Class is a main component of the node firmware. More...

#include <node_controller.h>

Inheritance diagram for vitroio::sdk::NodeController:

Collaboration diagram for vitroio::sdk::NodeController:

Public Member Functions
	NodeController (Canbus canbus, const FirmwareId &fwId, const Version &fwVersion, FlashSpace environmentFlashSpace, FlashSpace regionAFlashSpace, FlashSpace regionBFlashSpace, EventQueue targetQueue, uint32_t eventQueueSize=VITROIO_NODE_CONTROLLER_DEFAULT_EVENT_QUEUE_SIZE)
	Contructor initializes the controller and chains an internal event queue to the `targetQueue`. More...

	NodeController (Canbus *canbus, const FirmwareId &fwId, const Version &fwVersion, FlashSpace environmentFlashSpace, FlashSpace regionAFlashSpace, FlashSpace regionBFlashSpace, osPriority priority=osPriorityNormal, uint32_t eventQueueSize=VITROIO_NODE_CONTROLLER_DEFAULT_EVENT_QUEUE_SIZE)
	Contructor initializes the controller and creates internal event loop using thread with priority `priority`. More...

	NodeController (Canbus *canbus, const FirmwareId &fwId, const Version &fwVersion, osPriority priority=osPriorityNormal, uint32_t eventQueueSize=VITROIO_NODE_CONTROLLER_DEFAULT_EVENT_QUEUE_SIZE)
	Contructor initializes the controller and creates internal event loop using thread with priority `priority`. More...

	NodeController (Canbus canbus, const FirmwareId &fwId, const Version &fwVersion, EventQueue targetQueue, uint32_t eventQueueSize=VITROIO_NODE_CONTROLLER_DEFAULT_EVENT_QUEUE_SIZE)
	Contructor initializes the controller and chains an internal event queue to the `targetQueue`. More...

	~NodeController ()

bool	isValid ()
	Function allows to check whether the controller is in valid state. More...

int	initCommunication (Transport_layer *layer)
	Function initializes communication with gateway. This method blocks until the communication is not initialized and no error occurred. More...

int	initCommunication (uint32_t sync_time, Transport_layer *layer)
	Function initializes communication with gateway. This method blocks until the communication is not initialized and no error occurred. More...

uint32_t	nodeId ()
	Function allows to obtain node ID assigned by gateway during initialization of communication. More...

void	setExternalFrameCallback (std::function< void(const CanbusFrame &)>)
	Function allows to attach a handler for frames with paramId matching VITROIO_PROTOCOL_EXTERNAL_FRAME. More...

Detailed Description

Class is a main component of the node firmware.

The class handles standard operations of vitroio system such like firmware upgrade and initialization of communication with gateway. It requires flash memory space for storing environment variables.

The class uses an event loop for handling events. The event queue can be managed by external queue specified by user or by internal queue with thread of specified priority.

Note: The controller occupies one of OnframeReceivedCallbacks of Canbus object passed to the constructor.

Constructor & Destructor Documentation

◆ NodeController() [1/4]

vitroio::sdk::NodeController::NodeController	(	Canbus *	canbus,
		const FirmwareId &	fwId,
		const Version &	fwVersion,
		FlashSpace	environmentFlashSpace,
		FlashSpace	regionAFlashSpace,
		FlashSpace	regionBFlashSpace,
		EventQueue *	targetQueue,
		uint32_t	eventQueueSize = `VITROIO_NODE_CONTROLLER_DEFAULT_EVENT_QUEUE_SIZE`
	)

explicit

Contructor initializes the controller and chains an internal event queue to the targetQueue.

Note: Thread which handles targetQueue must be run before usage of this class (construction of the object can be done earlier).

Initialization includes all of necessary components.

There is not guarantee that the object is in valid state. User should call isValid() method to determine if the object was initialized successfully. When the object is in invalid state, the behaviour is undefined.

The constructor uses mbed::EventQueue::chain method for connection to targetQueue.

Parameters

canbus	Pointer to Canbus object
fwId	id of firmware
fwVersion	Version of firmware
environmentFlashSpace	Specifies flash memory space for storing environment variables
regionAFlashSpace	Specifies region A of flash memory space intended for firmware
regionBFlashSpace	Specifies region B of flash memory space intended for firmware
targetQueue	External event queue to which the internal queue is to be chained
eventQueueSize	Size of internal event queue

◆ NodeController() [2/4]

vitroio::sdk::NodeController::NodeController	(	Canbus *	canbus,
		const FirmwareId &	fwId,
		const Version &	fwVersion,
		FlashSpace	environmentFlashSpace,
		FlashSpace	regionAFlashSpace,
		FlashSpace	regionBFlashSpace,
		osPriority	priority = `osPriorityNormal`,
		uint32_t	eventQueueSize = `VITROIO_NODE_CONTROLLER_DEFAULT_EVENT_QUEUE_SIZE`
	)

explicit

Contructor initializes the controller and creates internal event loop using thread with priority priority.

