Diff: include/ServiceProvider.h

Revision:

5:22a337cdc0e3

Parent:

4:2034b04c86d2

--- a/include/ServiceProvider.h	Sat Jan 09 17:15:29 2016 +0000
+++ b/include/ServiceProvider.h	Sat Feb 13 20:22:59 2016 +0000
@@ -51,65 +51,117 @@
 {
 public:
 
-    
-
     ServiceProvider (void);
     ~ServiceProvider (void);
     
+    /* ========================================================================
+     * Public Methods
+     * ========================================================================
+     */
+    
+    /* Main application -----------------------------------------------------*/
     /** Main loop */
     void Run (void);
     
-    /** Register a node to get messages and get update calls
-      * @note
-      * @param
-      * @retval
-      */
+    /** Iterate through Nodes and update */
+    void UpdateNodes(void);
+    
+    /** C helper function to pass to API */
+    static void UpdateNodes_CWrapper(void *pServiceObject);
+    
+    /* Node Management ------------------------------------------------------*/
+    /** Register a node to get messages and get update calls */
     int AddNode (Node * node);
     
-    /** Register a node to get messages and get update calls
-      * @note
-      * @param
-      * @retval
-      */
+    // TODO: remove node (swap pointers to fill in nicely
+    
       
-    /** Add a message to the message queue outbox
-      * @note
-      * @param
+    /* CanMessage Transmission ----------------------------------------------*/
+    /** Add a message to the message queue outbox */
+    void PostMessage (int nodeId, CanOpenMessage * msg);
+    
+    /** quick way to create and send an NMT Control message
+      * @note Make posting a message easier! 
       */
-    void PostMessage (CanOpenMessage * msg);
+    void PostNmtControl (char targetNodeId, NmtCommandSpecifier cs);
+    
+    /* Elapsed Time ---------------------------------------------------------*/
+    /** A way for the the Nodes to get elapsed time when they want it */
+    uint32_t GetTime(void);
     
-    // TODO: remove node (swap pointers to fill in nicely
 private:
+    /* ========================================================================
+     * Private Constants
+     * ========================================================================
+     */
     
-    /** define size of arrays in one place */
+    /** Define size of arrays in one place */
     static const int SERVICE_MAX_NODES = 8;    
 
     /* ========================================================================
-     * Private Members
+     * Private Methods
      * ========================================================================
      */
 
-    /** 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.
+    /* CanMessage Reading ---------------------------------------------------*/
+    /** Function to be called on every CAN read interrupt */
+    void ReadIT(void);
+    
+    /** C helper function used to pass ReadIT() to API */
+    static void ReadIT_CWrapper(void *pServiceObject);
+    
+    /** Helper function that utilizes backup message inbox when the main one
+      * is locked by the application.
       */
-    std::queue<CanOpenMessage> outbox;
-    //CanOpenMessage outbox[SERVICE_MAX_NODES * 2];
-    //int messageCount;
+    void ReadIT_clearBuffer(void);
 
-    /** array of nodes to cycle through.
-     *  @note
+    /* Elapsed Time ---------------------------------------------------------*/
+    /** Synchronize elapsed time*/
+    void HandleTimeMessage(CanOpenMessage *canOpenMsg); 
+    
+    
+    /* ========================================================================
+     * Private Member Variables
+     * ========================================================================
      */
+     
+    /* Node Management -------------------------------------------------------*/
+    /** array of nodes to cycle through. */
     Node * nodes[SERVICE_MAX_NODES];
     
-    /** Keeps count of current number of nodes.
-      * @note
+    /** Keeps count of current number of nodes. */
+    int nodeCount;    
+    
+    /* CanMessage Reading ---------------------------------------------------*/
+    /** array of messages in a queue */
+    std::queue<CanOpenMessage> inbox;
+    
+    /** Extra buffer only handled by ISR. Used if inbox is locked */
+    std::queue<CanOpenMessage> inboxBuffer; 
+    
+    /** boolean to lock and unlock inbox  */
+    int bInboxUnlocked;
+    
+    /** Data to keep track of internal messages.  Node ID allows SP to avoid
+      * dispatching message to the one who sent it
       */
-    int nodeCount;
+    struct InternalMessage {
+        int             nodeId;
+        CanOpenMessage  message;
+        
+        InternalMessage(uint8_t n, CanOpenMessage m):
+            nodeId(n),
+            message(m)
+        {}
+    };
+
+    /** array of messages in a queue */
+    std::queue<InternalMessage> outbox; 
     
-    /** stores handle for can open api */
-    CanOpenHandle * hCanOpen;
-
+    /* Elapsed Time ---------------------------------------------------------*/   
+    /** Elapsed time offset used for synchronization*/
+    int32_t elapsedTimeOffset; 
+    
 };    
     
 } /* namspace ppCANOpen */