/*
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__ */