ServiceProvider.h

00001 /**
00002  ******************************************************************************
00003  * @file
00004  * @author  Paul Paterson
00005  * @version
00006  * @date    2015-12-22
00007  * @brief   CANOpen implementation library
00008  ******************************************************************************
00009  * @attention
00010  *
00011  * <h2><center>&copy; COPYRIGHT(c) 2015 Paul Paterson
00012  *
00013  * All rights reserved.
00014 
00015  This program is free software: you can redistribute it and/or modify
00016  it under the terms of the GNU General Public License as published by
00017  the Free Software Foundation, either version 3 of the License, or
00018  (at your option) any later version.
00019 
00020  This program is distributed in the hope that it will be useful,
00021  but WITHOUT ANY WARRANTY; without even the implied warranty of
00022  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00023  GNU General Public License for more details.
00024 
00025  You should have received a copy of the GNU General Public License
00026  along with this program.  If not, see <http://www.gnu.org/licenses/>.
00027  */
00028 
00029 #ifndef PPCAN_SERVICE_PROVIDER_H
00030 #define PPCAN_SERVICE_PROVIDER_H
00031 
00032 #include "CanOpenMessage.h"
00033 #include <queue>
00034 
00035 /*=========================================================================
00036  * Forward declarations
00037  *=========================================================================
00038  */  
00039  
00040 struct CanOpenHandle;
00041 
00042 namespace ppCANOpen
00043 {
00044 
00045 /* Avoid circular reference */
00046 class Node;
00047 
00048 /** Node Class to implement feature of a CANOpen NMT node
00049  */
00050 class ServiceProvider
00051 {
00052 public:
00053 
00054     ServiceProvider (void);
00055     ~ServiceProvider (void);
00056     
00057     /* ========================================================================
00058      * Public Methods
00059      * ========================================================================
00060      */
00061     
00062     /* Main application -----------------------------------------------------*/
00063     /** Main loop */
00064     void Run (void);
00065     
00066     /** Iterate through Nodes and update */
00067     void UpdateNodes(void);
00068     
00069     /** C helper function to pass to API */
00070     static void UpdateNodes_CWrapper(void *pServiceObject);
00071     
00072     /* Node Management ------------------------------------------------------*/
00073     /** Register a node to get messages and get update calls */
00074     int AddNode (Node * node);
00075     
00076     // TODO: remove node (swap pointers to fill in nicely
00077     
00078       
00079     /* CanMessage Transmission ----------------------------------------------*/
00080     /** Add a message to the message queue outbox */
00081     void PostMessage (int nodeId, CanOpenMessage * msg);
00082     
00083     /** quick way to create and send an NMT Control message
00084       * @note Make posting a message easier! 
00085       */
00086     void PostNmtControl (char targetNodeId, NmtCommandSpecifier cs);
00087     
00088     /* Elapsed Time ---------------------------------------------------------*/
00089     /** A way for the the Nodes to get elapsed time when they want it */
00090     uint32_t GetTime(void);
00091     
00092 private:
00093     /* ========================================================================
00094      * Private Constants
00095      * ========================================================================
00096      */
00097     
00098     /** Define size of arrays in one place */
00099     static const int SERVICE_MAX_NODES = 8;    
00100 
00101     /* ========================================================================
00102      * Private Methods
00103      * ========================================================================
00104      */
00105 
00106     /* CanMessage Reading ---------------------------------------------------*/
00107     /** Function to be called on every CAN read interrupt */
00108     void ReadIT(void);
00109     
00110     /** C helper function used to pass ReadIT() to API */
00111     static void ReadIT_CWrapper(void *pServiceObject);
00112     
00113     /** Helper function that utilizes backup message inbox when the main one
00114       * is locked by the application.
00115       */
00116     void ReadIT_clearBuffer(void);
00117 
00118     /* Elapsed Time ---------------------------------------------------------*/
00119     /** Synchronize elapsed time*/
00120     void HandleTimeMessage(CanOpenMessage *canOpenMsg); 
00121     
00122     
00123     /* ========================================================================
00124      * Private Member Variables
00125      * ========================================================================
00126      */
00127      
00128     /* Node Management -------------------------------------------------------*/
00129     /** array of nodes to cycle through. */
00130     Node * nodes[SERVICE_MAX_NODES];
00131     
00132     /** Keeps count of current number of nodes. */
00133     int nodeCount;    
00134     
00135     /* CanMessage Reading ---------------------------------------------------*/
00136     /** array of messages in a queue */
00137     std::queue<CanOpenMessage> inbox;
00138     
00139     /** Extra buffer only handled by ISR. Used if inbox is locked */
00140     std::queue<CanOpenMessage> inboxBuffer; 
00141     
00142     /** boolean to lock and unlock inbox  */
00143     int bInboxUnlocked;
00144     
00145     /** Data to keep track of internal messages.  Node ID allows SP to avoid
00146       * dispatching message to the one who sent it
00147       */
00148     struct InternalMessage {
00149         int             nodeId;
00150         CanOpenMessage  message;
00151         
00152         InternalMessage(uint8_t n, CanOpenMessage m):
00153             nodeId(n),
00154             message(m)
00155         {}
00156     };
00157 
00158     /** array of messages in a queue */
00159     std::queue<InternalMessage> outbox; 
00160     
00161     /* Elapsed Time ---------------------------------------------------------*/   
00162     /** Elapsed time offset used for synchronization*/
00163     int32_t elapsedTimeOffset; 
00164     
00165 };    
00166     
00167 } /* namspace ppCANOpen */
00168 
00169 #endif /* PPCAN_SERVICE_PROVIDER_H */
00170