master.cpp

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#include "coapp.hpp"
 
#if !LELY_NO_COAPP_MASTER
 
#include <lely/coapp/detail/chrono.hpp>
#include <lely/coapp/driver.hpp>
 
#include <algorithm>
#include <array>
 
#include <cassert>
 
#include <lely/co/dev.hpp>
#include <lely/co/nmt.hpp>
 
namespace lely {
 
namespace canopen {
 
struct BasicMaster::Impl_ {
  Impl_(BasicMaster* self, CONMT* nmt);
 
  void OnNgInd(CONMT* nmt, uint8_t id, int state, int reason) noexcept;
  void OnBootInd(CONMT* nmt, uint8_t id, uint8_t st, char es) noexcept;
  void OnCfgInd(CONMT* nmt, uint8_t id, COCSDO* sdo) noexcept;
 
  BasicMaster* self;
  ::std::map<uint8_t, Sdo> sdos;
};
 
BasicMaster::BasicMaster(aio::TimerBase& timer, aio::CanBusBase& bus,
                         const ::std::string& dcf_txt,
                         const ::std::string& dcf_bin, uint8_t id)
    : Node(timer, bus, dcf_txt, dcf_bin, id),
      impl_(new Impl_(this, Node::nmt())) {}
 
BasicMaster::~BasicMaster() = default;
 
void
BasicMaster::Error(uint8_t id) {
  ::std::lock_guard<BasicLockable> lock(*this);
 
  if (nmt()->nodeErrInd(id) == -1) throw_errc("Error");
}
 
void
BasicMaster::Error(uint16_t eec, uint8_t er, const uint8_t msef[5]) {
  ::std::lock_guard<BasicLockable> lock(*this);
 
  Node::Error(eec, er, msef);
}
 
void
BasicMaster::RpdoRtr(int num) {
  ::std::lock_guard<BasicLockable> lock(*this);
 
  Node::RpdoRtr(num);
}
 
void
BasicMaster::TpdoEvent(int num) {
  ::std::lock_guard<BasicLockable> lock(*this);
 
  Node::TpdoEvent(num);
}
 
::std::chrono::milliseconds
BasicMaster::GetTimeout() const {
  ::std::lock_guard<BasicLockable> lock(const_cast<BasicMaster&>(*this));
 
  return detail::FromTimeout(nmt()->getTimeout());
}
 
void
BasicMaster::SetTimeout(const ::std::chrono::milliseconds& timeout) {
  ::std::lock_guard<BasicLockable> lock(*this);
 
  nmt()->setTimeout(detail::ToTimeout(timeout));
}
 
void
BasicMaster::Insert(DriverBase& driver) {
  ::std::lock_guard<BasicLockable> lock(*this);
 
  if (!driver.id() || driver.id() > 0x7f)
    throw ::std::out_of_range("invalid node-ID: " +
                              ::std::to_string(driver.id()));
  if (driver.id() == nmt()->getDev()->getId())
    throw ::std::out_of_range("cannot register node-ID of master: " +
                              ::std::to_string(driver.id()));
  if (find(driver.id()) != end())
    throw ::std::out_of_range("node-ID " + ::std::to_string(driver.id()) +
                              " already registered");
 
  MapType::operator[](driver.id()) = &driver;
}
 
void
BasicMaster::Erase(DriverBase& driver) {
  ::std::lock_guard<BasicLockable> lock(*this);
  assert(find(driver.id()) != end() && find(driver.id())->second == &driver);
 
  erase(driver.id());
}
 
void
BasicMaster::OnCanError(CanError error) noexcept {
  for (const auto& it : *this) {
    detail::UnlockGuard<BasicLockable> unlock(*this);
    it.second->OnCanError(error);
  }
}
 
void
BasicMaster::OnCanState(CanState new_state, CanState old_state) noexcept {
  for (const auto& it : *this) {
    detail::UnlockGuard<BasicLockable> unlock(*this);
    it.second->OnCanState(new_state, old_state);
  }
}
 
void
BasicMaster::OnCommand(NmtCommand cs) noexcept {
  // Abort all ongoing and pending SDO requests unless the master is in the
  // pre-operational or operational state.
  if (cs != NmtCommand::ENTER_PREOP && cs != NmtCommand::START) CancelSdo();
  for (const auto& it : *this) {
    detail::UnlockGuard<BasicLockable> unlock(*this);
    it.second->OnCommand(cs);
  }
}
 
void
BasicMaster::OnNodeGuarding(uint8_t id, bool occurred) noexcept {
  auto it = find(id);
  if (it != end()) {
    detail::UnlockGuard<BasicLockable> unlock(*this);
    it->second->OnNodeGuarding(occurred);
  }
}
 
