RokubiminiEthercatBusManager.hpp

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#pragma once

// std
#include <memory>
#include <mutex>

// rokubimini
#include <rokubimini_ethercat/soem_interface/EthercatBusBase.hpp>

#include <rokubimini/setup/Rokubimini.hpp>
#include <rokubimini/setup/Setup.hpp>

#include <rokubimini_ethercat/setup/RokubiminiEthercat.hpp>

#include <rokubimini_ethercat/RokubiminiEthercat.hpp>

#include <rokubimini_bus_manager/BusManager.hpp>
namespace rokubimini
{
namespace ethercat
{
using namespace soem_interface;

class RokubiminiEthercatBusManager : public RokubiminiBusManager
{
public:
  using BusMap = std::unordered_map<std::string, std::unique_ptr<rokubimini::soem_interface::EthercatBusBase>>;

  RokubiminiEthercatBusManager() = default;
  ~RokubiminiEthercatBusManager() override = default;

  bool addEthercatBus(rokubimini::soem_interface::EthercatBusBase* bus);

  bool addEthercatBus(std::unique_ptr<rokubimini::soem_interface::EthercatBusBase> bus);

  bool startupAllBuses();

  bool startupCommunication() override;

  void setBussesSafeOperational();

  void setBussesPreOperational();

  void setBussesOperational();

  void waitForState(const uint16_t state, const uint16_t slave = 0, const std::string& busName = "",
                    const unsigned int maxRetries = 40, const double retrySleep = 0.001);

  void readAllBuses() override;

  void writeToAllBuses() override;

  void shutdownAllBuses() override;

  rokubimini::soem_interface::EthercatBusBase* getBusByName(const std::string& name) const
  {
    return buses_.at(name).get();
  }

  std::unique_ptr<rokubimini::soem_interface::EthercatBusBase> extractBusByName(const std::string& name);

  BusMap extractBuses();

  bool loadSetup(std::vector<std::shared_ptr<rokubimini::Rokubimini>>& rokubiminis) override;

  using RokubiminiBusManager::addRokubiminiToBus;

  bool addRokubiminiToBus(RokubiminiEthercat* rokubimini, rokubimini::soem_interface::EthercatBusBase* bus,
                          const std::shared_ptr<setup::RokubiminiEthercat>& rokubiminiEthercatSetup) const;

  void setConfigMode() override;

  void setRunMode() override;

protected:
  std::recursive_mutex busMutex_;

  BusMap buses_;
};

using RokubiminiEthercatBusManagerPtr = std::shared_ptr<RokubiminiEthercatBusManager>;

}  // namespace ethercat
}  // namespace rokubimini