Diff: framework/include/states.h

Revision:

0:6219434a0cb5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/framework/include/states.h	Mon May 30 07:14:41 2011 +0000
@@ -0,0 +1,150 @@
+/*
+This file is part of CanFestival, a library implementing CanOpen Stack. 
+
+Copyright (C): Edouard TISSERANT and Francis DUPIN
+
+See COPYING file for copyrights details.
+
+This library is free software; you can redistribute it and/or
+modify it under the terms of the GNU Lesser General Public
+License as published by the Free Software Foundation; either
+version 2.1 of the License, or (at your option) any later version.
+
+This library 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
+Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public
+License along with this library; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+*/
+
+/** @defgroup statemachine State Machine
+ *  @ingroup userapi
+ */
+ 
+#ifndef __states_h__
+#define __states_h__
+
+#include <applicfg.h>
+
+/* The nodes states 
+ * -----------------
+ * values are choosen so, that they can be sent directly
+ * for heartbeat messages...
+ * Must be coded on 7 bits only
+ * */
+/* Should not be modified */
+enum enum_nodeState {
+  Initialisation  = 0x00, 
+  Disconnected    = 0x01,
+  Connecting      = 0x02,
+  Preparing       = 0x02,
+  Stopped         = 0x04,
+  Operational     = 0x05,
+  Pre_operational = 0x7F,
+  Unknown_state   = 0x0F
+};
+
+typedef enum enum_nodeState e_nodeState;
+
+typedef struct
+{
+	INTEGER8 csBoot_Up;
+	INTEGER8 csSDO;
+	INTEGER8 csEmergency;
+	INTEGER8 csSYNC;
+	INTEGER8 csHeartbeat;
+	INTEGER8 csPDO;
+	INTEGER8 csLSS;
+} s_state_communication;
+
+/** 
+ * @brief Function that user app can overload
+ * @ingroup statemachine
+ */
+typedef void (*initialisation_t)(CO_Data*);
+typedef void (*preOperational_t)(CO_Data*);
+typedef void (*operational_t)(CO_Data*);
+typedef void (*stopped_t)(CO_Data*);
+
+/** 
+ * @ingroup statemachine
+ * @brief Function that user app can overload
+ * @param *d Pointer on a CAN object data structure
+ */
+void _initialisation(CO_Data* d);
+
+/** 
+ * @ingroup statemachine
+ * @brief Function that user app can overload
+ * @param *d Pointer on a CAN object data structure
+ */
+void _preOperational(CO_Data* d);
+
+/**
+ * @ingroup statemachine 
+ * @brief Function that user app can overload
+ * @param *d Pointer on a CAN object data structure
+ */
+void _operational(CO_Data* d);
+
+/** 
+ * @ingroup statemachine
+ * @brief Function that user app can overload
+ * @param *d Pointer on a CAN object data structure
+ */
+void _stopped(CO_Data* d);
+
+#include "data.h"
+
+/************************* prototypes ******************************/
+
+/** 
+ * @brief Called by driver/app when receiving messages
+ * @param *d Pointer on a CAN object data structure
+ * @param *m Pointer on a CAN message structure
+ */
+void canDispatch(CO_Data* d, Message *m);
+
+/** 
+ * @ingroup statemachine
+ * @brief Returns the state of the node
+ * @param *d Pointer on a CAN object data structure
+ * @return The node state
+ */
+e_nodeState getState (CO_Data* d);
+
+/** 
+ * @ingroup statemachine
+ * @brief Change the state of the node 
+ * @param *d Pointer on a CAN object data structure
+ * @param newState The state to assign
+ * @return 
+ */
+UNS8 setState (CO_Data* d, e_nodeState newState);
+
+/**
+ * @ingroup statemachine 
+ * @brief Returns the nodId 
+ * @param *d Pointer on a CAN object data structure
+ * @return
+ */
+UNS8 getNodeId (CO_Data* d);
+
+/** 
+ * @ingroup statemachine
+ * @brief Define the node ID. Initialize the object dictionary
+ * @param *d Pointer on a CAN object data structure
+ * @param nodeId The node ID to assign
+ */
+void setNodeId (CO_Data* d, UNS8 nodeId);
+
+/** 
+ * @brief Some stuff to do when the node enter in pre-operational mode
+ * @param *d Pointer on a CAN object data structure
+ */
+void initPreOperationalMode (CO_Data* d);
+
+#endif