Fixed SII reading timeout bug on 100 Hz kernels.
/*****************************************************************************
*
* $Id$
*
****************************************************************************/
#ifndef __EC_MASTER_H__
#define __EC_MASTER_H__
#include <stdexcept>
#include <string>
#include <vector>
#include <list>
using namespace std;
#include "../include/ecrt.h"
#include "../master/ioctl.h"
/****************************************************************************/
class MasterDeviceException:
public runtime_error
{
public:
/** Constructor with std::string parameter. */
MasterDeviceException(
const string &s /**< Message. */
): runtime_error(s) {}
};
/****************************************************************************/
class MasterDevice
{
public:
MasterDevice();
~MasterDevice();
void setIndex(unsigned int);
enum Permissions {Read, ReadWrite};
void open(Permissions);
void close();
unsigned int slaveCount();
void getMaster(ec_ioctl_master_t *);
void getConfig(ec_ioctl_config_t *, unsigned int);
void getConfigPdo(ec_ioctl_config_pdo_t *, unsigned int, uint8_t,
uint16_t);
void getConfigPdoEntry(ec_ioctl_config_pdo_entry_t *, unsigned int,
uint8_t, uint16_t, uint8_t);
void getConfigSdo(ec_ioctl_config_sdo_t *, unsigned int, unsigned int);
void getDomain(ec_ioctl_domain_t *, unsigned int);
void getFmmu(ec_ioctl_domain_fmmu_t *, unsigned int, unsigned int);
void getData(ec_ioctl_domain_data_t *, unsigned int, unsigned int,
unsigned char *);
void getSlave(ec_ioctl_slave_t *, uint16_t);
void getSync(ec_ioctl_slave_sync_t *, uint16_t, uint8_t);
void getPdo(ec_ioctl_slave_sync_pdo_t *, uint16_t, uint8_t, uint8_t);
void getPdoEntry(ec_ioctl_slave_sync_pdo_entry_t *, uint16_t, uint8_t,
uint8_t, uint8_t);
void getSdo(ec_ioctl_slave_sdo_t *, uint16_t, uint16_t);
void getSdoEntry(ec_ioctl_slave_sdo_entry_t *, uint16_t, int, uint8_t);
void readSii(ec_ioctl_slave_sii_t *);
void writeSii(ec_ioctl_slave_sii_t *);
protected:
#if 0
void outputDomainData(unsigned int);
enum {BreakAfterBytes = 16};
void showDomain(unsigned int);
void listSlavePdos(uint16_t, bool = false);
void listSlaveSdos(uint16_t, bool = false);
void listSlaves(int);
void showSlave(uint16_t);
void generateSlaveXml(uint16_t);
void requestState(uint16_t, uint8_t);
static string slaveState(uint8_t);
static void printRawData(const uint8_t *, unsigned int);
static uint8_t calcSiiCrc(const uint8_t *, unsigned int);
#endif
private:
//enum {DefaultBufferSize = 1024};
unsigned int index;
int fd;
};
/****************************************************************************/
#endif