void
BasicMaster::OnHeartbeat(uint8_t id, bool occurred) noexcept {
  auto it = find(id);
  if (it != end()) {
    detail::UnlockGuard<BasicLockable> unlock(*this);
    it->second->OnHeartbeat(occurred);
  }
}
 
void
BasicMaster::OnState(uint8_t id, NmtState st) noexcept {
  // Abort any ongoing or pending SDO requests for the slave, since the master
  // MAY need the Client-SDO service for the NMT 'boot slave' process.
  if (st == NmtState::BOOTUP) CancelSdo(id);
  auto it = find(id);
  if (it != end()) {
    detail::UnlockGuard<BasicLockable> unlock(*this);
    it->second->OnState(st);
  }
}
 
void
BasicMaster::OnBoot(uint8_t id, NmtState st, char es,
                    const ::std::string& what) noexcept {
  auto it = find(id);
  if (it != end()) {
    detail::UnlockGuard<BasicLockable> unlock(*this);
    it->second->OnBoot(st, es, what);
  }
}
 
void
BasicMaster::OnConfig(uint8_t id) noexcept {
  auto it = find(id);
  // If no remote interface is registered for this node, the 'update
  // configuration' process is considered complete.
  if (it == end()) {
    ConfigResult(id, ::std::error_code());
    return;
  }
  // Let the driver perform the configuration update.
  detail::UnlockGuard<BasicLockable> unlock(*this);
  it->second->OnConfig([=](::std::error_code ec) {
    ::std::lock_guard<BasicLockable> lock(*this);
    // Report the result of the 'update configuration' process.
    ConfigResult(id, ec);
  });
}
 
void
BasicMaster::ConfigResult(uint8_t id, ::std::error_code ec) noexcept {
  assert(nmt()->isBooting(id));
  // Destroy the Client-SDO, since it will be taken over by the master.
  impl_->sdos.erase(id);
  // Ignore any errors, since we cannot handle them here.
  nmt()->cfgRes(id, ec.value());
}
 
void
BasicMaster::OnRpdo(int num, ::std::error_code ec, const void* p,
                    ::std::size_t n) noexcept {
  for (const auto& it : *this) {
    detail::UnlockGuard<BasicLockable> unlock(*this);
    it.second->OnRpdo(num, ec, p, n);
  }
}
 
void
BasicMaster::OnRpdoError(int num, uint16_t eec, uint8_t er) noexcept {
  for (const auto& it : *this) {
    detail::UnlockGuard<BasicLockable> unlock(*this);
    it.second->OnRpdoError(num, eec, er);
  }
}
 
void
BasicMaster::OnTpdo(int num, ::std::error_code ec, const void* p,
                    ::std::size_t n) noexcept {
  for (const auto& it : *this) {
    detail::UnlockGuard<BasicLockable> unlock(*this);
    it.second->OnTpdo(num, ec, p, n);
  }
}
 
void
BasicMaster::OnSync(uint8_t cnt, const time_point& t) noexcept {
  for (const auto& it : *this) {
    detail::UnlockGuard<BasicLockable> unlock(*this);
    it.second->OnSync(cnt, t);
  }
}
 
void
BasicMaster::OnSyncError(uint16_t eec, uint8_t er) noexcept {
  for (const auto& it : *this) {
    detail::UnlockGuard<BasicLockable> unlock(*this);
    it.second->OnSyncError(eec, er);
  }
}
 
void
BasicMaster::OnTime(
    const ::std::chrono::system_clock::time_point& abs_time) noexcept {
  for (const auto& it : *this) {
    detail::UnlockGuard<BasicLockable> unlock(*this);
    it.second->OnTime(abs_time);
  }
}
 
void
BasicMaster::OnEmcy(uint8_t id, uint16_t eec, uint8_t er,
                    uint8_t msef[5]) noexcept {
  auto it = find(id);
  if (it != end()) {
    detail::UnlockGuard<BasicLockable> unlock(*this);
    it->second->OnEmcy(eec, er, msef);
  }
}
 
