# HG changeset patch # User Florian Pose # Date 1158589320 0 # Node ID e93ea158b423cecce283d08b9000c8be5fe65b99 # Parent f557be43b8c78d41c2a9d3ee9884e4dc451401dc Added XML daemon. diff -r f557be43b8c7 -r e93ea158b423 xmldaemon/Makefile --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/xmldaemon/Makefile Mon Sep 18 14:22:00 2006 +0000 @@ -0,0 +1,74 @@ +#------------------------------------------------------------------------------ +# +# Makefile +# +# IgH EtherCAT master module +# +# $Id$ +# +# Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH +# +# This file is part of the IgH EtherCAT Master. +# +# The IgH EtherCAT Master is free software; you can redistribute it +# and/or modify it under the terms of the GNU General Public License +# as published by the Free Software Foundation; either version 2 of the +# License, or (at your option) any later version. +# +# The IgH EtherCAT Master is distributed in the hope that it will be +# useful, but WITHOUT ANY WARRANTY; without even the implied warranty of +# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +# GNU General Public License for more details. +# +# You should have received a copy of the GNU General Public License +# along with the IgH EtherCAT Master; if not, write to the Free Software +# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA +# +# The right to use EtherCAT Technology is granted and comes free of +# charge under condition of compatibility of product made by +# Licensee. People intending to distribute/sell products based on the +# code, have to sign an agreement to guarantee that products using +# software based on IgH EtherCAT master stay compatible with the actual +# EtherCAT specification (which are released themselves as an open +# standard) as the (only) precondition to have the right to use EtherCAT +# Technology, IP and trade marks. +# +#------------------------------------------------------------------------------ + +INC := $(shell xml2-config --cflags) +LIB := $(shell xml2-config --libs) +EXE := ecxmld + +SVNREV := $(shell svnversion . || echo "unknown") +CFLAGS += -Wall -DSVNREV="$(SVNREV)" +LDFLAGS += -Wall +CC := g++ + +OBJ := pdo_entry.o pdo.o sync_manager.o slave_device.o main.o + +#------------------------------------------------------------------------------ + +all: .depend $(EXE) + +$(EXE): $(OBJ) + $(CC) $(LDFLAGS) $(OBJ) $(LIB) -o $(EXE) + +doc: + doxygen Doxyfile + +%.o: %.cpp + $(CC) -c $(CFLAGS) $(INC) $< -o $@ + +.depend depend dep: + (for file in *.cpp; do $(CC) -M $(INC) $$file; done) > .depend + +clean: + @rm -f *.o *~ $(EXE) .depend core + +#------------------------------------------------------------------------------ + +ifneq ($(wildcard .depend),) +include .depend +endif + +#------------------------------------------------------------------------------ \ No newline at end of file diff -r f557be43b8c7 -r e93ea158b423 xmldaemon/main.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/xmldaemon/main.cpp Mon Sep 18 14:22:00 2006 +0000 @@ -0,0 +1,312 @@ +/****************************************************************************** + * + * $Id$ + * + * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH + * + * This file is part of the IgH EtherCAT Master. + * + * The IgH EtherCAT Master is free software; you can redistribute it + * and/or modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 of the + * License, or (at your option) any later version. + * + * The IgH EtherCAT Master is distributed in the hope that it will be + * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with the IgH EtherCAT Master; if not, write to the Free Software + * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + * + * The right to use EtherCAT Technology is granted and comes free of + * charge under condition of compatibility of product made by + * Licensee. People intending to distribute/sell products based on the + * code, have to sign an agreement to guarantee that products using + * software based on IgH EtherCAT master stay compatible with the actual + * EtherCAT specification (which are released themselves as an open + * standard) as the (only) precondition to have the right to use EtherCAT + * Technology, IP and trade marks. + * + *****************************************************************************/ + +/** + \file + EtherCAT XML Daemon. +*/ + +/*****************************************************************************/ + +#include +#include +#include +#include + +#include + +#include +#include +using namespace std; + +#include "slave_device.hpp" + +/*****************************************************************************/ + +unsigned int