nmt.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 "message.h"

#include <vector>
#include <functional>
#include <future>
#include <forward_list>
#include <mutex>

namespace kaco {
    
    // forward declaration
    class Core;

    class NMT {

    public:
        
        using DeviceAliveCallback = std::function< void(const uint8_t node_id) >;
        
        using NewDeviceCallback = DeviceAliveCallback;

        enum class Command : uint8_t {
            start_node = 0x01,
            stop_node = 0x02,
            enter_preoperational = 0x80,
            reset_node = 0x81,
            reset_communication = 0x82
        };

        NMT(Core& core);

        NMT(const NMT&) = delete;

        void process_incoming_message(const Message& message);

        void send_nmt_message(uint8_t node_id, Command cmd);

        void broadcast_nmt_message(Command cmd);

        void reset_all_nodes();

        void discover_nodes();

        void register_device_alive_callback(const DeviceAliveCallback& callback);

        void register_new_device_callback(const NewDeviceCallback& callback);

    private:

        static const bool debug = false;
        Core& m_core;

        std::vector<NewDeviceCallback> m_device_alive_callbacks;
        mutable std::mutex m_device_alive_callbacks_mutex;

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

    };

} // end namespace kaco