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 #include <list>

    14 using namespace std;

    15 

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

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

    18 

    19 /****************************************************************************/

    20 

    21 class MasterException:

    22     public runtime_error

    23 {

    24     public:

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

    26         MasterException(

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

    28                 ): runtime_error(s) {}

    29 

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

    31         MasterException(

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

    33                 ): runtime_error(s) {}

    34 };

    35 

    36 /****************************************************************************/

    37 

    38 class Master

    39 {

    40     public:

    41         Master();

    42         ~Master();

    43 

    44         void setIndex(unsigned int);

    45 

    46         enum Verbosity {

    47             Quiet,

    48             Normal,

    49             Verbose

    50         };

    51         void setVerbosity(Verbosity);

    52 

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

    54         void showConfigs();

    55         void outputData(int);

    56         void setDebug(const vector<string> &);

    57         void showDomains(int);

    58         void showMaster();

    59         void listPdos(int);

    60         void listSdos(int);

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

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

    63         void showSlaves(int);

    64         void siiRead(int);

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

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

    67         void generateXml(int);

    68 

    69     protected:

    70         enum Permissions {Read, ReadWrite};

    71         void open(Permissions);

    72         void close();

    73 

    74         void writeSlaveAlias(uint16_t, uint16_t);

    75         typedef list<ec_ioctl_config_t> ConfigList;

    76         void showDetailedConfigs(const ConfigList &);

    77         void listConfigs(const ConfigList &);

    78         void outputDomainData(unsigned int);

    79         enum {BreakAfterBytes = 16};

    80         void showDomain(unsigned int);

    81         void listSlavePdos(uint16_t, bool = false);

    82         void listSlaveSdos(uint16_t, bool = false);

    83         void listSlaves(int);

    84         void showSlave(uint16_t);

    85         void generateSlaveXml(uint16_t);

    86         unsigned int slaveCount();

    87         void getMaster(ec_ioctl_master_t *);

    88         void getConfig(ec_ioctl_config_t *, unsigned int);

    89         void getConfigPdo(ec_ioctl_config_pdo_t *, unsigned int, uint8_t,

    90                 uint16_t);

    91         void getConfigPdoEntry(ec_ioctl_config_pdo_entry_t *, unsigned int,

    92                 uint8_t, uint16_t, uint8_t);

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

    94         void getDomain(ec_ioctl_domain_t *, unsigned int);

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

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

    97                 unsigned char *);

    98         void getSlave(ec_ioctl_slave_t *, uint16_t);

    99         void getSync(ec_ioctl_slave_sync_t *, uint16_t, uint8_t);

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

   101         void getPdoEntry(ec_ioctl_slave_sync_pdo_entry_t *, uint16_t, uint8_t,

   102                 uint8_t, uint8_t);

   103         void getSdo(ec_ioctl_slave_sdo_t *, uint16_t, uint16_t);

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

   105         void requestState(uint16_t, uint8_t);

   106 

   107         static string slaveState(uint8_t);

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

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

   110         

   111     private:

   112         enum {DefaultBufferSize = 1024};

   113 

   114         unsigned int index;

   115         Verbosity verbosity;

   116         int fd;

   117 };

   118 

   119 /****************************************************************************/

   120 

   121 #endif