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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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#include <string>

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#include <vector>

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using namespace std;

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

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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 setIndex(unsigned int);

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

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        void showConfigs(bool);

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        void outputData(int);

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        void setDebug(const vector<string> &);

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        void showDomains(int);

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        void showMaster();

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        void listPdos(int, bool = false);

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        void listSdos(int, bool = false);

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

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

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        void showSlaves(int, bool);

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        void siiRead(int);

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

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

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        void generateXml(int);

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    protected:

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        enum Permissions {Read, ReadWrite};

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        void open(Permissions);

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        void close();

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        void writeSlaveAlias(uint16_t, uint16_t);

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        void showConfigs();

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        void listConfigs();

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        void outputDomainData(unsigned int);

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        void showDomain(unsigned int);

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

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

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        void listSlaves(int);

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        void showSlave(uint16_t);

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        void generateSlaveXml(uint16_t);

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        unsigned int slaveCount();

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        void getMaster(ec_ioctl_master_t *);

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        void getConfig(ec_ioctl_config_t *, unsigned int);

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        void getConfigPdo(ec_ioctl_config_pdo_t *, unsigned int, uint8_t,

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                uint16_t);

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        void getConfigPdoEntry(ec_ioctl_config_pdo_entry_t *, unsigned int,

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                uint8_t, uint16_t, uint8_t);

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

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        void getDomain(ec_ioctl_domain_t *, unsigned int);

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

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        void getData(ec_ioctl_domain_data_t *, unsigned int, unsigned int,

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                unsigned char *);

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        void getSlave(ec_ioctl_slave_t *, uint16_t);

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        void getSync(ec_ioctl_slave_sync_t *, uint16_t, uint8_t);

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

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        void getPdoEntry(ec_ioctl_slave_sync_pdo_entry_t *, uint16_t, uint8_t,

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                uint8_t, uint8_t);

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        void getSdo(ec_ioctl_slave_sdo_t *, uint16_t, uint16_t);

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        void getSdoEntry(ec_ioctl_slave_sdo_entry_t *, uint16_t, int, uint8_t);

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        void requestState(uint16_t, uint8_t);

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        static string slaveState(uint8_t);

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

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

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    private:

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        enum {DefaultBufferSize = 1024};

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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