DS301Group.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 DS301GROUP_H
#define DS301GROUP_H

#include "DS301Node.h"

namespace icl_hardware {
namespace canopen_schunk {

class DS301Group
{
public:
  typedef boost::shared_ptr<DS301Group> Ptr;
  typedef boost::shared_ptr<const DS301Group> ConstPtr;

  DS301Group(const std::string& name = "");

  virtual std::vector<DS301Node::Ptr> getNodes() const {return m_nodes;}

  virtual bool deleteNodeFromId (const uint8_t node_id);

  virtual void deleteNodes(std::vector<uint8_t>& deleted_ids);

  virtual void initPDOMappingSingle (const PDO::MappingConfigurationList& config,
                                     const uint16_t pdo_nr,
                                     const PDO::eTransmissionType& transmission_type,
                                     const DS301Node::ePDO_TYPE& pdo_type,
                                     const bool dummy_mapping = false,
                                     const uint8_t cyclic_timeout_cycles = 0,
                                     const int16_t node_id = -1);


  virtual void appendPDOMappingSingle (const PDO::MappingConfigurationList& config,
                                       const uint16_t pdo_nr,
                                       const PDO::eTransmissionType& transmission_type,
                                       const DS301Node::ePDO_TYPE& pdo_type,
                                       const bool dummy_mapping = false,
                                       const uint8_t cyclic_timeout_cycles = 0,
                                       const int16_t node_id = -1);

  void uploadPDOs ();

  void downloadPDOs ();

  std::string getName() const {return m_name;}

  void printPDOMapping (const uint8_t node_id = -1);


  void registerWSBroadcaster(boost::shared_ptr<icl_comm::websocket::WsBroadcaster> broadcaster);

protected:
  template <typename NodeT>
  DS301Node::Ptr addNode(const uint8_t node_id, const CanDevPtr can_device, HeartBeatMonitor::Ptr heartbeat_monitor);

  std::vector<DS301Node::Ptr> m_nodes;
  std::string m_name;

  // the add-node method should be callable from the controller
  friend class CanOpenController;

  boost::shared_ptr<icl_comm::websocket::WsBroadcaster> m_ws_broadcaster;
};


}} // end of NS

// include template implementations
#include "DS301Group.hpp"

#endif // DS301GROUP_H