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//---------------------------------------------------------------

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//

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//  e c _ m a s t e r . h

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//

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//  $LastChangedDate$

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//  $Author$

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//

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//---------------------------------------------------------------

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#include <pcap.h>

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#include <libnet.h>

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#include <pthread.h>

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#include "ec_slave.h"

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#include "ec_command.h"

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//---------------------------------------------------------------

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typedef struct

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{

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  EtherCAT_slave_t *slaves; // Slaves array

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  unsigned int slave_count; // Number of slaves

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  EtherCAT_command_t *first_command; // List of commands

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  pcap_t *pcap_handle;  // Handle for libpcap

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  libnet_t *net_handle; // Handle for libnet

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  unsigned char command_index; // Current command index

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  unsigned char *process_data;

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  unsigned int process_data_length;

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  void (*pre_cb)(unsigned char *);

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  void (*post_cb)(unsigned char *);

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  pthread_t thread;

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  int thread_continue;

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  unsigned int cycle_time;

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  double bus_time;

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  double last_jitter;

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  double last_cycle_time;

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  double last_cycle_work_time;

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  double last_cycle_busy_rate;

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}

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EtherCAT_master_t;

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//---------------------------------------------------------------

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// Master creation and deletion

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int EtherCAT_master_init(EtherCAT_master_t *, char *);

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void EtherCAT_master_clear(EtherCAT_master_t *);

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// Checking for slaves

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int EtherCAT_check_slaves(EtherCAT_master_t *, EtherCAT_slave_t *, unsigned int);

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void EtherCAT_clear_slaves(EtherCAT_master_t *);

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// Slave information interface

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int EtherCAT_read_slave_information(EtherCAT_master_t *,

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                                    unsigned short int,

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                                    unsigned short int,

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                                    unsigned int *);

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// EtherCAT commands

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EtherCAT_command_t *EtherCAT_read(EtherCAT_master_t *,

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                                  unsigned short,

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                                  unsigned short,

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                                  unsigned int);

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EtherCAT_command_t *EtherCAT_write(EtherCAT_master_t *,

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                                   unsigned short,

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                                   unsigned short,

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                                   unsigned int,

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                                   const unsigned char *);

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EtherCAT_command_t *EtherCAT_position_read(EtherCAT_master_t *,

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                                           short,

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                                           unsigned short,

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                                           unsigned int);

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EtherCAT_command_t *EtherCAT_position_write(EtherCAT_master_t *,

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                                            short,

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                                            unsigned short,

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                                            unsigned int,

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                                            const unsigned char *);

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EtherCAT_command_t *EtherCAT_broadcast_read(EtherCAT_master_t *,

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                                            unsigned short,

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                                            unsigned int);

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EtherCAT_command_t *EtherCAT_broadcast_write(EtherCAT_master_t *,

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                                             unsigned short,

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                                             unsigned int,

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                                             const unsigned char *);

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EtherCAT_command_t *EtherCAT_logical_read_write(EtherCAT_master_t *,

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                                                unsigned int,

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                                                unsigned int,

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                                                unsigned char *);

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void EtherCAT_remove_command(EtherCAT_master_t *, EtherCAT_command_t *);

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// Slave states

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int EtherCAT_state_change(EtherCAT_master_t *, EtherCAT_slave_t *, unsigned char);

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int EtherCAT_broadcast_state_change(EtherCAT_master_t *, unsigned char);

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int EtherCAT_activate_slave(EtherCAT_master_t *, EtherCAT_slave_t *);

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int EtherCAT_deactivate_slave(EtherCAT_master_t *, EtherCAT_slave_t *);

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// Sending and receiving

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int EtherCAT_send_receive(EtherCAT_master_t *);

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int EtherCAT_start(EtherCAT_master_t *,

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                   unsigned int,

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                   void (*)(unsigned char *),

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                   void (*)(unsigned char *),

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                   unsigned int);

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int EtherCAT_stop(EtherCAT_master_t *);

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// Private functions

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void add_command(EtherCAT_master_t *, EtherCAT_command_t *);

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void set_byte(unsigned char *, unsigned int, unsigned char);

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void set_word(unsigned char *, unsigned int, unsigned int);

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void *thread_function(void *);

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//---------------------------------------------------------------