cp1616_io_controller_callbacks.cpp

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/*********************************************************************************************/
#ifndef CP1616_IO_CONTROLLER_CALLBACKS_CPP
#define CP1616_IO_CONTROLLER_CALLBACKS_CPP

#include <cp1616/cp1616_io_controller.h>

namespace cp1616
{
namespace pnio_controller_callbacks
{
  void modeChangeIndication(PNIO_CBE_PRM *p_cbf_prm)
  {
    //Create CallbackHandler object to access cp1616_io_controller variables
    Cp1616IOController *CallbackHandler = Cp1616IOController::getControllerInstance();

    if(p_cbf_prm->CbeType == PNIO_CBE_MODE_IND) /* Check callback type */
    {
      switch (p_cbf_prm->ModeInd.Mode)
      {
        case PNIO_MODE_OFFLINE:
          ROS_INFO_STREAM("IO_controller mode change request-> OFFLINE: ");
          CallbackHandler->setCpCurrentModeFlag(PNIO_MODE_OFFLINE);
          break;
        case PNIO_MODE_CLEAR:
          ROS_INFO_STREAM("IO_controller mode change request-> CLEAR: ");
          CallbackHandler->setCpCurrentModeFlag(PNIO_MODE_CLEAR);
          break;
        case PNIO_MODE_OPERATE:
          ROS_INFO_STREAM("IO_controller mode change request-> OPERATE: ");
          CallbackHandler->setCpCurrentModeFlag(PNIO_MODE_OPERATE);
          break;
        default:
          ROS_INFO_STREAM("Not able to change IO_controller mode: Wrong mode selected!");
          break;
      };

      //send notification
      CallbackHandler->setSemModChange(1);
    }
  }

  void alarmIndication(PNIO_CBE_PRM *p_cbf_prm)
  {
    //Create CallbackHandler object to access cp1616_io_controller variables
    Cp1616IOController *CallbackHandler = Cp1616IOController::getControllerInstance();

    if(p_cbf_prm->CbeType==PNIO_CBE_ALARM_IND) /* Check callback type */
    {
      switch (p_cbf_prm->AlarmInd.pAlarmData->AlarmType)
      {
        case PNIO_ALARM_DIAGNOSTIC:
          ROS_WARN_STREAM("PNIO_ALARM_DIAGNOSTIC");
          break;
        case PNIO_ALARM_PROCESS:
          ROS_WARN_STREAM("PNIO_ALARM_DIAGNOSTIC");
          break;
        case PNIO_ALARM_PULL:
          ROS_WARN_STREAM("PNIO_ALARM_PULL");
          break;
        case PNIO_ALARM_PLUG:
          ROS_WARN_STREAM("PNIO_ALARM_PLUG");
          break;
        case PNIO_ALARM_STATUS:
          ROS_WARN_STREAM("PNIO_ALARM_STATUS");
          break;
        case PNIO_ALARM_UPDATE:
          ROS_WARN_STREAM("PNIO_ALARM_UPDATE");
          break;
        case PNIO_ALARM_REDUNDANCY:
          ROS_WARN_STREAM("PNIO_ALARM_REDUNDANCY");
          break;
        case PNIO_ALARM_CONTROLLED_BY_SUPERVISOR:
          ROS_WARN_STREAM("PNIO_ALARM_CONTROLLED_BY_SUPERVISOR");
          break;
        case PNIO_ALARM_RELEASED_BY_SUPERVISOR:
          ROS_WARN_STREAM("PNIO_ALARM_RELEASED_BY_SUPERVISOR");
          break;
        case PNIO_ALARM_PLUG_WRONG:
          ROS_WARN_STREAM("PNIO_ALARM_PLUG_WRONG");
          break;
        case PNIO_ALARM_RETURN_OF_SUBMODULE:
          ROS_WARN_STREAM("PNIO_ALARM_RETURN_OF_SUBMODULE");
          break;
        case PNIO_ALARM_DEV_FAILURE:
          #if DEBUG
            ROS_WARN_STREAM("PNIO_ALARM_DEV_FAILURE");
          #endif
          break;
        case PNIO_ALARM_DEV_RETURN:
          #ifdef DEBUG
            ROS_WARN_STREAM("PNIO_ALARM_DEV_RETURN");
          #endif
          CallbackHandler->setCpReady(1);       //Set cp_ready_ flag to notify application that CP is ready for communication
          break;
        default:
          ROS_WARN_STREAM("callback_for_alarm_indication called with wrong type");
          break;
      };
    }
  }

  void deviceActivation(PNIO_CBE_PRM *p_cbf_prm)
  {
    switch( p_cbf_prm->DevActConf.Mode)
    {
      case PNIO_DA_TRUE:
        ROS_INFO("IO_Controller - address %x was activated with result %x",
          (int)p_cbf_prm->DevActConf.pAddr->u.Addr,
          (int)p_cbf_prm->DevActConf.Result);
          break;
        case PNIO_DA_FALSE:
          ROS_INFO("IO_Controller - address %x was deactivated with result %x",
          (int)p_cbf_prm->DevActConf.pAddr->u.Addr,
          (int)p_cbf_prm->DevActConf.Result);
        break;
      };
  }

  void dsReadConf(PNIO_CBE_PRM *p_cbf_prm)
  {
    ROS_WARN_STREAM("CallbackForDsReadConf should not occur within this implementation");
  }

  void dsWriteConf(PNIO_CBE_PRM *p_cbf_prm)
  {
    ROS_WARN_STREAM("CallbackForDsWriteConf should not occur within this implementation");
  }
} //cp1616_io_controller_callbacks
} //cp1616

#endif //CP1616_IO_CONTROLLER_CALLBACKS_CPP