fp@922: /*****************************************************************************
fp@922:  *
fp@922:  * $Id$
fp@922:  *
fp@922:  ****************************************************************************/
fp@922: 
fp@922: #ifndef __EC_MASTER_H__
fp@922: #define __EC_MASTER_H__
fp@922: 
fp@922: #include <stdexcept>
fp@956: #include <string>
fp@956: #include <vector>
fp@1105: #include <list>
fp@922: using namespace std;
fp@922: 
fp@1055: #include "../include/ecrt.h"
fp@935: #include "../master/ioctl.h"
fp@935: 
fp@922: /****************************************************************************/
fp@922: 
fp@922: class MasterException:
fp@922:     public runtime_error
fp@922: {
fp@922:     public:
fp@922:         /** Constructor with std::string parameter. */
fp@922:         MasterException(
fp@922:                 const string &s /**< Message. */
fp@922:                 ): runtime_error(s) {}
fp@922: 
fp@922:         /** Constructor with const char pointer parameter. */
fp@922:         MasterException(
fp@922:                 const char *s /**< Message. */
fp@922:                 ): runtime_error(s) {}
fp@922: };
fp@922: 
fp@922: /****************************************************************************/
fp@922: 
fp@922: class Master
fp@922: {
fp@922:     public:
fp@922:         Master();
fp@922:         ~Master();
fp@922: 
fp@972:         void setIndex(unsigned int);
fp@922: 
fp@1099:         enum Verbosity {
fp@1099:             Quiet,
fp@1099:             Normal,
fp@1099:             Verbose
fp@1099:         };
fp@1099:         void setVerbosity(Verbosity);
fp@1099: 
fp@980:         void writeAlias(int, bool, const vector<string> &);
fp@1099:         void showConfigs();
fp@949:         void outputData(int);
fp@956:         void setDebug(const vector<string> &);
fp@948:         void showDomains(int);
fp@957:         void showMaster();
fp@1099:         void listPdos(int);
fp@1099:         void listSdos(int);
fp@974:         void sdoDownload(int, const string &, const vector<string> &);
fp@968:         void sdoUpload(int, const string &, const vector<string> &);
fp@1099:         void showSlaves(int);
fp@978:         void siiRead(int);
fp@980:         void siiWrite(int, bool, const vector<string> &);
fp@960:         void requestStates(int, const vector<string> &);
fp@938:         void generateXml(int);
fp@922: 
fp@922:     protected:
fp@972:         enum Permissions {Read, ReadWrite};
fp@972:         void open(Permissions);
fp@972:         void close();
fp@972: 
fp@980:         void writeSlaveAlias(uint16_t, uint16_t);
fp@1105:         typedef list<ec_ioctl_config_t> ConfigList;
fp@1105:         void showDetailedConfigs(const ConfigList &);
fp@1105:         void listConfigs(const ConfigList &);
fp@949:         void outputDomainData(unsigned int);
fp@1101:         enum {BreakAfterBytes = 16};
fp@948:         void showDomain(unsigned int);
fp@1099:         void listSlavePdos(uint16_t, bool = false);
fp@1099:         void listSlaveSdos(uint16_t, bool = false);
fp@1065:         void listSlaves(int);
fp@989:         void showSlave(uint16_t);
fp@938:         void generateSlaveXml(uint16_t);
fp@935:         unsigned int slaveCount();
fp@957:         void getMaster(ec_ioctl_master_t *);
fp@990:         void getConfig(ec_ioctl_config_t *, unsigned int);
fp@1055:         void getConfigPdo(ec_ioctl_config_pdo_t *, unsigned int, uint8_t,
fp@1055:                 uint16_t);
fp@990:         void getConfigPdoEntry(ec_ioctl_config_pdo_entry_t *, unsigned int,
fp@1055:                 uint8_t, uint16_t, uint8_t);
fp@990:         void getConfigSdo(ec_ioctl_config_sdo_t *, unsigned int, unsigned int);
fp@948:         void getDomain(ec_ioctl_domain_t *, unsigned int);
fp@950:         void getFmmu(ec_ioctl_domain_fmmu_t *, unsigned int, unsigned int);
fp@1079:         void getData(ec_ioctl_domain_data_t *, unsigned int, unsigned int,
fp@950:                 unsigned char *);
fp@935:         void getSlave(ec_ioctl_slave_t *, uint16_t);
fp@1079:         void getSync(ec_ioctl_slave_sync_t *, uint16_t, uint8_t);
fp@1079:         void getPdo(ec_ioctl_slave_sync_pdo_t *, uint16_t, uint8_t, uint8_t);
fp@1079:         void getPdoEntry(ec_ioctl_slave_sync_pdo_entry_t *, uint16_t, uint8_t,
fp@1079:                 uint8_t, uint8_t);
fp@1079:         void getSdo(ec_ioctl_slave_sdo_t *, uint16_t, uint16_t);
fp@1079:         void getSdoEntry(ec_ioctl_slave_sdo_entry_t *, uint16_t, int, uint8_t);
fp@960:         void requestState(uint16_t, uint8_t);
fp@935: 
fp@935:         static string slaveState(uint8_t);
fp@968:         static void printRawData(const uint8_t *, unsigned int);
fp@980:         static uint8_t calcSiiCrc(const uint8_t *, unsigned int);
fp@922:         
fp@922:     private:
fp@974:         enum {DefaultBufferSize = 1024};
fp@968: 
fp@922:         unsigned int index;
fp@1099:         Verbosity verbosity;
fp@922:         int fd;
fp@922: };
fp@922: 
fp@922: /****************************************************************************/
fp@922: 
fp@922: #endif