CANRequest.hpp

/***************************************************************************
  tag: Peter Soetens  Mon Jan 19 14:11:20 CET 2004  CANRequest.hpp

                        CANRequest.hpp -  description
                           -------------------
    begin                : Mon January 19 2004
    copyright            : (C) 2004 Peter Soetens
    email                : peter.soetens@mech.kuleuven.ac.be

 ***************************************************************************
 *   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 CANREQUEST_HPP
#define CANREQUEST_HPP

#include "CANMessage.hpp"
#include "CANBusInterface.hpp"

#include <rtt/TimeService.hpp>
#include <rtt/Time.hpp>
#include <rtt/os/rtstreams.hpp>

namespace RTT
{namespace CAN
{



    class CANRequest
        :public CANDeviceInterface
    {
    public:
        CANRequest(CANMessage* _write, CANMessage* _expect, Seconds _timeout = 0 )
            : bus(0), write(_write), expected(_expect), result(0), timestamp(0), timeout(_timeout)
        {
        }

        bool sendTo(CANBusInterface* _bus)
        {
            if ( bus != 0 )
                return false;

            _bus->addDevice(this);
            bus = _bus;
            result = 0;
            bus->write(write);
            timestamp = TimeService::Instance()->getTicks();
            return true;
        }

        void process(const CANMessage* msg)
        {
            if (result != 0)
                return;
            // update status
            if ( (msg->isStandard() == expected->isStandard() &&  msg->getStdId() == expected->getStdId() )
                 || ( msg->isExtended() == expected->isExtended() && msg->getExtId() == expected->getExtId() ) )
                {
                    result_cache = *msg;
                    result = &result_cache;
                    abort();
                } else if ( isExpired() )
                    {
                        abort();
                    }
        }

        unsigned int nodeId() const
        {
            return write->origin->nodeId();
        }

        void abort()
        {
            if (bus != 0)
                {
                    bus->removeDevice(this);
                    bus = 0;
                }
        }

        bool isReceived() const
        {
            return result != 0;
        }

        bool isExpired() const
        {
            if ( timeout == 0 )
                return false;
            else
                return TimeService::Instance()->secondsSince(timestamp) > timeout;
        }

        bool isExactMatch() const
        {
            if (result != 0)
                return *expected == *result;
            else
                return false;
        }

        bool matchDataByte(unsigned int pos) const
        {
            if (result != 0 && pos < expected->getDLC() && pos < result->getDLC() )
                return expected->getData(pos) == result->getData(pos);
            return false;
        }

        bool matchDataByte(unsigned int start, unsigned int end) const
        {
            if (result != 0 && start <= end && end < expected->getDLC() && end < result->getDLC() )
                {
                    for (unsigned int i=start; i <= end; ++i)
                        if ( expected->getData(i) != result->getData(i) )
                            return false;
                    return true;
                }
            return false;
        }

        CANMessage* getReceivedMessage() { return result; }

    protected:
        CANBusInterface* bus;
        CANMessage* write;
        CANMessage* expected;
        CANMessage* result;
        CANMessage result_cache;
        TimeService::ticks timestamp;
        Seconds timeout;
    };

}}

#endif

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