core.h

/*
 * Copyright (c) 2015, Thomas Keh
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *    1. Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *
 *    2. Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *
 *    3. Neither the name of the copyright holder nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
 
#pragma once

#include <functional>
#include <string>
#include <vector>
#include <thread>
#include <atomic>
#include <forward_list>
#include <future>
#include <mutex>

#include "nmt.h"
#include "sdo.h"
#include "pdo.h"
#include "message.h"

namespace kaco {

    class Core {

    public:
        
        using MessageReceivedCallback = std::function< void(const Message&) >;

        Core();

        ~Core();

        Core(const Core&) = delete;
        
        bool start(const std::string busname, const std::string& baudrate);
        
        bool start(const std::string busname, const unsigned baudrate);
        
        void stop();

        void send(const Message& message);

        void register_receive_callback(const MessageReceivedCallback& callback);

        NMT nmt;

        SDO sdo;

        PDO pdo;


    private:

        void receive_loop(std::atomic<bool>& running);
        void received_message(const Message& m);

        static const bool debug = false;

        std::atomic<bool> m_running{false};
        std::thread m_loop_thread;
        void* m_handle;

        std::vector<MessageReceivedCallback> m_receive_callbacks;
        mutable std::mutex m_receive_callbacks_mutex;

        static const bool m_cleanup_futures = true;
        std::forward_list<std::future<void>> m_callback_futures;
        mutable std::mutex m_callback_futures_mutex;

        static const bool m_lock_send = true;
        mutable std::mutex m_send_mutex;

    };

} // end namespace kaco