sig_int_term = 0; +unsigned int sig_hangup = 0; +string xml_dir; +bool become_daemon = true; + +list slaveDevices; + +/*****************************************************************************/ + +void parse_xml_file(const char *); +void parse_info(xmlDocPtr, xmlNodePtr); +void parse_descriptions(xmlDocPtr, xmlNodePtr); +void parse_devices(xmlDocPtr, xmlNodePtr); + +void read_xml_dir(); +void set_signal_handlers(); +void get_options(int, char *[]); +void print_usage(); +void signal_handler(int); +void init_daemon(); + +/*****************************************************************************/ + +int main(int argc, char *argv[]) +{ + set_signal_handlers(); + get_options(argc, argv); + + read_xml_dir(); + + if (become_daemon) init_daemon(); + + openlog("ecxmld", LOG_PID, LOG_DAEMON); + syslog(LOG_INFO, "EtherCAT XML daemon starting up."); + + return 0; +} + +/*****************************************************************************/ + +void read_xml_dir() +{ + DIR *dir; + struct dirent *dir_ent; + string entry; + + if (!(dir = opendir(xml_dir.c_str()))) { + cerr << "ERROR: Failed to open XML directory \"" << xml_dir << "\"!" + << endl; + exit(1); + } + + while ((dir_ent = readdir(dir))) { + entry = dir_ent->d_name; + if (entry.size() < 4 + || entry.substr(entry.size() - 4) != ".xml") continue; + + parse_xml_file((xml_dir + "/" + entry).c_str()); + } + + // Verzeichnis schliessen + closedir(dir); +} + +/*****************************************************************************/ + +void parse_xml_file(const char *xml_file) +{ + xmlDocPtr doc; + xmlNodePtr cur; + + cout << xml_file << endl; + + if (!(doc = xmlParseFile(xml_file))) { + cerr << "ERROR: Parse error in document!" << endl; + return; + } + + if (!(cur = xmlDocGetRootElement(doc))) { + cout << "Empty document!" << endl; + xmlFreeDoc(doc); + return; + } + + if (xmlStrcmp(cur->name, (const xmlChar *) "EtherCATInfo")) { + cerr << "Document of the wrong type!" << endl; + xmlFreeDoc(doc); + return; + } + + parse_info(doc, cur); + xmlFreeDoc(doc); +} + +/*****************************************************************************/ + +void parse_info(xmlDocPtr doc, xmlNodePtr cur) +{ + cout << "info" << endl; + cur = cur->xmlChildrenNode; + + while (cur) { + if ((!xmlStrcmp(cur->name, (const xmlChar *) "Descriptions"))) { + parse_descriptions(doc, cur); + } + cur = cur->next; + } +} + +/*****************************************************************************/ + +void parse_descriptions(xmlDocPtr doc, xmlNodePtr cur) +{ + cout << "desc" << endl; + cur = cur->xmlChildrenNode; + + while (cur) { + if ((!xmlStrcmp(cur->name, (const xmlChar *) "Devices"))) { + parse_devices(doc, cur); + } + cur = cur->next; + } +} + +/*****************************************************************************/ + +void parse_devices(xmlDocPtr doc, xmlNodePtr cur) +{ + cout << "devices" << endl; + cur = cur->xmlChildrenNode; + + while (cur) { + if ((!xmlStrcmp(cur->name, (const xmlChar *) "Device"))) { + slaveDevices.push_back(SlaveDevice()); + slaveDevices.back().fromXml(doc, cur); + } + cur = cur->next; + } +} + +/*****************************************************************************/ + +void get_options(int argc, char *argv[]) +{ + int c; + + while (1) { + if ((c = getopt(argc, argv, "d:kh")) == -1) break; + + switch (c) { + case 'd': + xml_dir = optarg; + break; + + case 'k': + become_daemon = false; + break; + + case 'h': + print_usage(); + exit(0); + + default: + print_usage(); + exit(1); + } + } + + if (optind < argc) { + cerr << "ERROR: Too many arguments!" << endl; + print_usage(); + exit(1); + } + + if (xml_dir == "") { + cerr << "ERROR: XML directory not set!" << endl; + print_usage(); + exit(1); + } +} + +/*****************************************************************************/ + +void print_usage() +{ + cout << "Usage: ecxmld [OPTIONS]" << endl + << " -d DIR Set XML directory (MANDATORY)." << endl + << " -k Do not detach from console." << endl + << " -h Show this help." << endl; +} + +/*****************************************************************************/ + +void signal_handler(int sig) +{ + if (sig == SIGHUP) { + sig_hangup++; + } + else if (sig == SIGINT || sig == SIGTERM) { + sig_int_term++; + } +} + +/*****************************************************************************/ + +void set_signal_handlers() +{ + struct sigaction action; + + action.sa_handler = signal_handler; + sigemptyset(&action.sa_mask); + action.sa_flags = 0; + + sigaction(SIGHUP, &action, 0); + sigaction(SIGINT, &action, 0); + sigaction(SIGTERM, &action, 0); +} + +/*****************************************************************************/ + +void init_daemon() +{ + pid_t pid; + + if ((pid = fork()) < 0) { + cerr << endl << "ERROR: fork() failed!" << endl << endl; + exit(1); + } + + if (pid) exit(0); + + if (setsid() == -1) { + cerr << "ERROR: Failed to become session leader!" << endl; + exit(1); + } + + if (chdir("/") < 0) { + cerr << "ERROR: Failed to change to file root!" << endl; + exit(1); + } + + umask(0); + + if (close(0) < 0) { + cerr << "WARNING: Failed to close STDIN!" << endl; + } + + if (close(1) < 0) { + cerr << "WARNING: Failed to close STDOUT!" << endl; + } + + if (close(2) < 0) { + cerr << "WARNING: Failed to close STDERR!" << endl; + } +} + +/*****************************************************************************/ diff -r f557be43b8c7 -r e93ea158b423 xmldaemon/pdo.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/xmldaemon/pdo.cpp Mon Sep 18 14:22:00 2006 +0000 @@ -0,0 +1,80 @@ +/****************************************************************************** + * + * $Id$ + * + * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH + * + * This file is part of the IgH EtherCAT Master. + * + * The IgH EtherCAT Master is free software; you can redistribute it + * and/or modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 of the + * License, or (at your option) any later version. + * + * The IgH EtherCAT Master is distributed in the hope that it will be + * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with the IgH EtherCAT Master; if not, write to the Free Software + * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + * + * The right to use EtherCAT Technology is granted and comes free of + * charge under condition of compatibility of product made by + * Licensee. People intending to distribute/sell products based on the + * code, have to sign an agreement to guarantee that products using + * software based on IgH EtherCAT master stay compatible with the actual + * EtherCAT specification (which are released themselves as an open + * standard) as the (only) precondition to have the right to use EtherCAT + * Technology, IP and trade marks. + * + *****************************************************************************/ + +/** + \file +*/ + +/*****************************************************************************/ + +#include +using namespace std; + +#include "pdo.hpp" + +/*****************************************************************************/ + +Pdo::Pdo() +{ +} + +/*****************************************************************************/ + +Pdo::~Pdo() +{ +} + +/*****************************************************************************/ + +void Pdo::fromXml(xmlDocPtr doc, xmlNodePtr cur) +{ + xmlChar *str; + + cout << "txpdo" << endl; + cur = cur->xmlChildrenNode; + + while (cur) { + if ((!xmlStrcmp(cur->name, (const xmlChar *) "Name"))) { + str = xmlNodeListGetString(doc, cur->xmlChildrenNode, 1); + cout << "Name: " << str << endl; + xmlFree(str); + } + else if ((!xmlStrcmp(cur->name, (const xmlChar *) "Entry"))) { + entries.push_back(PdoEntry()); + entries.back().fromXml(doc, cur); + } + cur = cur->next; + } +} + +/*****************************************************************************/ diff -r f557be43b8c7 -r e93ea158b423 xmldaemon/pdo.hpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/xmldaemon/pdo.hpp Mon Sep 18 14:22:00 2006 +0000 @@ -0,0 +1,69 @@ +/****************************************************************************** + * + * $Id$ + * + * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH + * + * This file is part of the IgH EtherCAT Master. + * + * The IgH EtherCAT Master is free software; you can redistribute it + * and/or modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 of the + * License, or (at your option) any later version. + * + * The IgH EtherCAT Master is distributed in the hope that it will be + * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with the IgH EtherCAT Master; if not, write to the Free Software + * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + * + * The right to use EtherCAT Technology is granted and comes free of + * charge under condition of compatibility of product made by + * Licensee. People intending to distribute/sell products based on the + * code, have to sign an agreement to guarantee that products using + * software based on IgH EtherCAT master stay compatible with the actual + * EtherCAT specification (which are released themselves as an open + * standard) as the (only) precondition to have the right to use EtherCAT + * Technology, IP and trade marks. + * + *****************************************************************************/ + +/** + \file + Slave Type. +*/ + +/*****************************************************************************/ + +#include + +#include + +#include +using namespace std; + +#include "pdo_entry.hpp" + +/*****************************************************************************/ + +class Pdo +{ + enum {Tx, Rx}; + +public: + Pdo(); + ~Pdo(); + + void fromXml(xmlDocPtr, xmlNodePtr); + +private: + int type; + string name; + uint16_t index; + list entries; +}; + +/*****************************************************************************/ diff -r f557be43b8c7 -r e93ea158b423 xmldaemon/pdo_entry.