device.h

/*
 * Copyright (c) 2015-2016, 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 "core.h"
#include "entry.h"
#include "types.h"
#include "receive_pdo_mapping.h"
#include "transmit_pdo_mapping.h"
#include "access_method.h"
#include "eds_library.h"
#include "eds_reader.h"

#include <vector>
#include <unordered_map>
#include <string>
#include <chrono>
#include <functional>
#include <mutex>

namespace kaco {

    class Device {

    public:

        using Operation = std::function<Value(Device&,const Value&)>;

        Device(Core& core, uint8_t node_id);

        Device(const Device&) = delete;

        Device(Device&&) = delete;

        ~Device();

        uint8_t get_node_id() const;


        void start();

        std::string load_dictionary_from_library();

        void load_dictionary_from_eds(const std::string& path);

        bool load_operations();

        void add_operation(const std::string& coperation_name, const Operation& operation);

        bool load_constants();

        void add_constant(const std::string& constant_name, const Value& constant);



        bool has_entry(const std::string& entry_name);

        bool has_entry(const uint16_t index, const uint8_t subindex = 0);

        Type get_entry_type(const std::string& entry_name);

        Type get_entry_type(const uint16_t index, const uint8_t subindex = 0);

        const Value& get_entry(const std::string& entry_name, const ReadAccessMethod access_method = ReadAccessMethod::use_default);

        const Value& get_entry(const uint16_t index, const uint8_t subindex = 0, const ReadAccessMethod access_method = ReadAccessMethod::use_default);

        void set_entry(const std::string& entry_name, const Value& value, const WriteAccessMethod access_method = WriteAccessMethod::use_default);

        void set_entry(const uint16_t index, const uint8_t subindex, const Value& value, const WriteAccessMethod access_method = WriteAccessMethod::use_default);

        void add_entry(const uint16_t index, const uint8_t subindex, const std::string& name, const Type type, const AccessType access_type);

        uint16_t get_device_profile_number();

        Value execute(const std::string& operation_name, const Value& argument = m_dummy_value);

        const Value& get_constant(const std::string& constant_name) const;

        void add_receive_pdo_mapping(uint16_t cob_id, const std::string& entry_name, uint8_t offset);

        void add_transmit_pdo_mapping(uint16_t cob_id, const std::vector<Mapping>& mappings, TransmissionType transmission_type=TransmissionType::ON_CHANGE, std::chrono::milliseconds repeat_time=std::chrono::milliseconds(0));

        void print_dictionary() const;

        void read_complete_dictionary();


    private:


        Value get_entry_via_sdo(uint32_t index, uint8_t subindex, Type type);

        void set_entry_via_sdo(uint32_t index, uint8_t subindex, const Value& value);


        void load_cia_dictionary();

        void pdo_received_callback(const ReceivePDOMapping& mapping, std::vector<uint8_t> data);

        static const bool debug = false;

        Core& m_core;
        uint8_t m_node_id;

        std::unordered_map<Address, Entry> m_dictionary;
        std::unordered_map<std::string, Address> m_name_to_address;

        std::unordered_map<std::string, Operation> m_operations;
        std::unordered_map<std::string, Value> m_constants;
        std::forward_list<ReceivePDOMapping> m_receive_pdo_mappings;
        std::mutex m_receive_pdo_mappings_mutex;
        std::forward_list<TransmitPDOMapping> m_transmit_pdo_mappings;
        std::mutex m_transmit_pdo_mappings_mutex;
        static const Value m_dummy_value;
        EDSLibrary m_eds_library;

    };

} // end namespace kaco