NmtProtocol.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __NMT_PROTOCOL_HPP__
#define __NMT_PROTOCOL_HPP__
 
#include <cstdint>
 
#include <functional>
 
#include "ICanSenderDelegate.hpp"
 
namespace roboticslab
{
 
enum class NmtService : std::uint8_t
{
    START_REMOTE_NODE = 1, 
    STOP_REMOTE_NODE = 2, 
    ENTER_PRE_OPERATIONAL = 128, 
    RESET_NODE = 129, 
    RESET_COMMUNICATION = 130 
};
 
enum class NmtState : std::uint8_t
{
    BOOTUP = 0, 
    STOPPED = 4, 
    OPERATIONAL = 5, 
    PRE_OPERATIONAL = 127 
};
 
class NmtProtocol final
{
public:
    static constexpr std::uint8_t BROADCAST = 0; 
 
    NmtProtocol(std::uint8_t id, ICanSenderDelegate * sender = nullptr)
        : id(id), sender(sender)
    { }
 
    void configureSender(ICanSenderDelegate * sender)
    { this->sender = sender; }
 
    bool issueServiceCommand(NmtService command);
 
    bool accept(const std::uint8_t * data);
 
    template<typename Fn>
    void registerHandler(Fn && fn)
    { callback = fn; }
 
    void unregisterHandler()
    { callback = HandlerFn(); }
 
private:
    using HandlerFn = std::function<void(NmtState)>;
 
    std::uint8_t id;
    ICanSenderDelegate * sender;
 
    HandlerFn callback;
};
 
} // namespace roboticslab
 
#endif // __NMT_PROTOCOL_HPP__