wg_mailbox.h

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#pragma once

#include "ethercat_hardware/ethercat_com.h"
#include <diagnostic_updater/DiagnosticStatusWrapper.h>

namespace ethercat_hardware
{


struct MbxDiagnostics 
{
  MbxDiagnostics();
  uint32_t write_errors_;
  uint32_t read_errors_;
  uint32_t lock_errors_;
  uint32_t retries_;
  uint32_t retry_errors_;
};


class WGMailbox
{
public:
  WGMailbox();

  bool initialize(EtherCAT_SlaveHandler *sh);
  int writeMailbox(EthercatCom *com, unsigned address, void const *data, unsigned length);
  int readMailbox(EthercatCom *com, unsigned address, void *data, unsigned length);
  void publishMailboxDiagnostics(diagnostic_updater::DiagnosticStatusWrapper &d);

  static const unsigned MBX_COMMAND_PHY_ADDR = 0x1400;
  static const unsigned MBX_COMMAND_SIZE = 512;
  static const unsigned MBX_STATUS_PHY_ADDR = 0x2400;
  static const unsigned MBX_STATUS_SIZE = 512;

  static const unsigned MBX_COMMAND_SYNCMAN_NUM = 2;
  static const unsigned MBX_STATUS_SYNCMAN_NUM  = 3;

protected:
  // Each WG0X device can only support one mailbox operation at a time
  bool lockMailbox();
  void unlockMailbox();
  pthread_mutex_t mailbox_lock_;
  MbxDiagnostics mailbox_diagnostics_;
  MbxDiagnostics mailbox_publish_diagnostics_;

  // Mailbox helper functions
  int writeMailbox_(EthercatCom *com, unsigned address, void const *data, unsigned length);
  int readMailbox_(EthercatCom *com, unsigned address, void *data, unsigned length);  
  bool verifyDeviceStateForMailboxOperation();
  bool clearReadMailbox(EthercatCom *com);
  bool waitForReadMailboxReady(EthercatCom *com);
  bool waitForWriteMailboxReady(EthercatCom *com);
  bool readMailboxRepeatRequest(EthercatCom *com);
  bool _readMailboxRepeatRequest(EthercatCom *com);
  bool writeMailboxInternal(EthercatCom *com, void const *data, unsigned length);
  bool readMailboxInternal(EthercatCom *com, void *data, unsigned length);
  void diagnoseMailboxError(EthercatCom *com);
  
  EtherCAT_SlaveHandler *sh_;
};


}; //end namespace ethercat_hardware