YouBotSlaveMailboxMsg.hpp

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/****************************************************************
 *
 * Copyright (c) 2011
 * All rights reserved.
 *
 * Hochschule Bonn-Rhein-Sieg
 * University of Applied Sciences
 * Computer Science Department
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Author:
 * Jan Paulus, Nico Hochgeschwender, Michael Reckhaus, Azamat Shakhimardanov
 * Supervised by:
 * Gerhard K. Kraetzschmar
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * This sofware is published under a dual-license: GNU Lesser General Public
 * License LGPL 2.1 and BSD license. The dual-license implies that users of this
 * code may choose which terms they prefer.
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
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 *     * Neither the name of the Hochschule Bonn-Rhein-Sieg nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License LGPL as
 * published by the Free Software Foundation, either version 2.1 of the
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 ****************************************************************/

#ifndef _YOUBOT_SLAVE_MAILBOX_MESSAGE_H
#define _YOUBOT_SLAVE_MAILBOX_MESSAGE_H

#include <youbot_driver/soem/ethercattype.h>
#include <string>
#include <time.h>
#include <youbot_driver/generic/dataobjectlockfree/DataObjectLockFree.hpp>

namespace youbot
{


struct mailboxOutputBuffer
{
  uint8 moduleAddress; //0 = Drive  1 = Gripper
  uint8 commandNumber;
  uint8 typeNumber;
  uint8 motorNumber; //always zero
  uint32 value; //MSB first!

  mailboxOutputBuffer() :
      moduleAddress(0), commandNumber(0), typeNumber(0), motorNumber(0), value(0)
  {
  }
  ;
}__attribute__((__packed__));


struct mailboxInputBuffer
{
  uint8 replyAddress;
  uint8 moduleAddress;
  uint8 status; //(e.g. 100 means “no error”)
  uint8 commandNumber;
  uint32 value; //MSB first!

  mailboxInputBuffer() :
      replyAddress(0), moduleAddress(0), status(0), commandNumber(0), value(0)
  {
  }
  ;
}__attribute__((__packed__));


class YouBotSlaveMailboxMsg
{
public:

  mailboxOutputBuffer stctOutput;
  mailboxInputBuffer stctInput;

  // Constructor
  YouBotSlaveMailboxMsg()
  {
    slaveNumber = 1000;
  }

  // Constructor

  YouBotSlaveMailboxMsg(unsigned int slaveNo)
  {
    slaveNumber = slaveNo;
  }
  // Copy-Constructor

  YouBotSlaveMailboxMsg(const YouBotSlaveMailboxMsg& copy)
  {
    stctOutput = copy.stctOutput;
    stctInput = copy.stctInput;
    slaveNumber = copy.slaveNumber;
    parameterName = copy.parameterName;
  }

  // Destructor

  ~YouBotSlaveMailboxMsg()
  {
  }

  // assignment operator

  YouBotSlaveMailboxMsg & operator=(const YouBotSlaveMailboxMsg& copy)
  {
    stctOutput = copy.stctOutput;
    stctInput = copy.stctInput;
    slaveNumber = copy.slaveNumber;
    parameterName = copy.parameterName;
    return *this;
  }

  std::string parameterName;
  unsigned int slaveNumber;
};

class YouBotSlaveMailboxMsgThreadSafe
{
public:

  DataObjectLockFree<mailboxOutputBuffer> stctOutput;
  DataObjectLockFree<mailboxInputBuffer> stctInput;

  // Constructor
  YouBotSlaveMailboxMsgThreadSafe()
  {
    slaveNumber.Set(1000);
  }

  // Constructor

  YouBotSlaveMailboxMsgThreadSafe(unsigned int slaveNo)
  {
    slaveNumber.Set(slaveNo);
  }
  // Copy-Constructor

  YouBotSlaveMailboxMsgThreadSafe(const YouBotSlaveMailboxMsgThreadSafe& copy)
  {
    mailboxOutputBuffer tempStctOutput;
    mailboxInputBuffer tempStctInput;
    std::string tempParameterName;
    unsigned int SlaveNumber;

    copy.stctOutput.Get(tempStctOutput);
    stctOutput.Set(tempStctOutput);

    copy.stctInput.Get(tempStctInput);
    stctInput.Set(tempStctInput);

    copy.slaveNumber.Get(SlaveNumber);
    slaveNumber.Set(SlaveNumber);

    copy.parameterName.Get(tempParameterName);
    parameterName.Set(tempParameterName);
  }

  // Destructor

  ~YouBotSlaveMailboxMsgThreadSafe()
  {
  }

  // assignment operator

  YouBotSlaveMailboxMsgThreadSafe & operator=(const YouBotSlaveMailboxMsgThreadSafe& copy)
  {
    mailboxOutputBuffer tempStctOutput;
    mailboxInputBuffer tempStctInput;
    std::string tempParameterName;
    unsigned int SlaveNumber;

    copy.stctOutput.Get(tempStctOutput);
    stctOutput.Set(tempStctOutput);

    copy.stctInput.Get(tempStctInput);
    stctInput.Set(tempStctInput);

    copy.slaveNumber.Get(SlaveNumber);
    slaveNumber.Set(SlaveNumber);

    copy.parameterName.Get(tempParameterName);
    parameterName.Set(tempParameterName);
    return *this;
  }

  DataObjectLockFree<std::string> parameterName;

  DataObjectLockFree<unsigned int> slaveNumber;
};

} // namespace youbot

#endif  /* _YOUBOT_SLAVE_MESSAGE_H */