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/xmldaemon/pdo_entry.cpp Mon Sep 18 14:22:00 2006 +0000 @@ -0,0 +1,76 @@ +/****************************************************************************** + * + * $Id$ + * + * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH + * + * This file is part of the IgH EtherCAT Master. + * + * The IgH EtherCAT Master is free software; you can redistribute it + * and/or modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 of the + * License, or (at your option) any later version. + * + * The IgH EtherCAT Master is distributed in the hope that it will be + * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with the IgH EtherCAT Master; if not, write to the Free Software + * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + * + * The right to use EtherCAT Technology is granted and comes free of + * charge under condition of compatibility of product made by + * Licensee. People intending to distribute/sell products based on the + * code, have to sign an agreement to guarantee that products using + * software based on IgH EtherCAT master stay compatible with the actual + * EtherCAT specification (which are released themselves as an open + * standard) as the (only) precondition to have the right to use EtherCAT + * Technology, IP and trade marks. + * + *****************************************************************************/ + +/** + \file +*/ + +/*****************************************************************************/ + +#include +using namespace std; + +#include "pdo_entry.hpp" + +/*****************************************************************************/ + +PdoEntry::PdoEntry() +{ +} + +/*****************************************************************************/ + +PdoEntry::~PdoEntry() +{ +} + +/*****************************************************************************/ + +void PdoEntry::fromXml(xmlDocPtr doc, xmlNodePtr cur) +{ + xmlChar *str; + + cout << "entry" << endl; + cur = cur->xmlChildrenNode; + + while (cur) { + if ((!xmlStrcmp(cur->name, (const xmlChar *) "Name"))) { + str = xmlNodeListGetString(doc, cur->xmlChildrenNode, 1); + cout << "Name: " << str << endl; + xmlFree(str); + } + cur = cur->next; + } +} + +/*****************************************************************************/ diff -r f557be43b8c7 -r e93ea158b423 xmldaemon/pdo_entry.hpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/xmldaemon/pdo_entry.hpp Mon Sep 18 14:22:00 2006 +0000 @@ -0,0 +1,65 @@ +/****************************************************************************** + * + * $Id$ + * + * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH + * + * This file is part of the IgH EtherCAT Master. + * + * The IgH EtherCAT Master is free software; you can redistribute it + * and/or modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 of the + * License, or (at your option) any later version. + * + * The IgH EtherCAT Master is distributed in the hope that it will be + * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with the IgH EtherCAT Master; if not, write to the Free Software + * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + * + * The right to use EtherCAT Technology is granted and comes free of + * charge under condition of compatibility of product made by + * Licensee. People intending to distribute/sell products based on the + * code, have to sign an agreement to guarantee that products using + * software based on IgH EtherCAT master stay compatible with the actual + * EtherCAT specification (which are released themselves as an open + * standard) as the (only) precondition to have the right to use EtherCAT + * Technology, IP and trade marks. + * + *****************************************************************************/ + +/** + \file + Slave Type. +*/ + +/*****************************************************************************/ + +#include + +#include +using namespace std; + +#include + +/*****************************************************************************/ + +class PdoEntry +{ +public: + PdoEntry(); + ~PdoEntry(); + + void fromXml(xmlDocPtr, xmlNodePtr); + +private: + uint16_t index; + uint8_t subIndex; + uint16_t bitLength; + string name; +}; + +/*****************************************************************************/ diff -r f557be43b8c7 -r e93ea158b423 xmldaemon/slave_device.