1

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

     2

 *

     3

 * $Id$

     4

 *

     5

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

     6

     7

#ifndef __EC_MASTER_H__

     8

#define __EC_MASTER_H__

     9

    10

#include <stdexcept>

    11

#include <string>

    12

#include <vector>

    13

using namespace std;

    14

    15

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

    16

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

    17

    18

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

    19

    20

class MasterException:

    21

    public runtime_error

    22

{

    23

    public:

    24

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

    25

        MasterException(

    26

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

    27

                ): runtime_error(s) {}

    28

    29

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

    30

        MasterException(

    31

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

    32

                ): runtime_error(s) {}

    33

};

    34

    35

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

    36

    37

class Master

    38

{

    39

    public:

    40

        Master();

    41

        ~Master();

    42

    43

        void setIndex(unsigned int);

    44

    45

        void writeAlias(int, bool, const vector<string> &);

    46

        void showConfigs(bool);

    47

        void outputData(int);

    48

        void setDebug(const vector<string> &);

    49

        void showDomains(int);

    50

        void showMaster();

    51

        void listPdos(int, bool = false);

    52

        void listSdos(int, bool = false);

    53

        void sdoDownload(int, const string &, const vector<string> &);

    54

        void sdoUpload(int, const string &, const vector<string> &);

    55

        void showSlaves(int, bool);

    56

        void siiRead(int);

    57

        void siiWrite(int, bool, const vector<string> &);

    58

        void requestStates(int, const vector<string> &);

    59

        void generateXml(int);

    60

    61

    protected:

    62

        enum Permissions {Read, ReadWrite};

    63

        void open(Permissions);

    64

        void close();

    65

    66

        void writeSlaveAlias(uint16_t, uint16_t);

    67

        void showConfigs();

    68

        void listConfigs();

    69

        void outputDomainData(unsigned int);

    70

        void showDomain(unsigned int);

    71

        void listSlavePdos(uint16_t, bool = false, bool = false);

    72

        void listSlaveSdos(uint16_t, bool = false, bool = false);

    73

        void listSlaves(int);

    74

        void showSlave(uint16_t);

    75

        void generateSlaveXml(uint16_t);

    76

        unsigned int slaveCount();

    77

        void getMaster(ec_ioctl_master_t *);

    78

        void getConfig(ec_ioctl_config_t *, unsigned int);

    79

        void getConfigPdo(ec_ioctl_config_pdo_t *, unsigned int, uint8_t,

    80

                uint16_t);

    81

        void getConfigPdoEntry(ec_ioctl_config_pdo_entry_t *, unsigned int,

    82

                uint8_t, uint16_t, uint8_t);

    83

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

    84

        void getDomain(ec_ioctl_domain_t *, unsigned int);

    85

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

    87

                unsigned char *);

    88

        void getSlave(ec_ioctl_slave_t *, uint16_t);

    95

        void requestState(uint16_t, uint8_t);

    96

    97

        static string slaveState(uint8_t);

    98

        static void printRawData(const uint8_t *, unsigned int);

    99

        static uint8_t calcSiiCrc(const uint8_t *, unsigned int);

   100

   101

    private:

   102

        enum {DefaultBufferSize = 1024};

   103

   104

        unsigned int index;

   105

        int fd;

   106

};

   107

   108

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

   109

   110

#endif