1

/*****************************************************************************

     2

 *

     3

 * $Id$

     4

 *

     5

 ****************************************************************************/

     6

     7

#ifndef __MASTER_DEVICE_H__

     8

#define __MASTER_DEVICE_H__

     9

    10

#include <stdexcept>

    11

#include <sstream>

    12

using namespace std;

    13

    14

#include "../include/ecrt.h"

    15

#include "../master/ioctl.h"

    16

    17

/****************************************************************************/

    18

    19

class MasterDeviceException:

    20

    public runtime_error

    21

{

    22

    friend class MasterDevice;

    23

    24

    protected:

    25

        /** Constructor with string parameter. */

    26

        MasterDeviceException(

    27

                const string &s /**< Message. */

    28

                ): runtime_error(s) {}

    29

    30

        /** Constructor with stringstream parameter. */

    31

        MasterDeviceException(

    32

                const stringstream &s /**< Message. */

    33

                ): runtime_error(s.str()) {}

    34

};

    35

    36

/****************************************************************************/

    37

    38

class MasterDeviceSdoAbortException:

    39

    public MasterDeviceException 

    40

{

    41

    friend class MasterDevice;

    42

    43

    public:

    44

        uint32_t abortCode;

    45

    46

    protected:

    47

        /** Constructor with stringstream parameter. */

    48

        MasterDeviceSdoAbortException(uint32_t code):

    49

            MasterDeviceException("Sdo transfer aborted.") {

    50

                abortCode = code;

    51

            };

    52

};

    53

    54

/****************************************************************************/

    55

    56

class MasterDevice

    57

{

    58

    public:

    59

        MasterDevice();

    60

        ~MasterDevice();

    61

    62

        void setIndex(unsigned int);

    63

		unsigned int getIndex() const;

    64

    65

        enum Permissions {Read, ReadWrite};

    66

        void open(Permissions);

    67

        void close();

    68

    69

        void getMaster(ec_ioctl_master_t *);

    70

        void getConfig(ec_ioctl_config_t *, unsigned int);

    71

        void getConfigPdo(ec_ioctl_config_pdo_t *, unsigned int, uint8_t,

    72

                uint16_t);

    73

        void getConfigPdoEntry(ec_ioctl_config_pdo_entry_t *, unsigned int,

    74

                uint8_t, uint16_t, uint8_t);

    75

        void getConfigSdo(ec_ioctl_config_sdo_t *, unsigned int, unsigned int);

    76

        void getDomain(ec_ioctl_domain_t *, unsigned int);

    77

        void getFmmu(ec_ioctl_domain_fmmu_t *, unsigned int, unsigned int);

    78

        void getData(ec_ioctl_domain_data_t *, unsigned int, unsigned int,

    79

                unsigned char *);

    80

        void getSlave(ec_ioctl_slave_t *, uint16_t);

    81

        void getSync(ec_ioctl_slave_sync_t *, uint16_t, uint8_t);

    82

        void getPdo(ec_ioctl_slave_sync_pdo_t *, uint16_t, uint8_t, uint8_t);

    83

        void getPdoEntry(ec_ioctl_slave_sync_pdo_entry_t *, uint16_t, uint8_t,

    84

                uint8_t, uint8_t);

    85

        void getSdo(ec_ioctl_slave_sdo_t *, uint16_t, uint16_t);

    86

        void getSdoEntry(ec_ioctl_slave_sdo_entry_t *, uint16_t, int, uint8_t);

    87

        void readSii(ec_ioctl_slave_sii_t *);

    88

        void writeSii(ec_ioctl_slave_sii_t *);

    89

		void setDebug(unsigned int);

    90

		void sdoDownload(ec_ioctl_slave_sdo_download_t *);

    91

		void sdoUpload(ec_ioctl_slave_sdo_upload_t *);

    92

		void requestState(uint16_t, uint8_t);

    93

    94

    private:

    95

        unsigned int index;

    96

        int fd;

    97

};

    98

    99

/****************************************************************************/

   100

   101

inline unsigned int MasterDevice::getIndex() const

   102

{

   103

	return index;

   104

}

   105

   106

/****************************************************************************/

   107

   108

#endif