transmit_pdo_mapping.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 <string>
#include <vector>
#include <chrono>
#include <unordered_map>
#include <thread>
#include <memory>

#include "mapping.h"
#include "types.h"
#include "address.h"

namespace kaco {

    // forward declarations
    class Core;
    class Entry;

    class TransmitPDOMapping {

    public:

        TransmitPDOMapping(Core& core, const std::unordered_map<Address, Entry>& dictionary, const std::unordered_map<std::string, Address>& name_to_address, uint16_t cob_id_,
            TransmissionType transmission_type_, std::chrono::milliseconds repeat_time_, const std::vector<Mapping>& mappings_);

        TransmitPDOMapping(const TransmitPDOMapping&) = delete;

        TransmitPDOMapping(TransmitPDOMapping&&) = delete;

        ~TransmitPDOMapping();

        uint16_t cob_id;

        TransmissionType transmission_type;

        std::chrono::milliseconds repeat_time;

        std::vector<Mapping> mappings;

        std::unique_ptr<std::thread> transmitter;

        void send() const;

    private:

        void check_correctness() const;

        static const bool debug = false;

        Core& m_core;

        const std::unordered_map<Address, Entry>& m_dictionary;

        const std::unordered_map<std::string, Address>& m_name_to_address;

    };

} // end namespace kaco