Merge pull request #18 from Clovel/OSCOOD

[Closes #13] Implemented OSCO Object Dictionary classes

generator/inc/OSCONode.hpp

@@ -0,0 +1,56 @@
+/**
+ * @brief OSCONode class
+ * 
+ * @file OSCONode.hpp
+ */
+
+#ifndef OSCONODE_HPP
+#define OSCONODE_HPP
+
+/* Includes -------------------------------------------- */
+#include "OSCOOD.hpp"
+
+/* Library/API export defines */
+#include "APIExports.h"
+
+/* C System */
+#include <cstdint>
+
+/* Defines --------------------------------------------- */
+
+/* Type definitions ------------------------------------ */
+
+/* Forward declarations -------------------------------- */
+
+/* OSCOOD exception ------------------------------------ */
+class OSCONodeException : public std::exception {
+    virtual const char *what(void) const throw()
+    {
+        return "OSCONode exception occured !";
+    }
+};
+
+/* OSCONode class -------------------------------------- */
+class API_EXPORT OSCONode : public OSCOOD {
+    public:
+        /* Constructors */
+        OSCONode();
+        OSCONode(const uint8_t &pNodeID);
+        OSCONode(const uint8_t &pNodeID, const std::map<uint16_t, OSCOODIndex *> &pObjects);
+        OSCONode(const uint8_t &pNodeID, const std::vector<OSCOODIndex *> &pObjects);
+
+        /* Destructor */
+        virtual ~OSCONode();
+
+        /* Getters */
+        uint8_t nodeID(void) const;
+
+        /* Setters */
+        bool setNodeID(const uint8_t &pNodeID);
+
+    protected:
+    private:
+        uint8_t mNodeID;
+};
+
+#endif /* OSCONODE_HPP */

generator/inc/OSCOOD.hpp

@@ -0,0 +1,60 @@
+/**
+ * @brief OSCOOD class
+ * 
+ * @file OSCOOD.hpp
+ */
+
+#ifndef OSCOOD_HPP
+#define OSCOOD_HPP
+
+/* Includes -------------------------------------------- */
+/* Library/API export defines */
+#include "APIExports.h"
+
+/* C++ system */
+#include <map>
+#include <vector>
+#include <exception>
+
+/* C System */
+#include <cstdint>
+
+/* Defines --------------------------------------------- */
+
+/* Type definitions ------------------------------------ */
+
+/* Forward declarations -------------------------------- */
+class OSCOODIndex;
+
+/* OSCOOD exception ------------------------------------ */
+class OSCOODException : public std::exception {
+    virtual const char *what(void) const throw()
+    {
+        return "OSCOOD exception occured !";
+    }
+};
+
+/* OSCOOD class ---------------------------------- */
+class API_EXPORT OSCOOD {
+    public:
+        /* Constructors */
+        OSCOOD();
+        OSCOOD(const std::map<uint16_t, OSCOODIndex *> &pObjects);
+        OSCOOD(const std::vector<OSCOODIndex *> &pObjects);
+
+        /* Destructor */
+        virtual ~OSCOOD();
+
+        /* Getters */
+        std::map<uint16_t, OSCOODIndex *> indexes(void) const;
+
+        /* Setters */
+        bool addIndex(OSCOODIndex *pIndex);
+        bool removeIndex(const OSCOODIndex * const pIndex);
+        bool removeIndex(const uint16_t &pIndex);
+    protected:
+    private:
+        std::map<uint16_t, OSCOODIndex *> mObjects;
+};
+
+#endif /* OSCOOD_HPP */

