CanOpenNode.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __CAN_OPEN_HPP__
#define __CAN_OPEN_HPP__
 
#include <cstddef>
#include <cstdint>
 
#include "ICanMessageNotifier.hpp"
#include "ICanSenderDelegate.hpp"
#include "SdoClient.hpp"
#include "PdoProtocol.hpp"
#include "EmcyConsumer.hpp"
#include "NmtProtocol.hpp"
#include "DriveStatusMachine.hpp"
 
namespace roboticslab
{
 
class CanOpenNode final : public ICanMessageNotifier
{
public:
    static constexpr double SDO_TIMEOUT = 0.1;  
    static constexpr double STATE_MACHINE_TIMEOUT = 2.0; 
 
    CanOpenNode(unsigned int id, double sdoTimeout = SDO_TIMEOUT,
                double stateTimeout = STATE_MACHINE_TIMEOUT, ICanSenderDelegate * sender = nullptr);
 
    CanOpenNode(const CanOpenNode &) = delete;
 
    CanOpenNode & operator=(const CanOpenNode &) = delete;
 
    ~CanOpenNode();
 
    void configureSender(ICanSenderDelegate * sender);
 
    unsigned int getId() const
    { return _id; }
 
    SdoClient * sdo() const
    { return _sdo; }
 
    ReceivePdo * rpdo1() const
    { return _rpdo1; }
 
    ReceivePdo * rpdo2() const
    { return _rpdo2; }
 
    ReceivePdo * rpdo3() const
    { return _rpdo3; }
 
    ReceivePdo * rpdo4() const
    { return _rpdo4; }
 
    TransmitPdo * tpdo1() const
    { return _tpdo1; }
 
    TransmitPdo * tpdo2() const
    { return _tpdo2; }
 
    TransmitPdo * tpdo3() const
    { return _tpdo3; }
 
    TransmitPdo * tpdo4() const
    { return _tpdo4; }
 
    EmcyConsumer * emcy() const
    { return _emcy; }
 
    NmtProtocol * nmt() const
    { return _nmt; }
 
    DriveStatusMachine * driveStatus() const
    { return _driveStatus; }
 
    bool notifyMessage(const can_message & msg) override;
 
private:
    unsigned int _id;
 
    SdoClient * _sdo;
 
    ReceivePdo * _rpdo1;
    ReceivePdo * _rpdo2;
    ReceivePdo * _rpdo3;
    ReceivePdo * _rpdo4;
 
    TransmitPdo * _tpdo1;
    TransmitPdo * _tpdo2;
    TransmitPdo * _tpdo3;
    TransmitPdo * _tpdo4;
 
    EmcyConsumer * _emcy;
    NmtProtocol * _nmt;
    DriveStatusMachine * _driveStatus;
};
 
} // namespace roboticslab
 
#endif // __CAN_OPEN_HPP__