CANNL.h

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/*******************************************************************************
 *
 * Copyright (c) 2008-2010 Michael Schulze <mschulze@ivs.cs.uni-magdeburg.de>
 * All rights reserved.
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#ifndef __CANNL_h__
#define __CANNL_h__

#include "case/Delegate.h"
#include "mw/nl/DistinctNL.h"
#include "mw/nl/Packet.h"
#include "mw/afp/Config.h"
#include "mw/common/NodeID.h"
#include "mw/common/Subject.h"
#include "mw/common/Event.h"
#include "mw/el/EventLayerCallBack.h"
#include "mw/nl/can/canID.h"
#include "debug.h"
#include <stdio.h>

namespace famouso {
    namespace mw {
        namespace nl {

            template< class CAN_Driver, class CCP, class BP >
            class CANNL : public DistinctNL {
                    typedef CANNL   type;
                    uint16_t tx_node;
                    CAN_Driver driver;
                    CCP ccp;
                    BP  etagBP;
                    typename CAN_Driver::MOB mob;
                public:
                    struct info {
                        enum {
                            payload = 8
                        };
                    };

                    typedef uint16_t SNN;

                    typedef Packet<SNN> Packet_t;

                    typedef afp::MultiSubjectConfig<SNN> AFP_Config;


                    CANNL() : tx_node(0) {}
                    ~CANNL() {}

                    void init() {
                        TRACE_FUNCTION;
                        driver.init();
                        // the CAN Configuration Protocol has to run, before this
                        // function returns
                        tx_node = ccp.ccp_configure_tx_node(getNodeID<void>(), driver);
                        famouso::util::Delegate<> dg;
                        dg.bind<type, &type::rx_interrupt>(this);
                        driver.set_rx_Interrupt(dg);
                        driver.rx_interrupts(true);
                    }

                    void bind(const Subject &s, SNN &snn) {
                        TRACE_FUNCTION;
                        snn = etagBP.bind_subject(s, tx_node, driver);
                    }

                    void deliver(const Packet_t& p) {
                        // senden des CAN Paketes
                        TRACE_FUNCTION;
                        typename CAN_Driver::MOB m;

                        m.extended();
                        m.id().prio(0xfd);
                        m.id().fragment(p.fragment);
                        m.id().tx_node(tx_node);
                        m.id().etag(p.snn);
                        m.len() = 0;
                        while (m.len() != p.data_length) {
                            m.data()[m.len()] = p.data[m.len()];
                            ++m.len();
                        }
                        driver.transmit(m);
                    }

                    void fetch(Packet_t& p) {
                        // ist das Auslesen eines einzelnen Paketes
                        TRACE_FUNCTION;
                        p.data = mob.data();
                        p.data_length = mob.len();
                        p.fragment=mob.id().fragment();
                    }


                    void tx_interrupt() {
                        TRACE_FUNCTION;
                    }

                    void rx_interrupt() {
                        TRACE_FUNCTION;
                        driver.receive(&mob);
                        if (ccp.handle_ccp_configure_request(mob, driver))
                            return;
                        if (etagBP.handle_subject_bind_request(mob, driver))
                            return;
                        famouso::mw::el::IncommingEventFromNL(this);
                    }

                    SNN lastPacketSNN() {
                        return mob.id().etag();
                    }

            };
        } // namespace nl
    } // namespace mw
} //namespace famouso

#endif /* __CANNL_h__ */