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();
                }
            }

            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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