NMT.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 NMT_H
#define NMT_H

#include <stdint.h>
#include "helper.h"
#include "ds301.h"
#include <map>

namespace icl_hardware {
namespace canopen_schunk {

class NMT
{
public:

  static const uint8_t NMT_ALL_NODES = 0x00;

  enum eNMT_Command
  {
      NMT_STARTREMOTENODE     = 0x01, // #1
      NMT_STOPREMOTENODE      = 0x02, // #2
      NMT_ENTERPREOPERATIONAL = 0x80, // #128
      NMT_RESETNODE           = 0x81, // #129
      NMT_RESETCOMMUNICATION  = 0x82  // #139
  };

  enum eNMT_State
  {
    NMTS_STOPPED          = 0x04,
    NMTS_PRE_OPERATIONAL  = 0x7F,
    NMTS_OPERATIONAL      = 0x05,
    NMTS_INITIALISATION   = 0x00    // Value given arbitrarily, not defined in protocol
  };

  enum eNMT_SubState
  {
    NMTSS_INITIALISING,
    NMTSS_RESET_APPLICATION,
    NMTSS_RESET_COMMUNICATION
  };

  NMT(const uint8_t& node_id,const CanDevPtr& can_device);

  void update(const CanMsg& msg);

  void start();

  void stop();

  void preOperational();

  void reset();

  void resetCommunication();



private:

  const std::string nmtCommandToString(const eNMT_Command& cmd)
  {
    std::string ret;
    switch (cmd)
    {
      case NMT_STARTREMOTENODE: ret = "start remote node"; break;
      case NMT_STOPREMOTENODE: ret = "stop remote node"; break;
      case NMT_ENTERPREOPERATIONAL: ret = "enter pre-operational"; break;
      case NMT_RESETNODE: ret = "reset node"; break;
      case NMT_RESETCOMMUNICATION: ret = "reset communication"; break;
      default: ret = "undefined"; break;
    }
    return ret;
  }

  const std::string nmtStateToString(const eNMT_State& state)
  {
    std::string ret;
    switch (state) {
      case NMTS_STOPPED: ret = "stopped" ; break;
      case NMTS_PRE_OPERATIONAL: ret = "pre operational" ; break;
      case NMTS_OPERATIONAL: ret = "operational" ; break;
      case NMTS_INITIALISATION: ret = "initialisation" ; break;
      default:ret = "undefined"; break;
    }
    return ret;
  }

  bool isValidNmtState(const uint8_t& state)
  {
    return ((state == NMTS_STOPPED) ||  (state == NMTS_PRE_OPERATIONAL) || (state == NMTS_OPERATIONAL) || (state == NMTS_INITIALISATION));
  }

  void sendCommand(const eNMT_Command& cmd);





  CanDevPtr m_can_device;

  uint8_t m_node_id;

  eNMT_State m_state;



};


}}//end of NS

#endif // NMT_H