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

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 *

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 * $Id$

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 *

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

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#ifndef __EC_MASTER_H__

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#define __EC_MASTER_H__

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#include <stdexcept>

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using namespace std;

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

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

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class MasterException:

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    public runtime_error

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{

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    public:

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        /** Constructor with std::string parameter. */

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        MasterException(

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

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                ): runtime_error(s) {}

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        /** Constructor with const char pointer parameter. */

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        MasterException(

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                const char *s /**< Message. */

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                ): runtime_error(s) {}

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};

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

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class Master

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{

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    public:

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        Master();

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        ~Master();

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        void open(unsigned int);

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        void close();

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        void listSlaves();

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        void listPdos(int);

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    protected:

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        unsigned int slaveCount();

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        void slaveSyncs(uint16_t);

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        void getSlave(ec_ioctl_slave_t *, uint16_t);

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        void getSync(ec_ioctl_sync_t *, uint16_t, uint8_t);

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

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        void getPdoEntry(ec_ioctl_pdo_entry_t *, uint16_t, uint8_t, uint8_t,

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                uint8_t);

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        static string slaveState(uint8_t);

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    private:

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        unsigned int index;

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        int fd;

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};

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

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#endif