rlcanopenclient.h

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/***************************************************************************
                          rlcanopen.cpp  -  description
                             -------------------
    begin     : Tue March 03 2004
    copyright : (C) 2004 by Marc Br�tigam, Christian Wilmes, R. Lehrig
    email     : lehrig@t-online.de
 ***************************************************************************/

/***************************************************************************
 *                                                                         *
 *   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                             *
 *                                                                         *
 ***************************************************************************/
#include <stdio.h>
#include <stdlib.h>
#include <sys/types.h>
#include <unistd.h>
#include "rlsocket.h"
#include "rlthread.h"
#include "rlcutil.h"
#include "rlwthread.h"

#include "rlcanopentypes.h"


class rlCanOpenClient
{
public:

  enum rl_msg {
    MSG_SEND      = 0,
    MSG_RECEIVE   = 1,
    MSG_SDO_READ = 0,
    MSG_SDO_WRITE = 1,
    MSG_PDO_RECEIVE = 3,
    MSG_CONNECT = 5,
    MSG_DISCONNECT = 6,
    MSG_PDO_TRANSMIT = 4,
    MSG_NMT_TRANSMIT = 7,
    MSG_RESTART_BOARD = 8,
    MSG_GET_NODE_STATE = 9
  };

  rlCanOpenClient();
  rlCanOpenClient(int _port, char* _remoteadress);
  ~rlCanOpenClient();
  int connect();
  int disconnect();
  

  int sdo_read( int _boardnr, 
                int _nodeid,int _objectindex, 
                int _subindex, 
                rlCanOpenTypes &_sdo_data); 

  int sdo_write(int _boardnr, 
                int _nodeid,int _objectindex, 
                int _subindex, 
                rlCanOpenTypes &_sdo_data); 
  
  int pdo_receive(int _boardnr, 
                  int _nodeid,int _pdonr, 
                  int _mappingnr, 
                  rlCanOpenTypes &_pdo_data);

  int pdo_receive(int _boardnr, 
                  int _nodeid,int _pdonr, 
                  rlCanOpenTypes &_pdo_data);

  int pdo_transmit(int _boardnr, 
                   int _nodeid,int _pdonr, 
                   int _mappingnr, 
                   rlCanOpenTypes &_pdo_data);

  int pdo_transmit(int _boardnr, 
                   int _nodeid,
                   int _pdonr, 
                   rlCanOpenTypes &_pdo_data);

  int sendNMTCommand(   int _boardnr, 
                        int _nodeid, 
                        unsigned char _cmd, 
                        bool &returnstate);
  
  int restartBoard(int _boardnr, int _restarttype, bool &returnstate);
  
  int getNodeState(int _boardnr, int _nodeid,rlCanOpenTypes &_data);
  
  void setPort(int _port);
  
  void setAdr(char* _adr);

private:
  int pid;

  bool connected;

  int port;

  char remoteadress[40];

  rlSocket* socket;
  int client_timeout;
};

//#####################################################################################      
// convenience class for client users
class rlCanClient : public rlCanOpenClient
{
public:
  rlCanClient(int _port, char* _remoteadress, int _boardnr);
  ~rlCanClient();
  int sdo_read(int _nodeid, int _objectindex, int _subindex, rlCanOpenTypes &_sdo_data); 
  int sdo_write(int _nodeid,int _objectindex, int _subindex, rlCanOpenTypes &_sdo_data); 
  int pdo_receive(int _nodeid, int _pdonr, int _mappingnr, rlCanOpenTypes &_pdo_data);
  int pdo_receive(int _nodeid, int _pdonr, rlCanOpenTypes &_pdo_data);
  int pdo_transmit(int _nodeid, int _pdonr, int _mappingnr, rlCanOpenTypes &_pdo_data);
  int pdo_transmit(int _nodeid, int _pdonr, rlCanOpenTypes &_pdo_data);
  int sendNMTCommand(int _nodeid, unsigned char _cmd, bool &returnstate);
  int restartBoard(int _restarttype, bool &returnstate);
  int getNodeState(int _nodeid, rlCanOpenTypes &_data);
private:
  int boardnr;  
};