generator/inc/OSCOODIndex.hpp

@@ -0,0 +1,54 @@
+/**
+ * @brief OSCOODIndex class
+ * 
+ * @file OSCOODIndex.hpp
+ */
+
+#ifndef OSCOODINDEX_HPP
+#define OSCOODINDEX_HPP
+
+/* Includes -------------------------------------------- */
+#include "OSCOODObject.hpp"
+
+/* Library/API export defines */
+#include "APIExports.h"
+
+/* C++ system */
+#include <map>
+
+/* C System */
+#include <cstdint>
+
+/* Defines --------------------------------------------- */
+
+/* Type definitions ------------------------------------ */
+
+/* Forward declarations -------------------------------- */
+class OSCOODSubIndex;
+
+/* OSCOODIndex class ----------------------------------- */
+class API_EXPORT OSCOODIndex : OSCOODObject {
+    public:
+        /* Constructors */
+        OSCOODIndex();
+        OSCOODIndex(const uint16_t &pIndex);
+
+        /* Destructors */
+        virtual ~OSCOODIndex();
+
+        /* Getters */
+        uint16_t index(void) const;
+        std::map<uint8_t, OSCOODSubIndex *> subIndexes(void) const;
+
+        /* Setters */
+        void setIndex(const uint16_t &pIndex);
+        bool addSubIndex(OSCOODSubIndex *pSubIndex);
+        bool removeSubIndex(const OSCOODSubIndex * const pSubIndex);
+        bool removeSubIndex(const uint8_t &pSubIndex);
+    protected:
+    private:
+        uint16_t mIndex;
+        std::map<uint8_t, OSCOODSubIndex *> mSubObjects;
+};
+
+#endif /* OSCOODINDEX_HPP */

generator/inc/OSCOODObject.hpp

@@ -0,0 +1,141 @@
+/**
+ * @brief OSCOODObject class
+ * 
+ * @file OSCOODObject.hpp
+ */
+
+/* TODO : Implement CompactSubObj specific behaviors.
+ * TODO : Implement ObjFlags specific behaviors.
+ */
+
+#ifndef OSCOODOBJECT_HPP
+#define OSCOODOBJECT_HPP
+
+/* Includes -------------------------------------------- */
+/* Library/API export defines */
+#include "APIExports.h"
+
+/* C++ system */
+#include <string>
+
+/* C System */
+#include <cstdint>
+
+/* Defines --------------------------------------------- */
+
+/* Type definitions ------------------------------------ */
+
+/* Forward declarations -------------------------------- */
+
+/* OSCOODObject class ---------------------------------- */
+
+/**
+ * @brief Class representing an object in a CANOpen Object Dictionary
+ */
+class API_EXPORT OSCOODObject {
+    public:
+        /* Constructors */
+        OSCOODObject();
+
+        /* Desctructor */
+        virtual ~OSCOODObject();
+
+        /* Getters */
+        uint8_t     subNumber(void) const;
+        std::string paramName(void) const;
+        uint8_t     objectType(void) const;
+        uint8_t     dataType(void) const;
+        std::string accessType(void) const;
+        std::string defaultValue(void) const;
+        std::string lowLimit(void) const;
+        std::string highLimit(void) const;
+        bool        pdoMapping(void) const;
+        uint32_t    objFlags(void) const;
+        uint8_t     compactSubObj(void) const;
+
+        /* Setters */
+        void setSubNumber(const uint8_t &pSubNb);
+        void setParamName(const std::string &pParamName);
+        void setObjectType(const uint8_t &pObjType);
+        void setDataType(const uint8_t &pDataType);
+        void setAccessType(const std::string &pAccessType);
+        void setDefaultValue(const std::string &pDefaultValue);
+        void setLowLimit(const std::string &pLowLimit);
+        void setHighLimit(const std::string &pHighLimit);
+        void allowPDOMapping(void);
+        void forbidPDOMapping(void);
+        void setObjFlags(const uint32_t &pObjFlags);
+        void setCompactSubObj(const uint8_t &pCompactSubObj);
+
+    protected:
+    private:
+        /**
+         * @brief Number of sub-indexes. 0 if there are none or if this i a sub-index
+         * 
+         * @details shall indicate the number of sub-indexes available at this index (Unsigned8), 
+         * not counting sub-index FFh. 
+         * This may be used for the description of sub-objects as defined below. 
+         * This entry may be empty or missing, if no sub-objects exist.
+         */
+        uint8_t     mSubNumber;
+        std::string mParamName; /**< Name of the OD entry (up to 241 characters). */
+        uint8_t     mObjectType; /**< Shall indicate the object code */
+        uint8_t     mDataType; /**< Shall indicate the index of the data type of the object in the object dictionary */
+        /**
+         * @brief Access type/rights for this object, represented by the following strings 
+         * - „ro“ - read only,
+         * - „wo“ - write only,
+         * - „rw“ - read/write,
+         * - „rwr“ - read/write on process input,
+         * - „rww“ - read/write on process output,
+         * - „const“ - constant value
+         */
+        std::string mAccessType;
+        std::string mDefaultValue; /**< Shall indicate the default value for this object, */
+        std::string mLowLimit; /**< Shall indicate the lowest limit of the object value (only if applicable). */
+        std::string mHighLimit; /**< Shall indicate the upper limit of the object value (only if applicable). */
+        bool        mPDOMapping; /**< Shall indicate, if it is possible to map this object into a PDO (Boolean, 0 = not mappable, 1 = mappable). */
+
+        /**
+         * @brief Special flags for the objects configuration (EDS/DCF specificities)
+         * @details These special objects are marked in the EDS and DCF files.
+         * The object description sections may contain an entry ObjFlags with an unsigned32 content:
+         * The lowest bit shall be a boolean value (0=false, 1=true) for "Refuse write on download",
+         * the second bit shall be a boolean value for "Refuse read on scan",
+         * the other bits are reserved for further use by CiA and have to be 0.
+         * 
+         * If the entry is missing, this equals having the value 0. 
+         * It is recommended to write the entry in the EDS/DCF only if it is not 0.
+         * This avoids unnecessary increase of the file size.
+         */
+        uint32_t    mObjFlags;
+
+        /**
+         * @brief Most often all sections of the sub-indexes of an array are equal except the name. 
+         * It is allowed to describe only a template in the main object. 
+         * For this the additional unsigned8 entry CompactSubObj may be added.
+         * 
+         * @details If this entry exists and contains a value not equal to 0, then
+         * - the names are assumed to be xxxn with xxx as the name of the main object and n as the decimal sub-index.
+         *   Sub-index 00h shall own the Name NrOfObjects
+         * - the object types are assumed to be VAR
+         * - the data type for all sub-indexes except 00h and FFh is indicated by the entry DataType of the
+         *   main object. Sub-index 00h shall always own the data type unsigned8.
+         * - the limits are assumed to be NONE
+         * - the access type for all sub-indexes except 00h and FFh is indicated by the entry AccessType of the main object. 
+         *   The access type for sub-index 00h is assumed to be ReadOnly.
+         * - the default values for all sub-indexes except 00h and FFh is 
+         *   indicated by the entry DefaultValue of the main object. 
+         *   The default value for sub-index 00h is the number given by CompactSubObj.
+         * - the entry PDOMapping for all sub-indexes except 0 and 255 is 
+         *   given by the entry PDOMapping of the main object. Sub-index 0 is assumed not to be mappable.
+         * - It shall be assumed, that the sub-index list does not contain any gaps.
+         * 
+         * If CompactSubObj is used, the entry SubNumber is not supported, it shall be 0, empty or not appear.
+         */
+        uint8_t     mCompactSubObj;
+
+
+};
+
+#endif /* OSCOODOBJECT_HPP */

