TPDO.h

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// this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*-
// -- BEGIN LICENSE BLOCK ----------------------------------------------
// This file is part of the SCHUNK Canopen Driver suite.
//
// This program is free software licensed under the LGPL
// (GNU LESSER GENERAL PUBLIC LICENSE Version 3).
// You can find a copy of this license in LICENSE folder in the top
// directory of the source code.
//
// © Copyright 2016 SCHUNK GmbH, Lauffen/Neckar Germany
// © Copyright 2016 FZI Forschungszentrum Informatik, Karlsruhe, Germany
// -- END LICENSE BLOCK ------------------------------------------------
//----------------------------------------------------------------------
//----------------------------------------------------------------------

#ifndef TPDO_H
#define TPDO_H

#include "PDO.h"

namespace icl_hardware {
namespace canopen_schunk {

class TPDO : public PDO
{
public:
  typedef boost::shared_ptr<TPDO> Ptr;
  typedef std::vector<boost::shared_ptr<TPDO> > PtrList;

  static const uint16_t OD_TPDO_COMMUNICATION_MIN = 0x1800;
  static const uint16_t OD_TPDO_MAPPING_PARAMETER_MIN = 0x1A00;

  TPDO(const uint8_t node_id, const uint8_t pdo_nr, const CanDevPtr& can_device);

  void update(const CanMsg& msg);

  void upload ();

  PDOStringMatchVec remap (SDO& sdo,
                           const MappingConfigurationList& mappings,
                           const eTransmissionType& transmission_type,
                           const bool dummy_mapping = false,
                           const uint8_t cyclic_timeout_cycles = 0);

  PDOStringMatchVec appendMapping(SDO& sdo,
                                  const MappingConfigurationList& mappings,
                                  const eTransmissionType& transmission_type,
                                  const bool dummy_mapping = false,
                                  const uint8_t cyclic_timeout_cycles = 0);

  void registerNotifyCallback (const boost::function <void()>& f);

private:
  std::vector<boost::function <void()> > m_notify_callbacks;

  boost::mutex m_data_buffer_mutex;
  boost::condition_variable m_data_buffer_updated_cond;
  bool m_data_update_received;
  std::vector<uint8_t> m_data_buffer;
};


}} // end of NS
#endif // TPDO_H