Initialization includes all of necessary components.

There is not guarantee that the object is in valid state. User should call isValid() method to determine if the object was initialized successfully. When the object is in invalid state, the behaviour is undefined.

Parameters

canbus	Pointer to Canbus object
fwId	id of firmware
fwVersion	Version of firmware
environmentFlashSpace	Specifies flash memory space for storing environment variables
regionAFlashSpace	Specifies region A of flash memory space intended for firmware
regionBFlashSpace	Specifies region B of flash memory space intended for firmware
priority	Priority of thread for handling internal events
eventQueueSize	Size of internal event queue

◆ NodeController() [3/4]

vitroio::sdk::NodeController::NodeController	(	Canbus *	canbus,
		const FirmwareId &	fwId,
		const Version &	fwVersion,
		osPriority	priority = `osPriorityNormal`,
		uint32_t	eventQueueSize = `VITROIO_NODE_CONTROLLER_DEFAULT_EVENT_QUEUE_SIZE`
	)

Contructor initializes the controller and creates internal event loop using thread with priority priority.

Initialization includes all of necessary components.

There is not guarantee that the object is in valid state. User should call isValid() method to determine if the object was initialized successfully. When the object is in invalid state, the behaviour is undefined.

Parameters

canbus	Pointer to Canbus object
fwId	id of firmware
fwVersion	Version of firmware
priority	Priority of thread for handling internal events
eventQueueSize	Size of internal event queue

◆ NodeController() [4/4]

vitroio::sdk::NodeController::NodeController	(	Canbus *	canbus,
		const FirmwareId &	fwId,
		const Version &	fwVersion,
		EventQueue *	targetQueue,
		uint32_t	eventQueueSize = `VITROIO_NODE_CONTROLLER_DEFAULT_EVENT_QUEUE_SIZE`
	)

Contructor initializes the controller and chains an internal event queue to the targetQueue.

Note: Thread which handles targetQueue must be run before usage of this class (construction of the object can be done earlier).

Initialization includes all of necessary components.

There is not guarantee that the object is in valid state. User should call isValid() method to determine if the object was initialized successfully. When the object is in invalid state, the behaviour is undefined.

The constructor uses mbed::EventQueue::chain method for connection to targetQueue.

Parameters

canbus	Pointer to Canbus object
fwId	id of firmware
fwVersion	Version of firmware
targetQueue	External event queue to which the internal queue is to be chained
eventQueueSize	Size of internal event queue

◆ ~NodeController()

vitroio::sdk::NodeController::~NodeController ( )

Member Function Documentation

◆ initCommunication() [1/2]

int vitroio::sdk::NodeController::initCommunication ( Transport_layer * layer )

Function initializes communication with gateway. This method blocks until the communication is not initialized and no error occurred.

Returns: Function returns VITROIO_ERR_SUCCESS when the communication was initialized successfully or appropriate error code otherwise.

◆ initCommunication() [2/2]

int vitroio::sdk::NodeController::initCommunication	(	uint32_t	sync_time,
		Transport_layer *	layer
	)

Function initializes communication with gateway. This method blocks until the communication is not initialized and no error occurred.

Returns: Function returns VITROIO_ERR_SUCCESS when the communication was initialized successfully or appropriate error code otherwise.

◆ isValid()

bool vitroio::sdk::NodeController::isValid ( )

Function allows to check whether the controller is in valid state.

Note: This method should be called always after creation of the object.

◆ nodeId()

uint32_t vitroio::sdk::NodeController::nodeId ( )

Function allows to obtain node ID assigned by gateway during initialization of communication.

Note: To obtain node ID, the communication with gateway must be initialized successfully.

Returns: Function returns node ID or 0 when the ID is not assigned.

◆ setExternalFrameCallback()

void vitroio::sdk::NodeController::setExternalFrameCallback ( std::function< void(const CanbusFrame &)> )

Function allows to attach a handler for frames with paramId matching VITROIO_PROTOCOL_EXTERNAL_FRAME.

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ NodeController() [1/4]

◆ NodeController() [2/4]

◆ NodeController() [3/4]

◆ NodeController() [4/4]

◆ ~NodeController()

Member Function Documentation

◆ initCommunication() [1/2]

◆ initCommunication() [2/2]

◆ isValid()

◆ nodeId()

◆ setExternalFrameCallback()