generator/inc/OSCOODSubIndex.hpp

@@ -0,0 +1,48 @@
+/**
+ * @brief OSCOODSubIndex class
+ * 
+ * @file OSCOODSubIndex.hpp
+ */
+
+#ifndef OSCOODSUBINDEX_HPP
+#define OSCOODSUBINDEX_HPP
+
+/* Includes -------------------------------------------- */
+#include "OSCOODObject.hpp"
+
+/* Library/API export defines */
+#include "APIExports.h"
+
+/* C System */
+#include <cstdint>
+
+/* Defines --------------------------------------------- */
+
+/* Type definitions ------------------------------------ */
+
+/* Forward declarations -------------------------------- */
+
+/* OSCOODSubIndex class -------------------------------- */
+class API_EXPORT OSCOODSubIndex : OSCOODObject {
+    public:
+        /* Constructors */
+        OSCOODSubIndex();
+        OSCOODSubIndex(const uint16_t &pIndex, const uint8_t &pSubIndex);
+
+        /* Destructors */
+        virtual ~OSCOODSubIndex();
+
+        /* Getters */
+        uint16_t index(void) const;
+        uint8_t subIndex(void) const;
+
+        /* Setters */
+        void setIndex(const uint16_t &pIndex);
+        void setSubIndex(const uint8_t &pSubIndex);
+    protected:
+    private:
+        uint16_t mIndex;
+        uint8_t mSubIndex;
+};
+
+#endif /* OSCOODSUBINDEX_HPP */