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/*

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This file is part of CanFestival, a library implementing CanOpen Stack. 

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Copyright (C): Edouard TISSERANT and Francis DUPIN

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See COPYING file for copyrights details.

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This library is free software; you can redistribute it and/or

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modify it under the terms of the GNU Lesser General Public

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License as published by the Free Software Foundation; either

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version 2.1 of the License, or (at your option) any later version.

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This library is distributed in the hope that it will be useful,

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but WITHOUT ANY WARRANTY; without even the implied warranty of

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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU

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Lesser General Public License for more details.

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You should have received a copy of the GNU Lesser General Public

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License along with this library; if not, write to the Free Software

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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

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*/

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/** @defgroup networkmanagement Network Management

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 *  @ingroup userapi

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 */

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/** @defgroup nmtmaster NMT Master

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 *  @brief NMT master provides mechanisms that control and monitor the state of nodes and their behavior in the network.

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 *  @ingroup networkmanagement

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 */

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#ifndef __nmtMaster_h__

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#define __nmtMaster_h__

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#include "data.h"

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/** 

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 * @ingroup nmtmaster

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 * @brief Transmit a NMT message on the network to the slave whose nodeId is node ID.

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 * 

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 * @param *d Pointer to a CAN object data structure

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 * @param nodeId Id of the slave node

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 * @param cs The order of state changement \n\n

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 * 

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 * Allowed states :

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 *  - cs =  NMT_Start_Node               // Put the node in operational mode             

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 *  - cs =	NMT_Stop_Node		         // Put the node in stopped mode

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 *  - cs =	NMT_Enter_PreOperational     // Put the node in pre_operational mode  

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 *  - cs =  NMT_Reset_Node		         // Put the node in initialization mode 

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 *  - cs =  NMT_Reset_Comunication	     // Put the node in initialization mode

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 *  

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 * The mode is changed according to the slave state machine mode :

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 *  - initialisation  ---> pre-operational (Automatic transition)

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 *  - pre-operational <--> operational

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 *  - pre-operational <--> stopped

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 *  - pre-operational, operational, stopped -> initialisation

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 * \n\n

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 * @return errorcode

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 *                   - 0 if the NMT message was send

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 *                   - 1 if an error occurs 

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 */

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UNS8 masterSendNMTstateChange (CO_Data* d, UNS8 nodeId, UNS8 cs);

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/**

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 * @ingroup nmtmaster 

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 * @brief Transmit a NodeGuard message on the network to the slave whose nodeId is node ID

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 * 

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 * @param *d Pointer to a CAN object data structure

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 * @param nodeId Id of the slave node

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 * @return

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 *         - 0 is returned if the NodeGuard message was send.

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 *         - 1 is returned if an error occurs.

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 */

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UNS8 masterSendNMTnodeguard (CO_Data* d, UNS8 nodeId);

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/** 

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 * @ingroup nmtmaster

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 * @brief Ask the state of the slave node whose nodeId is node Id.

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 * 

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 * To ask states of all nodes on the network (NMT broadcast), nodeId must be equal to 0

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 * @param *d Pointer to a CAN object data structure

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 * @param nodeId Id of the slave node

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 */

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void masterRequestNodeState (CO_Data* d, UNS8 nodeId);

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#endif /* __nmtMaster_h__ */