Sdo*
BasicMaster::GetSdo(uint8_t id) {
  if (!id || id > 0x7f)
    throw ::std::out_of_range("invalid node-ID: " + ::std::to_string(id));
  // The Client-SDO service only exists in the pre-operational and operational
  // state.
  auto st = nmt()->getSt();
  if (st != CO_NMT_ST_PREOP && st != CO_NMT_ST_START) return nullptr;
  // During the 'update configuration' step of the NMT 'boot slave' process, a
  // Client-SDO queue may be available.
  auto it = impl_->sdos.find(id);
  if (it != impl_->sdos.end()) return &it->second;
  // The master needs the Client-SDO service during the NMT 'boot slave'
  // process.
  if (nmt()->isBooting(id)) return nullptr;
  // Return a Client-SDO queue for the default SDO.
  return &(impl_->sdos[id] = Sdo(nmt()->getNet(), id));
}
 
void
BasicMaster::CancelSdo(uint8_t id) {
  if (id)
    impl_->sdos.erase(id);
  else
    impl_->sdos.clear();
}
 
void
AsyncMaster::OnCanError(CanError error) noexcept {
  for (const auto& it : *this) {
    DriverBase* driver = it.second;
    auto op = new aio::TaskWrapper([=](::std::error_code ec) {
      if (!ec) driver->OnCanError(error);
    });
    driver->GetExecutor().Post(*op);
  }
}
 
void
AsyncMaster::OnCanState(CanState new_state, CanState old_state) noexcept {
  for (const auto& it : *this) {
    DriverBase* driver = it.second;
    auto op = new aio::TaskWrapper([=](::std::error_code ec) {
      if (!ec) driver->OnCanState(new_state, old_state);
    });
    driver->GetExecutor().Post(*op);
  }
}
 
void
AsyncMaster::OnCommand(NmtCommand cs) noexcept {
  // Abort all ongoing and pending SDO requests unless the master is in the
  // pre-operational or operational state.
  if (cs != NmtCommand::ENTER_PREOP && cs != NmtCommand::START) CancelSdo();
  for (const auto& it : *this) {
    DriverBase* driver = it.second;
    auto op = new aio::TaskWrapper([=](::std::error_code ec) {
      if (!ec) driver->OnCommand(cs);
    });
    driver->GetExecutor().Post(*op);
  }
}
 
void
AsyncMaster::OnNodeGuarding(uint8_t id, bool occurred) noexcept {
  auto it = find(id);
  if (it != end()) {
    DriverBase* driver = it->second;
    auto op = new aio::TaskWrapper([=](::std::error_code ec) {
      if (!ec) driver->OnNodeGuarding(occurred);
    });
    driver->GetExecutor().Post(*op);
  }
}
 
void
AsyncMaster::OnHeartbeat(uint8_t id, bool occurred) noexcept {
  auto it = find(id);
  if (it != end()) {
    DriverBase* driver = it->second;
    auto op = new aio::TaskWrapper([=](::std::error_code ec) {
      if (!ec) driver->OnHeartbeat(occurred);
    });
    driver->GetExecutor().Post(*op);
  }
}
 
void
AsyncMaster::OnState(uint8_t id, NmtState st) noexcept {
  // Abort any ongoing or pending SDO requests for the slave, since the master
  // MAY need the Client-SDO service for the NMT 'boot slave' process.
  if (st == NmtState::BOOTUP) CancelSdo(id);
  auto it = find(id);
  if (it != end()) {
    DriverBase* driver = it->second;
    auto op = new aio::TaskWrapper([=](::std::error_code ec) {
      if (!ec) driver->OnState(st);
    });
    driver->GetExecutor().Post(*op);
  }
}
 
void
AsyncMaster::OnBoot(uint8_t id, NmtState st, char es,
                    const ::std::string& what) noexcept {
  auto it = find(id);
  if (it != end()) {
    DriverBase* driver = it->second;
    auto op = new aio::TaskWrapper([=](::std::error_code ec) {
      if (!ec) driver->OnBoot(st, es, what);
    });
    driver->GetExecutor().Post(*op);
  }
}
 
void
AsyncMaster::OnConfig(uint8_t id) noexcept {
  auto it = find(id);
  // If no remote interface is registered for this node, the 'update
  // configuration' process is considered complete.
  if (it == end()) {
    ConfigResult(id, ::std::error_code());
    return;
  }
 
  // Let the driver perform the configuration update.
  DriverBase* driver = it->second;
  auto op = new aio::TaskWrapper([=](::std::error_code ec) {
    if (!ec) {
      driver->OnConfig([=](::std::error_code ec) {
        ::std::lock_guard<BasicLockable> lock(*this);
        ConfigResult(id, ec);
      });
    } else {
      ::std::lock_guard<BasicLockable> lock(*this);
      ConfigResult(id, SdoErrc::ERROR);
    }
  });
  driver->GetExecutor().Post(*op);
}
 
void
AsyncMaster::OnRpdo(int num, ::std::error_code ec, const void* p,
                    ::std::size_t n) noexcept {
  ::std::array<uint8_t, CAN_MAX_LEN> value;
  ::std::copy_n(static_cast<const uint8_t*>(p), ::std::min(n, value.size()),
                value.begin());
  for (const auto& it : *this) {
    DriverBase* driver = it.second;
    // TODO: Ensure lifetime of value.
    auto op = new aio::TaskWrapper([=](::std::error_code ec_) {
      if (!ec_) driver->OnRpdo(num, ec, value.data(), value.size());
    });
    driver->GetExecutor().Post(*op);
  }
}
 