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/xmldaemon/slave_device.cpp Mon Sep 18 14:22:00 2006 +0000 @@ -0,0 +1,91 @@ +/****************************************************************************** + * + * $Id$ + * + * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH + * + * This file is part of the IgH EtherCAT Master. + * + * The IgH EtherCAT Master is free software; you can redistribute it + * and/or modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 of the + * License, or (at your option) any later version. + * + * The IgH EtherCAT Master is distributed in the hope that it will be + * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with the IgH EtherCAT Master; if not, write to the Free Software + * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + * + * The right to use EtherCAT Technology is granted and comes free of + * charge under condition of compatibility of product made by + * Licensee. People intending to distribute/sell products based on the + * code, have to sign an agreement to guarantee that products using + * software based on IgH EtherCAT master stay compatible with the actual + * EtherCAT specification (which are released themselves as an open + * standard) as the (only) precondition to have the right to use EtherCAT + * Technology, IP and trade marks. + * + *****************************************************************************/ + +/** + \file + Slave Type. +*/ + +/*****************************************************************************/ + +#include "slave_device.hpp" + +/*****************************************************************************/ + +SlaveDevice::SlaveDevice() +{ +} + +/*****************************************************************************/ + +SlaveDevice::~SlaveDevice() +{ +} + +/*****************************************************************************/ + +void SlaveDevice::fromXml(xmlDocPtr doc, xmlNodePtr cur) +{ + xmlChar *str; + + cout << "device" << endl; + cur = cur->xmlChildrenNode; + + while (cur) { + if ((!xmlStrcmp(cur->name, (const xmlChar *) "Type"))) { + str = xmlNodeListGetString(doc, cur->xmlChildrenNode, 1); + cout << "Type: " << str << endl; + xmlFree(str); + str = xmlGetProp(cur, (const xmlChar *) "ProductRevision"); + cout << "ProductRevision: " << str << endl; + xmlFree(str); + } + else if ((!xmlStrcmp(cur->name, (const xmlChar *) "Name"))) { + str = xmlNodeListGetString(doc, cur->xmlChildrenNode, 1); + cout << "Name: " << str << endl; + xmlFree(str); + } + else if ((!xmlStrcmp(cur->name, (const xmlChar *) "TxPdo"))) { + pdos.push_back(Pdo()); + pdos.back().fromXml(doc, cur); + } + else if ((!xmlStrcmp(cur->name, (const xmlChar *) "Sm"))) { + str = xmlNodeListGetString(doc, cur->xmlChildrenNode, 1); + cout << "Sm: " << str << endl; + xmlFree(str); + } + cur = cur->next; + } +} + +/*****************************************************************************/ diff -r f557be43b8c7 -r e93ea158b423 xmldaemon/slave_device.hpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/xmldaemon/slave_device.hpp Mon Sep 18 14:22:00 2006 +0000 @@ -0,0 +1,73 @@ +/****************************************************************************** + * + * $Id$ + * + * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH + * + * This file is part of the IgH EtherCAT Master. + * + * The IgH EtherCAT Master is free software; you can redistribute it + * and/or modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 of the + * License, or (at your option) any later version. + * + * The IgH EtherCAT Master is distributed in the hope that it will be + * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with the IgH EtherCAT Master; if not, write to the Free Software + * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + * + * The right to use EtherCAT Technology is granted and comes free of + * charge under condition of compatibility of product made by + * Licensee. People intending to distribute/sell products based on the + * code, have to sign an agreement to guarantee that products using + * software based on IgH EtherCAT master stay compatible with the actual + * EtherCAT specification (which are released themselves as an open + * standard) as the (only) precondition to have the right to use EtherCAT + * Technology, IP and trade