canaerobusconnector.h

// Copyright (C) 2008,2009,2010 by Philipp Münzel. All rights reserved.
// Released under the terms of the license described in license.txt

#ifndef CANAEROBUSCONNECTOR_H
#define CANAEROBUSCONNECTOR_H

#include "dllexport.h"

#include <memory>
#include <queue>
#include <string>
#include <boost/date_time.hpp>

#include "canaerotypes.h"
#include "connectedclient.h"
#include "connector.h"
#include "scopedlock.h"
#include "nodesmodulemanager.h"

namespace SCS {

class CanAeroDataManager;

class DLL_PUBLIC CanAeroBusConnector: public BusConnector<can_t>
{
public:

    CanAeroBusConnector(CanAeroDataManager* manager,
                        NetworkConnector<can_t>* connector,
                        uint8_t own_node_id,
                        uint8_t config_revision);

    void doHouseKeeping();

    uint8_t ownNodeId() const;

    void send(const can_t& msg);

    void send(const std::vector<can_t>& msg);

    void sendSTS(uint8_t node_id = BROADCAST_NODE_ID);

    void sendDRS(can_Id_t can_id, uint8_t node_id = BROADCAST_NODE_ID);

    void sendIDS(uint8_t node_id = BROADCAST_NODE_ID);

    void receiveMessage(const can_t& msg);

    void receiveMessage(const std::vector<can_t>& msg);

    void requestModule(uint8_t node_id, uint16_t module, uint16_t mode);

    bool isModuleActive(uint8_t node_id, uint16_t module);

    bool isClientActive(uint8_t node_id);

private:

    void sendMIS(uint8_t node_id = BROADCAST_NODE_ID);

    void processServiceRequests(const can_t&);

    void processServiceResponses(const can_t&);

    uint8_t getNewNodeId(uint32_t uuid);


private:

    typedef std::map<uint8_t, ConnectedClient> ClientMap;
    typedef std::map<uint32_t, uint8_t> NCSMap;
    Mutex m_map_mutex;
    ClientMap m_connected_clients;
    NCSMap m_ncs_lookup;
    uint8_t m_own_node_id;
    const uint8_t m_config_revision;
    uint32_t m_gen_uuid;
    CanAeroDataManager* m_manager;
    NetworkConnector<can_t>* m_network_connector;
    NodesModuleManager m_nodes_module_manager;
    boost::posix_time::ptime m_last_did_MIS;
#ifdef USE_STOCK_DATAFRAME
    uint32_t m_frame_counter;
#endif
};

}

#endif // CANAEROBUSCONNECTOR_H