canopen_master.orogen

# frozen_string_literal: true

name "canopen_master"

import_types_from "canbus"
using_library "canopen_master"
import_types_from "canopen_master/PDOCommunicationParameters.hpp"

typekit.export_types "canopen_master/PDOCommunicationParameters"

# Task containing basic features needed to integrate a canopen_master driver
task_context "SlaveTask" do
    abstract
    needs_configuration

    property "node_id", "/int"

    input_port("can_in", "/canbus/Message")
        .needs_reliable_connection
    output_port "can_out", "/canbus/Message"

    port_driven :can_in
    exception_states :SDO_TIMEOUT
    exception_states :NMT_TIMEOUT
end

# Task that generates SYNC messages
task_context "SyncTask" do
    needs_configuration

    # Sending of CAN messages
    output_port "can_out", "/canbus/Message"
end

### Test

task_context "test::ReadSDO", subclasses: "SlaveTask" do
    output_port "received_values", "/int16_t"
end

task_context "test::WriteSDO", subclasses: "SlaveTask" do
end

task_context "test::NMTMinimalState", subclasses: "SlaveTask" do
    property "state_target", "/uint8_t"
    property "state_transition", "/uint8_t"
end

task_context "test::NMTStateChange", subclasses: "SlaveTask" do
end