marks. + * + *****************************************************************************/ + +/** + \file + Slave Type. +*/ + +/*****************************************************************************/ + +#include + +#include + +#include +#include +using namespace std; + +/*****************************************************************************/ + +#include "sync_manager.hpp" +#include "pdo.hpp" + +/*****************************************************************************/ + +class SlaveDevice +{ +public: + SlaveDevice(); + ~SlaveDevice(); + + void fromXml(xmlDocPtr, xmlNodePtr); + +private: + uint32_t vendorId; + uint32_t productCode; + string name; + string description; + list syncManagers; + list pdos; +}; + +/*****************************************************************************/ diff -r f557be43b8c7 -r e93ea158b423 xmldaemon/sync_manager.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/xmldaemon/sync_manager.cpp Mon Sep 18 14:22:00 2006 +0000 @@ -0,0 +1,54 @@ +/****************************************************************************** + * + * $Id$ + * + * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH + * + * This file is part of the IgH EtherCAT Master. + * + * The IgH EtherCAT Master is free software; you can redistribute it + * and/or modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 of the + * License, or (at your option) any later version. + * + * The IgH EtherCAT Master is distributed in the hope that it will be + * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with the IgH EtherCAT Master; if not, write to the Free Software + * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + * + * The right to use EtherCAT Technology is granted and comes free of + * charge under condition of compatibility of product made by + * Licensee. People intending to distribute/sell products based on the + * code, have to sign an agreement to guarantee that products using + * software based on IgH EtherCAT master stay compatible with the actual + * EtherCAT specification (which are released themselves as an open + * standard) as the (only) precondition to have the right to use EtherCAT + * Technology, IP and trade marks. + * + *****************************************************************************/ + +/** + \file +*/ + +/*****************************************************************************/ + +#include "sync_manager.hpp" + +/*****************************************************************************/ + +SyncManager::SyncManager() +{ +} + +/*****************************************************************************/ + +SyncManager::~SyncManager() +{ +} + +/*****************************************************************************/ diff -r f557be43b8c7 -r e93ea158b423 xmldaemon/sync_manager.hpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/xmldaemon/sync_manager.hpp Mon Sep 18 14:22:00 2006 +0000 @@ -0,0 +1,57 @@ +/****************************************************************************** + * + * $Id$ + * + * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH + * + * This file is part of the IgH EtherCAT Master. + * + * The IgH EtherCAT Master is free software; you can redistribute it + * and/or modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 of the + * License, or (at your option) any later version. + * + * The IgH EtherCAT Master is distributed in the hope that it will be + * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with the IgH EtherCAT Master; if not, write to the Free Software + * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + * + * The right to use EtherCAT Technology is granted and comes free of + * charge under condition of compatibility of product made by + * Licensee. People intending to distribute/sell products based on the + * code, have to sign an agreement to guarantee that products using + * software based on IgH EtherCAT master stay compatible with the actual + * EtherCAT specification (which are released themselves as an open + * standard) as the (only) precondition to have the right to use EtherCAT + * Technology, IP and trade marks. + * + *****************************************************************************/ + +/** + \file + Slave Type. +*/ + +/*****************************************************************************/ + +#include + +/*****************************************************************************/ + +class SyncManager +{ +public: + SyncManager(); + ~SyncManager(); + + uint16_t defaultSize; + uint16_t startAddress; + uint8_t controlByte; + bool enable; +}; + +/*****************************************************************************/