entry.cpp

/*
 * 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.
 */
 
#include "entry.h"
#include "canopen_error.h"

#include <cassert>
#include <future>
#include <iomanip>
#include <memory>
#include <iostream>

namespace kaco {

Entry::Entry()
    : type(Type::invalid),
        m_value_changed_callbacks_mutex(new std::mutex),
        m_read_write_mutex(new std::recursive_mutex)
    { }

// standard constructor
Entry::Entry(const uint16_t _index, const uint8_t _subindex, const std::string& _name, const Type _type, const AccessType _access_type)
    : index(_index),
        subindex(_subindex),
        name(_name),
        type(_type),
        access_type(_access_type),
        disabled(false),
        is_generic(false),
        m_valid(false),
        m_value_changed_callbacks_mutex(new std::mutex),
        m_read_write_mutex(new std::recursive_mutex)
    { }

void Entry::set_value(const Value& value) {

    if (value.type != type) {
        throw canopen_error("[Entry::set_value] You passed a value of wrong type: "+Utils::type_to_string(value.type)+" != "+Utils::type_to_string(type)+".");
    }

    bool value_changed = false;

    {
        std::lock_guard<std::recursive_mutex> lock(*m_read_write_mutex);
        
        if (m_value.type != type || m_value != value) {
            value_changed = true;
        }

        m_value = value;
        m_valid = true;

    }

    if (value_changed) {
        std::lock_guard<std::mutex> lock(*m_value_changed_callbacks_mutex);
        for (auto& callback : m_value_changed_callbacks) {
            // TODO: currently callbacks are only internal and it's ok to call them synchonously.
            //std::async(std::launch::async, callback, value);
            callback(value);
        }
    }

}

const Value& Entry::get_value() const {
    std::lock_guard<std::recursive_mutex> lock(*m_read_write_mutex);
    if (!valid()) {
        throw canopen_error("[Entry::get_value] Value is not valid.");
    }
    return m_value;
}

bool Entry::valid() const {
    return m_valid;
}

Type Entry::get_type() const {
    return type;
}

void Entry::add_value_changed_callback(ValueChangedCallback callback) {
    std::lock_guard<std::mutex> lock(*m_value_changed_callbacks_mutex);
    m_value_changed_callbacks.push_back(std::move(callback));
}

void Entry::print() const {

    std::cout << "0x"<<std::hex<<index;
    std::cout << "/";
    std::cout << std::dec<<(unsigned)subindex;
    std::cout << "\t";
    std::cout << Utils::access_type_to_string(access_type);
    std::cout << "\t";
    std::cout << std::setw(75) << std::left << name;
    std::cout << " ";

    if (valid()) {
        std::cout << std::setw(10) << get_value();
    } else {
        std::cout << std::setw(10) << "empty";
    }

    std::cout << std::endl;

}

bool Entry::operator<(const Entry& other) const {
    return (index<other.index) || (index==other.index && subindex<other.subindex);
}

} // end namespace kaco