/*
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
*/
#ifndef __lifegrd_h__
#define __lifegrd_h__
#include <applicfg.h>
typedef void (*heartbeatError_t)(UNS8);
void _heartbeatError(UNS8 heartbeatID);
#include "data.h"
/*************************************************************************
* Functions
*************************************************************************/
/** 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.
*/
e_nodeState getNodeState (CO_Data* d, UNS8 nodeId);
/** Start heartbeat consumer and producer
* with respect to 0x1016 and 0x1017
* object dictionary entries
*/
void heartbeatInit(CO_Data* d);
/** Stop heartbeat consumer and producer
*/
void heartbeatStop(CO_Data* d);
/** This function is responsible to process a canopen-message which seams to be an NMT Error Control
* Messages. At them moment we assume that every NMT error control message
* is a heartbeat message.
* \param Message The CAN-message which has to be analysed.
* If a BootUp message is detected, it will return the nodeId of the Slave who booted up
*/
void proceedNODE_GUARD (CO_Data* d, Message* m);
#endif /*__lifegrd_h__ */