CANConfigurator.hpp

/***************************************************************************
  tag: Peter Soetens  Tue Dec 21 22:43:07 CET 2004  CANConfigurator.hpp

                        CANConfigurator.hpp -  description
                           -------------------
    begin                : Tue December 21 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 CANCONFIGURATOR_HPP
#define CANCONFIGURATOR_HPP

#include <rtt/ConfigurationInterface.hpp>
#include "CANRequest.hpp"

// rt_std :
#include <rtt/os/rtstreams.hpp>

#include <vector>
#include <utility>
#include <iostream>
#include <rtt/os/rtstreams.hpp>

namespace RTT
{namespace CAN
{

    using namespace std;

    class CANConfigurator
        : public ConfigurationInterface
    {
        std::vector< std::pair<CANRequest*, bool> > requests;

        public:
        CANConfigurator( CANBusInterface* _bus)
            : bus(_bus), status(false)
        {
        }

        void addRequest( CANRequest* req, bool weakcheck = false){
            requests.push_back( std::make_pair(req, weakcheck) );
        }

        virtual void configInit()
        {
            it = requests.begin();
            if ( it != requests.end() )
                it->first->sendTo(bus);
        }

        virtual bool configStep()
        {
            if ( it == requests.end() )
                status = true;
            else if ( ( it->first->isReceived() && it->second )
                      || (! it->second && it->first->isExactMatch() ) )
                {
                    ++it;
                    if ( it != requests.end() )
                        it->first->sendTo(bus);
                }
            else if ( it->first->isExpired() )
                {
                    rt_std::cout << "Request " << ( it - requests.begin() ) <<" expired!"<<rt_std::endl;
                    return false;
                }

            return true;
        }

        virtual bool isFinished() const { return status; }

        virtual void configCleanup()
        {
            for (unsigned int j=0; j<requests.size(); ++j)
                delete requests[j].first;
            requests.clear();
            status = false;
        }

    protected:

        CANBusInterface* bus;

        std::vector< std::pair<CANRequest*, bool> >::iterator it;

        bool status;

    };

}}


#endif

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