PDO.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 PDO_H
#define PDO_H

#include <boost/shared_ptr.hpp>
#include <vector>
#include "helper.h"
#include "SDO.h"

namespace icl_hardware {
namespace canopen_schunk {


class PDO
{
public:
  struct MappingConfiguration
  {
    uint16_t index;
    uint8_t subindex;
    uint8_t length;
    std::string name;
    MappingConfiguration (const uint16_t index_, const uint8_t subindex_, const uint8_t length_, const std::string& name_) :
    index(index_), subindex(subindex_), length(length_), name(name_) {}
  };
  typedef std::vector<MappingConfiguration> MappingConfigurationList;

  class Mapping
  {
  public:
    Mapping (const MappingConfiguration& mapping_configuration_) : mapping_configuration ( mapping_configuration_ )
    {
      data.resize( mapping_configuration.length / 8, 0);
    }

    std::vector<uint8_t> data;
    MappingConfiguration getConfiguration() const { return mapping_configuration;}
  private:
    MappingConfiguration mapping_configuration;
  };
  typedef std::vector<Mapping> MappingList;

  struct PDOStringMatch
  {
    std::string name;
    uint8_t pdo_mapping_index;
  };
  typedef std::vector<PDOStringMatch> PDOStringMatchVec;

  enum eTransmissionType {
    SYNCHRONOUS_ACYCLIC = 0,
    RTR_ONLY_SYNCHRONOUS = 252,
    RTR_ONLY_EVENT_DRIVEN = 253,
    EVENT_DRIVEN_MANUFACTURER_SPECIFIC = 254,
    EVENT_DRIVEN_PROFILE_SPECIFIC = 255,
    SYNCHRONOUS_CYCLIC = 1 // Note: There are many many more synchronous cyclic variants but as they are easily calculated we omit having enums for them
  };


  typedef boost::shared_ptr<PDO> Ptr;
  typedef std::vector<boost::shared_ptr<PDO> > PtrList;

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

  PDOStringMatchVec remap (SDO& sdo,
                           const MappingConfigurationList& mappings,
                           const eTransmissionType& transmission_type,
                           const uint16_t pdo_cob_id,
                           const uint16_t pdo_communication_parameter,
                           const uint16_t pdo_mapping_parameter,
                           const bool dummy_mapping = false,
                           const uint8_t cyclic_timeout_cycles = 0);

  PDOStringMatchVec appendMapping(SDO& sdo,
                                  const MappingConfigurationList& mappings,
                                  const eTransmissionType& transmission_type,
                                  const uint16_t pdo_cob_id,
                                  const uint16_t pdo_communication_parameter,
                                  const uint16_t pdo_mapping_parameter,
                                  const bool dummy_mapping = false,
                                  const uint8_t cyclic_timeout_cycles = 0);

  MappingList m_mapping_list;

protected:
  uint8_t m_node_id;

  uint8_t m_pdo_nr;

  CanDevPtr m_can_device;
};


}}// end of NS
#endif // PDO_H