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 MasterDeviceException:

    22     public runtime_error

    23 {

    24     public:

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

    26         MasterDeviceException(

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

    28                 ): runtime_error(s) {}

    29 };

    30 

    31 /****************************************************************************/

    32 

    33 class MasterDevice

    34 {

    35     public:

    36         MasterDevice();

    37         ~MasterDevice();

    38 

    39         void setIndex(unsigned int);

    40 

    41         enum Permissions {Read, ReadWrite};

    42         void open(Permissions);

    43         void close();

    44 

    45         unsigned int slaveCount();

    46 

    47         void getMaster(ec_ioctl_master_t *);

    48         void getConfig(ec_ioctl_config_t *, unsigned int);

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

    50                 uint16_t);

    51         void getConfigPdoEntry(ec_ioctl_config_pdo_entry_t *, unsigned int,

    52                 uint8_t, uint16_t, uint8_t);

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

    54         void getDomain(ec_ioctl_domain_t *, unsigned int);

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

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

    57                 unsigned char *);

    58         void getSlave(ec_ioctl_slave_t *, uint16_t);

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

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

    61         void getPdoEntry(ec_ioctl_slave_sync_pdo_entry_t *, uint16_t, uint8_t,

    62                 uint8_t, uint8_t);

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

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

    65         void readSii(ec_ioctl_slave_sii_t *);

    66         void writeSii(ec_ioctl_slave_sii_t *);

    67 

    68     protected:

    69 #if 0

    70         void outputDomainData(unsigned int);

    71         enum {BreakAfterBytes = 16};

    72         void showDomain(unsigned int);

    73         void listSlavePdos(uint16_t, bool = false);

    74         void listSlaveSdos(uint16_t, bool = false);

    75         void listSlaves(int);

    76         void showSlave(uint16_t);

    77         void generateSlaveXml(uint16_t);

    78         void requestState(uint16_t, uint8_t);

    79 

    80         static string slaveState(uint8_t);

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

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

    83 #endif

    84         

    85     private:

    86         //enum {DefaultBufferSize = 1024};

    87 

    88         unsigned int index;

    89         int fd;

    90 };

    91 

    92 /****************************************************************************/

    93 

    94 #endif