1

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

     2

 *

     3

 * $Id$

     4

 *

     5

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

     6

     7

#ifndef __EC_MASTER_H__

     8

#define __EC_MASTER_H__

     9

    10

#include <stdexcept>

    13

using namespace std;

    14

    15

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

    16

    17

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

    18

    19

class MasterException:

    20

    public runtime_error

    21

{

    22

    public:

    23

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

    24

        MasterException(

    25

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

    26

                ): runtime_error(s) {}

    27

    28

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

    29

        MasterException(

    30

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

    31

                ): runtime_error(s) {}

    32

};

    33

    34

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

    35

    36

class Master

    37

{

    38

    public:

    39

        Master();

    40

        ~Master();

    41

    42

        void open(unsigned int);

    43

        void close();

    44

    45

        void outputData(int);

    47

        void showDomains(int);

    48

        void listSlaves();

    49

        void listPdos(int);

    50

        void generateXml(int);

    51

    52

    protected:

    53

        void outputDomainData(unsigned int);

    54

        void showDomain(unsigned int);

    55

        void listSlavePdos(uint16_t, bool = false);

    56

        void generateSlaveXml(uint16_t);

    57

        unsigned int domainCount();

    58

        unsigned int slaveCount();

    59

        void slaveSyncs(uint16_t);

    60

        void getDomain(ec_ioctl_domain_t *, unsigned int);

    61

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

    62

        void getData(ec_ioctl_data_t *, unsigned int, unsigned int,

    63

                unsigned char *);

    64

        void getSlave(ec_ioctl_slave_t *, uint16_t);

    65

        void getSync(ec_ioctl_sync_t *, uint16_t, uint8_t);

    66

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

    67

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

    68

                uint8_t);

    69

    70

        static string slaveState(uint8_t);

    71

    72

    private:

    73

        unsigned int index;

    74

        int fd;

    75

};

    76

    77

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

    78

    79

#endif