tools/Master.h
author Florian Pose <fp@igh-essen.com>
Mon, 02 Jun 2008 14:40:19 +0000
changeset 938 5b936e8e39fa
parent 936 30fddfce8db6
child 948 1cfab7161491
permissions -rw-r--r--
Added 'xml' command to generate a slave description file from a real
slave.
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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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        void generateXml(int);
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    protected:
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        void listSlavePdos(uint16_t, bool = false);
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        void generateSlaveXml(uint16_t);
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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