pdo.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 <vector>
#include <cstdint>
#include <functional>
#include <mutex>

#include "message.h"

namespace kaco {

    // forward declaration
    class Core;

    class PDO {

    public:

        struct PDOReceivedCallback {

            using Callback = std::function< void(std::vector<uint8_t>) >;

            uint16_t cob_id;

            Callback callback;

        };

        PDO(Core& core);

        PDO(const PDO&) = delete;

        void process_incoming_message(const Message& message) const;

        void send(uint16_t cob_id, const std::vector<uint8_t>& data);

        void add_pdo_received_callback(uint16_t cob_id, PDOReceivedCallback::Callback callback);

    private:

        static const bool debug = false;
        Core& m_core;

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

    };

} // end namespace kaco