virtual_device.h

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#pragma once
 
#include <cstdint>
#include <functional>
#include <list>
#include <map>
#include <string>
#include <variant>
 
#define SYNAPTICON_VENDOR_ID 0x000022d2u
#define SOMANET_NODE_PRODUCT_CODE 0x00000201u
#define SOMANET_CIRCULO_PRODUCT_CODE 0x00000301u
#define SOMANET_CIRCULO_SMM_PRODUCT_CODE 0x00000302u
#define SOMANET_INTEGRO_PRODUCT_CODE 0x00000401u
#define SOMANET_JASPER_PRODUCT_CODE 0x00000501u
#define DIGITAL_IO_PRODUCT_CODE 0x00000202u
 
#define SENSODRIVE_VENDOR_ID 0x0000063au
 
class MotionMasterError;
class VirtualParameter;
 
class VirtualDevice {
 public:
  enum class Protocol { kUnspecified = 0, kMock, kEcat, kSerial };
 
  enum class Type { kUnspecified = 0, kCia402Drive, kDigitalIo };
 
  inline static const std::map<std::pair<uint32_t, uint32_t>, Type>
      device_type_map_ = {
          {{SYNAPTICON_VENDOR_ID, SOMANET_NODE_PRODUCT_CODE},
           Type::kCia402Drive},
          {{SYNAPTICON_VENDOR_ID, SOMANET_CIRCULO_PRODUCT_CODE},
           Type::kCia402Drive},
          {{SYNAPTICON_VENDOR_ID, SOMANET_CIRCULO_SMM_PRODUCT_CODE},
           Type::kCia402Drive},
          {{SYNAPTICON_VENDOR_ID, SOMANET_INTEGRO_PRODUCT_CODE},
           Type::kCia402Drive},
          {{SYNAPTICON_VENDOR_ID, SOMANET_JASPER_PRODUCT_CODE},
           Type::kCia402Drive},
          {{SYNAPTICON_VENDOR_ID, DIGITAL_IO_PRODUCT_CODE}, Type::kDigitalIo},
          {{SENSODRIVE_VENDOR_ID, 0}, Type::kCia402Drive},
          {{SENSODRIVE_VENDOR_ID, 1}, Type::kCia402Drive}};
 
  virtual ~VirtualDevice() = default;

  [[nodiscard]] virtual uint16_t get_device_id() const = 0;

  [[nodiscard]] virtual uint16_t get_hardware_id() const = 0;

  [[nodiscard]] virtual Protocol get_protocol() const {
    return Protocol::kUnspecified;
  }

  [[nodiscard]] virtual Type get_device_type() const {
    return Type::kUnspecified;
  }
 
  /******************************* PARAMETERS *******************************/
  [[nodiscard]] virtual std::list<VirtualParameter*>
  get_all_virtual_parameters() = 0;
 
  // Subclasses should override this with an O(1) check (e.g. map.empty()).
  // The default falls back to building the full parameter list, which is O(n).
  [[nodiscard]] virtual bool has_virtual_parameters() {
    return !get_all_virtual_parameters().empty();
  }

  [[nodiscard]] virtual VirtualParameter* get_virtual_parameter(
      uint16_t index, uint8_t subindex) = 0;
 
  /**************************** FILE OPERATIONS ****************************/
  [[nodiscard]] virtual std::variant<MotionMasterError, std::list<std::string>>
  get_file_list() = 0;

  [[nodiscard]] virtual std::variant<MotionMasterError, std::vector<uint8_t>>
  read_file(const std::string& file_name) = 0;

  virtual MotionMasterError write_file(
      const std::string& file_name, const std::vector<uint8_t>& content,
      std::function<void(uint8_t)> progress_callback) = 0;

  virtual MotionMasterError remove_file(const std::string& file_name) = 0;
 
  // TODO(msankovic): Should be implemented through the fake OD entry system
  /********************************* OTHER *********************************/
  [[nodiscard]] virtual bool is_operational() const = 0;
};