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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 heartbeato Heartbeat Object

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 *  The heartbeat mechanism for a device is established through cyclically transmitting a message by a

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 *	heartbeat producer. One or more devices in the network are aware of this heartbeat message. If the

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 *	heartbeat cycle fails for the heartbeat producer the local application on the heartbeat consumer will be

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 *	informed about that event.

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 *  @ingroup comobj

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 */

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/** @defgroup nodeguardo Node-guarding Object

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 *  The node-guarding mechanism for a device is established through cyclically polling all slaves by the NMT

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 *    	master. If one polled slave does not respond during a specified time (LifeTime), the local application

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 * 	will be informed about that event.<br>

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 *	It is also possible for the slaves to monitor the node-guarding requests coming from the master to

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 * 	determine, if the master operates in a right way

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 *  @ingroup comobj

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 *

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 * @todo The implementation is very basic. The toggle bit of the nodes confirmation is not checked at the moment

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 */

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/**

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** @file   lifegrd.h

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** @author Markus WILDBOLZ

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** @date   Mon Oct 01 14:44:36 CEST 2012 

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**

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** @brief

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**

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**

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*/

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#ifndef __lifegrd_h__

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#define __lifegrd_h__

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#include <applicfg.h>

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typedef void (*heartbeatError_t)(CO_Data*, UNS8);

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void _heartbeatError(CO_Data* d, UNS8 heartbeatID);

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typedef void (*post_SlaveBootup_t)(CO_Data*, UNS8);

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void _post_SlaveBootup(CO_Data* d, UNS8 SlaveID);

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typedef void (*post_SlaveStateChange_t)(CO_Data*, UNS8, e_nodeState);

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void _post_SlaveStateChange(CO_Data* d, UNS8 nodeId, e_nodeState newNodeState);

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typedef void (*nodeguardError_t)(CO_Data*, UNS8);

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void _nodeguardError(CO_Data* d, UNS8 id);

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#include "data.h"

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/*************************************************************************

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 * Functions

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 *************************************************************************/

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/** 

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 * @brief Start node guarding with respect to 0x100C and 0x100D

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 * in the object dictionary

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 * 

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

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 * @ingroup nodeguardo

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 */

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void nodeguardInit(CO_Data* d);

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/** 

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 * @brief Stop producing node guarding messages

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 *

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

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 * @ingroup nodeguardo

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 */

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void nodeguardStop(CO_Data* d);

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/** 

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 * @brief Start the life guarding service (heartbeat/node guarding).

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 * This service handles NMT error control messages either by using

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 * heartbeats and/or by using node guarding messages (defined via the

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 * object dictionary)

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 *

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

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 */

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void lifeGuardInit(CO_Data* d);

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/** 

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 * @brief Stop the life guarding service (heartbeat/node guarding).

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 *

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

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 */

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void lifeGuardStop(CO_Data* d);

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/** 

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 * @ingroup statemachine

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 * @brief To read the state of a node

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 * This can be used by the master after having sent a life guard request,

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 * of by any node if it is waiting for heartbeat.

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

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 * @param nodeId Id of a node

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 * @return e_nodeState State of the node corresponding to the nodeId

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 */

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e_nodeState getNodeState (CO_Data* d, UNS8 nodeId);

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/** 

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 * @brief Start heartbeat consumer and producer

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 * with respect to 0x1016 and 0x1017

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 * object dictionary entries

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

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 * @ingroup heartbeato

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 */

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void heartbeatInit(CO_Data* d);

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/** 

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 * @brief Stop heartbeat consumer and producer

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

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 * @ingroup heartbeato

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 */

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void heartbeatStop(CO_Data* d);

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/** 

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 * @brief This function is responsible to process a canopen-message which seams to be an NMT Error Control

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 * Messages.

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 * If a BootUp message is detected, it will return the nodeId of the Slave who booted up

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

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 * @param *m Pointer on the CAN-message which has to be analysed.

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 * @ingroup nodeguardo

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 */

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void proceedNODE_GUARD (CO_Data* d, Message* m);

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#endif /*__lifegrd_h__ */