIALIZED     = 0x00;
@@ -80,45 +85,60 @@
         int bLifeGuardToggle;
     };
 
+    /* ========================================================================
+     * Construction
+     * ========================================================================
+     */
+     
     /** Maintain the multitude of states for a node */
-
-    Node (ServiceProvider * provider);    
+    Node (int id, ServiceProvider * provider, int bLoop = 0);    
 
     /* ========================================================================
-     * Methods to handle operation of node device
+     * Public Methods
      * ========================================================================
      */
     
-    // TODO: pass elapsed time to Update method
-    virtual void Update (void);
+    /** Call from ServiceProvider on an interrupt */
+    void FixedUpdate (uint32_t time);
+    
+    /** Call from ServiceProvider every loop of Run() */
+    void Update (void);
     
+    /** Handle message given by the ServiceProvider*/
+     int DispatchMessage(CanOpenMessage *canOpenMsg);
+     
     /* ========================================================================
-     * Message indication
-     * Called by a ServiceProvider when a message is received.
+     * Public Member Variables
      * ========================================================================
      */
      
-    /**
-      * @note
+    /* Common Node properties -----------------------------------------------*/
+    /** Network id for the node
+      * @note Ref is held in object dictionary and upon setting, may need to
+      * update some other objects.
       */
-     int DispatchMessage(CanOpenMessage *canOpenMsg);
+    int nodeId;
 
+    /** Loopback Mode.  Default off (0), if on (1) then will hear it's own 
+      * messages
+      */
+    int bLoopbackOn;
 
 protected:
 
     /* ========================================================================
-     * Methods to handle various messages
-     * Called by a ServiceProvider when a message is received.
+     * Protected? Methods to handle various messages
+     * Used to deal with everything from inside of Dispatch Message
      * ========================================================================
      */
     
     /* PDO (7.2.2), MPDO (7.2.3) --------------------------------------------*/
     
-    int ConsumePdo (int pdoNum, char * dataIn);
-    int HandlePdoReadRequest (int pdoNum);
+    int HandlePdo (CanOpenMessage *canOpenMsg);
     
     
     /* SDO (7.2.4) ----------------------------------------------------------*/
+    int HandleSdo (CanOpenMessage *canOpenMsg);
     
     int HandleExpeditedDownload (int sdoNum, int index, int subIndex, int dataCount, char * data);
     int HandleInitiateDownloadRequest (int sdoNum, int index, int subIndex, int dataCount, char * data);
@@ -129,12 +149,10 @@
     // TODO: express and not express
     
     /* SYNC object (7.2.5) --------------------------------------------------*/
-    
-    // TODO: SYNC consumer 
+    int HandleSync (CanOpenMessage *canOpenMsg);
     
     /* Time Stamp object (7.2.6) --------------------------------------------*/
-    
-    // TODO: time consumer
+    /* Handled all inside of the ServiceProvider */
     
     /* Emergency object (7.2.7) ---------------------------------------------*/
     
@@ -143,7 +161,7 @@
     
     /* Network Management (7.2.8) -------------------------------------------*/
     /* ---- Node Control (7.2.8.2.1) ----------------------------------------*/
-    int HandleNodeControl (int commandSpecifier);
+    int HandleNodeControl (CanOpenMessage *canOpenMsg);
 
 
     /* ---- Error Control (7.2.8.2.2) ---------------------------------------*/
@@ -151,17 +169,34 @@
     int HandleNodeGuardRequest (int masterId);
     int ConsumeHeartbeat (int producerId);
     
-    
+protected:
+
     /* ========================================================================
-     * Methods to implement node control in derived classes
+     * Protected Methods to implement node application in derived classes
      * ========================================================================
      */
      
-     /** Perform actions every cycle
+     /** Perform actions every cycle (when in operational mode)
+       * @note Override to implement user application
+       * @note The OnTick function should avoid modifying data in the object
+       * dictionary unless necessary, because there will almost certainly be 
+       * a race condition.
+       */
+     virtual void OnFixedUpdate(void) = 0;
+     
+     
+     
+     virtual void OnUpdate(void) = 0;
+    
+    
+    /* SYNC -----------------------------------------------------------------*/
+    /** Perform actions when state changed to stop
       * @note Override to implement user application
       */
-     virtual void OnUpdate(void) = 0;
+    virtual void OnSync (uint8_t counter) = 0;
     
+    
+    /* NMT Node Control -----------------------------------------------------*/
     /** Perform actions when node reset
       * @note Override to implement user application
       */
@@ -182,36 +217,61 @@
       */
     virtual void OnStopped (void) = 0;
     
+    /* Object Dictionary Handling -------------------------------------------*/
+    /** Abstract method to give access to the object entries of derived
+      * classes
+      */
+    virtual ObjectData * ScanIndex(IndexSize index) = 0;
+
+
     /* ========================================================================
-     * Protected Members
+     * Protected Methods to Post Messages
      * ========================================================================
      */
+     
+    int PostTPDO (int cobId);
 
-    /** object dictionary */
-    ObjectDictionary * pMyDictionary;
 
-private:
+    /* ========================================================================
+     * Protected Member Variables
+     * ========================================================================
+     */
+     
+    /* Object Dictionary Handling -------------------------------------------*/
+    /** Array of ObjectData to contain all of the object dictionary data */
+    ObjectData *dictionary;
+    
+    /* Elapsed Time ---------------------------------------------------------*/
+    /** Millisecond time stamp at this OnTick() */
+    uint32_t timeCurrentTick;
+    
+    /** Millisecond difference between current OnTick() and the previous */
+    uint32_t timeSinceLastTick;
+
+// should be private
+// TODO: implement functions in Node class to post all types of messages so
+//       derived classes do not have to consider message structure.
+protected:
 
     /* ========================================================================
      * Private members
      * ========================================================================
      */
      
-     
-    /** Reference to Service Provider that this node is attached to.
-      * @note May need to be a pointer, because node id is held in object dictionary
-      */
+    /* ServiceProvider ------------------------------------------------------*/
+    /** Reference to Service Provider that this node is attached to */
     ServiceProvider * pMyProvider;
-     
-    /** Network id for the node
-      * @note May need to be a pointer, because node id is held in object dictionary
-      */
-    int nodeId;
+
+private:  
+    /* Common Node Methods --------------------------------------------------*/
+    /** Change state of the node */
+    void ChangeState(int newState);
     
-    /** Network and communication state of the node
-      * @note
-      */
-    State state;     
+    /* Common Node properties -----------------------------------------------*/    
+    /** Network and communication state of the node */
+    State state;
+    
+    
 };
 
 } /* namespace ppCANOpen */