void
AsyncMaster::OnRpdoError(int num, uint16_t eec, uint8_t er) noexcept {
  for (const auto& it : *this) {
    DriverBase* driver = it.second;
    auto op = new aio::TaskWrapper([=](::std::error_code ec) {
      if (!ec) driver->OnRpdoError(num, eec, er);
    });
    driver->GetExecutor().Post(*op);
  }
}
 
void
AsyncMaster::OnTpdo(int num, ::std::error_code ec, const void* p,
                    ::std::size_t n) noexcept {
  ::std::array<uint8_t, CAN_MAX_LEN> value;
  ::std::copy_n(static_cast<const uint8_t*>(p), ::std::min(n, value.size()),
                value.begin());
  for (const auto& it : *this) {
    DriverBase* driver = it.second;
    auto op = new aio::TaskWrapper([=](::std::error_code ec_) {
      if (!ec_) driver->OnTpdo(num, ec, value.data(), value.size());
    });
    driver->GetExecutor().Post(*op);
  }
}
 
void
AsyncMaster::OnSync(uint8_t cnt, const time_point& t) noexcept {
  for (const auto& it : *this) {
    DriverBase* driver = it.second;
    auto op = new aio::TaskWrapper([=](::std::error_code ec) {
      if (!ec) driver->OnSync(cnt, t);
    });
    driver->GetExecutor().Post(*op);
  }
}
 
void
AsyncMaster::OnSyncError(uint16_t eec, uint8_t er) noexcept {
  for (const auto& it : *this) {
    DriverBase* driver = it.second;
    auto op = new aio::TaskWrapper([=](::std::error_code ec) {
      if (!ec) driver->OnSyncError(eec, er);
    });
    driver->GetExecutor().Post(*op);
  }
}
 
void
AsyncMaster::OnTime(
    const ::std::chrono::system_clock::time_point& abs_time) noexcept {
  for (const auto& it : *this) {
    DriverBase* driver = it.second;
    auto op = new aio::TaskWrapper([=](::std::error_code ec) {
      if (!ec) driver->OnTime(abs_time);
    });
    driver->GetExecutor().Post(*op);
  }
}
 
void
AsyncMaster::OnEmcy(uint8_t id, uint16_t eec, uint8_t er,
                    uint8_t msef[5]) noexcept {
  ::std::array<uint8_t, 5> value = {0};
  ::std::copy_n(msef, value.size(), value.begin());
  auto it = find(id);
  if (it != end()) {
    DriverBase* driver = it->second;
    auto op = new aio::TaskWrapper([=](::std::error_code ec) mutable {
      if (!ec) driver->OnEmcy(eec, er, value.data());
    });
    driver->GetExecutor().Post(*op);
  }
}
 
BasicMaster::Impl_::Impl_(BasicMaster* self_, CONMT* nmt) : self(self_) {
  nmt->setNgInd<Impl_, &Impl_::OnNgInd>(this);
  nmt->setBootInd<Impl_, &Impl_::OnBootInd>(this);
  nmt->setCfgInd<Impl_, &Impl_::OnCfgInd>(this);
}
 
void
BasicMaster::Impl_::OnNgInd(CONMT* nmt, uint8_t id, int state,
                            int reason) noexcept {
  // Invoke the default behavior before notifying the implementation.
  nmt->onNg(id, state, reason);
  // Only handle node guarding timeout events. State changes are handled by
  // OnSt().
  if (reason != CO_NMT_EC_TIMEOUT) return;
  // Notify the implementation.
  self->OnNodeGuarding(id, state == CO_NMT_EC_OCCURRED);
}
 
void
BasicMaster::Impl_::OnBootInd(CONMT*, uint8_t id, uint8_t st,
                              char es) noexcept {
  self->OnBoot(id, static_cast<NmtState>(st), es, es ? co_nmt_es2str(es) : "");
}
 
void
BasicMaster::Impl_::OnCfgInd(CONMT*, uint8_t id, COCSDO* sdo) noexcept {
  // Create a Client-SDO for the 'update configuration' process.
  try {
    sdos[id] = Sdo(sdo);
  } catch (...) {
    self->ConfigResult(id, SdoErrc::ERROR);
    return;
  }
  self->OnConfig(id);
}
 
}  // namespace canopen
 
}  // namespace lely
 
#endif  // !LELY_NO_COAPP_MASTER