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

Copyright (C): Edouard TISSERANT and Francis DUPIN

See COPYING file for copyrights details.

This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.

This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

/** @defgroup heartbeato Heartbeat Object
 *  The heartbeat mechanism for a device is established through cyclically transmitting a message by a
 *	heartbeat producer. One or more devices in the network are aware of this heartbeat message. If the
 *	heartbeat cycle fails for the heartbeat producer the local application on the heartbeat consumer will be
 *	informed about that event.
 *  @ingroup comobj
 */

/** @defgroup nodeguardo Node-guarding Object
 *  The node-guarding mechanism for a device is established through cyclically polling all slaves by the NMT
 *    	master. If one polled slave does not respond during a specified time (LifeTime), the local application
 * 	will be informed about that event.<br>
 *	It is also possible for the slaves to monitor the node-guarding requests coming from the master to
 * 	determine, if the master operates in a right way
 *  @ingroup comobj
 *
 * @todo The implementation is very basic. The toggle bit of the nodes confirmation is not checked at the moment
 */
	
/**
** @file   lifegrd.h
** @author Markus WILDBOLZ
** @date   Mon Oct 01 14:44:36 CEST 2012 
**
** @brief
**
**
*/
				 
#ifndef __lifegrd_h__
#define __lifegrd_h__


#include <applicfg.h>

typedef void (*heartbeatError_t)(CO_Data*, UNS8);
void _heartbeatError(CO_Data* d, UNS8 heartbeatID);

typedef void (*post_SlaveBootup_t)(CO_Data*, UNS8);
void _post_SlaveBootup(CO_Data* d, UNS8 SlaveID);

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

typedef void (*nodeguardError_t)(CO_Data*, UNS8);
void _nodeguardError(CO_Data* d, UNS8 id);

#include "data.h"

/*************************************************************************
 * Functions
 *************************************************************************/
/** 
 * @brief Start node guarding with respect to 0x100C and 0x100D
 * in the object dictionary
 * 
 * @param *d Pointer on a CAN object data structure
 * @ingroup nodeguardo
 */
void nodeguardInit(CO_Data* d);

/** 
 * @brief Stop producing node guarding messages
 *
 * @param *d Pointer on a CAN object data structure
 * @ingroup nodeguardo
 */
void nodeguardStop(CO_Data* d);

/** 
 * @brief Start the life guarding service (heartbeat/node guarding).
 * This service handles NMT error control messages either by using
 * heartbeats and/or by using node guarding messages (defined via the
 * object dictionary)
 *
 * @param *d Pointer on a CAN object data structure
 */
void lifeGuardInit(CO_Data* d);

/** 
 * @brief Stop the life guarding service (heartbeat/node guarding).
 *
 * @param *d Pointer on a CAN object data structure
 */
void lifeGuardStop(CO_Data* d);

/** 
 * @ingroup statemachine
 * @brief To read the state of a node
 * This can be used by the master after having sent a life guard request,
 * of by any node if it is waiting for heartbeat.
 * @param *d Pointer on a CAN object data structure
 * @param nodeId Id of a node
 * @return e_nodeState State of the node corresponding to the nodeId
 */
e_nodeState getNodeState (CO_Data* d, UNS8 nodeId);

/** 
 * @brief Start heartbeat consumer and producer
 * with respect to 0x1016 and 0x1017
 * object dictionary entries
 * @param *d Pointer on a CAN object data structure
 * @ingroup heartbeato
 */
void heartbeatInit(CO_Data* d);

/** 
 * @brief Stop heartbeat consumer and producer
 * @param *d Pointer on a CAN object data structure
 * @ingroup heartbeato
 */
void heartbeatStop(CO_Data* d);

/** 
 * @brief This function is responsible to process a canopen-message which seams to be an NMT Error Control
 * Messages.
 * If a BootUp message is detected, it will return the nodeId of the Slave who booted up
 * @param *d Pointer on a CAN object data structure 
 * @param *m Pointer on the CAN-message which has to be analysed.
 * @ingroup nodeguardo
 */
void proceedNODE_GUARD (CO_Data* d, Message* m);


#endif /*__lifegrd_h__ */