Removed xmldev.
--- a/TODO Thu May 29 08:22:27 2008 +0000
+++ b/TODO Thu May 29 08:28:22 2008 +0000
@@ -8,7 +8,6 @@
Version 1.4.0:
-* Remove the xmldev files.
* Replace Sysfs interface with cdev and a user space program
to replace lsec; move a few sysfs attributes to proc.
* Remove the end state of the master state machine.
--- a/master/Kbuild.in Thu May 29 08:22:27 2008 +0000
+++ b/master/Kbuild.in Thu May 29 08:28:22 2008 +0000
@@ -59,8 +59,7 @@
sdo_request.o \
slave.o \
slave_config.o \
- sync.o \
- xmldev.o
+ sync.o
ifeq (@ENABLE_EOE@,1)
ec_master-objs += ethernet.o
--- a/master/module.c Thu May 29 08:22:27 2008 +0000
+++ b/master/module.c Thu May 29 08:28:22 2008 +0000
@@ -44,7 +44,6 @@
#include "globals.h"
#include "master.h"
#include "device.h"
-#include "xmldev.h"
/*****************************************************************************/
@@ -71,9 +70,6 @@
static uint8_t macs[MAX_MASTERS][2][ETH_ALEN]; /**< MAC addresses. */
-static dev_t device_number; /**< XML character device number. */
-ec_xmldev_t xmldev; /**< XML character device. */
-
char *ec_master_version_str = EC_MASTER_VERSION; /**< Version string. */
/*****************************************************************************/
@@ -123,12 +119,6 @@
goto out_put;
}
- if (alloc_chrdev_region(&device_number, 0, 1, "EtherCAT")) {
- EC_ERR("Failed to obtain device number!\n");
- ret = -EBUSY;
- goto out_del;
- }
-
// zero MAC addresses
memset(macs, 0x00, sizeof(uint8_t) * MAX_MASTERS * 2 * ETH_ALEN);
@@ -136,12 +126,12 @@
for (i = 0; i < master_count; i++) {
if (ec_mac_parse(macs[i][0], main_devices[i], 0)) {
ret = -EINVAL;
- goto out_cdev;
+ goto out_del;
}
if (i < backup_count && ec_mac_parse(macs[i][1], backup_devices[i], 1)) {
ret = -EINVAL;
- goto out_cdev;
+ goto out_del;
}
}
@@ -150,7 +140,7 @@
GFP_KERNEL))) {
EC_ERR("Failed to allocate memory for EtherCAT masters.\n");
ret = -ENOMEM;
- goto out_cdev;
+ goto out_del;
}
}
@@ -168,8 +158,6 @@
out_free_masters:
for (i--; i >= 0; i--) ec_master_clear(&masters[i]);
kfree(masters);
-out_cdev:
- unregister_chrdev_region(device_number, 1);
out_del:
kobject_del(&kobj);
out_put:
@@ -193,7 +181,6 @@
if (master_count)
kfree(masters);
- unregister_chrdev_region(device_number, 1);
kobject_del(&kobj);
kobject_put(&kobj);
--- a/master/xmldev.c Thu May 29 08:22:27 2008 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,176 +0,0 @@
-/******************************************************************************
- *
- * $Id$
- *
- * 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 device.
-*/
-
-/*****************************************************************************/
-
-#include <linux/module.h>
-
-#include "master.h"
-#include "xmldev.h"
-
-/*****************************************************************************/
-
-/** \cond */
-
-static char *test_str = "hello world!\n";
-
-int ecxmldev_open(struct inode *, struct file *);
-int ecxmldev_release(struct inode *, struct file *);
-ssize_t ecxmldev_read(struct file *, char __user *, size_t, loff_t *);
-ssize_t ecxmldev_write(struct file *, const char __user *, size_t, loff_t *);
-
-/*****************************************************************************/
-
-/** \cond */
-
-static struct file_operations fops = {
- .owner = THIS_MODULE,
- .open = ecxmldev_open,
- .release = ecxmldev_release,
- .read = ecxmldev_read,
- .write = ecxmldev_write
-};
-
-/** \endcond */
-
-/*****************************************************************************/
-
-/**
- XML device constructor.
- \return 0 in case of success, else < 0
-*/
-
-int ec_xmldev_init(ec_xmldev_t *xmldev, /**< EtherCAT XML device */
- ec_master_t *master, /**< EtherCAT master */
- dev_t dev_num /**< device number */
- )
-{
- atomic_set(&xmldev->available, 1);
- cdev_init(&xmldev->cdev, &fops);
- xmldev->cdev.owner = THIS_MODULE;
- if (cdev_add(&xmldev->cdev,
- MKDEV(MAJOR(dev_num), master->index), 1)) {
- EC_ERR("Failed to add character device!\n");
- return -1;
- }
- return 0;
-}
-
-/*****************************************************************************/
-
-/**
- XML device destructor.
-*/
-
-void ec_xmldev_clear(ec_xmldev_t *xmldev /**< EtherCAT XML device */)
-{
- cdev_del(&xmldev->cdev);
-}
-
-/*****************************************************************************/
-
-int ec_xmldev_request(ec_xmldev_t *xmldev,
- uint32_t vendor_id,
- uint32_t product_code
- )
-{
- return 1;
-}
-
-/******************************************************************************
- * file_operations
- *****************************************************************************/
-
-int ecxmldev_open(struct inode *inode, struct file *filp)
-{
- ec_xmldev_t *xmldev;
-
- xmldev = container_of(inode->i_cdev, ec_xmldev_t, cdev);
-
- if (!atomic_dec_and_test(&xmldev->available)) {
- atomic_inc(&xmldev->available);
- return -EBUSY;
- }
-
- filp->private_data = xmldev;
-
- EC_DBG("File opened.\n");
-
- return 0;
-}
-
-/*****************************************************************************/
-
-int ecxmldev_release(struct inode *inode, struct file *filp)
-{
- ec_xmldev_t *xmldev = container_of(inode->i_cdev, ec_xmldev_t, cdev);
- atomic_inc(&xmldev->available);
- EC_DBG("File closed.\n");
- return 0;
-}
-
-/*****************************************************************************/
-
-ssize_t ecxmldev_read(struct file *filp, char __user *buf,
- size_t count, loff_t *f_pos)
-{
- size_t len = strlen(test_str);
-
- if (*f_pos >= len) return 0;
- if (*f_pos + count > len) count = len - *f_pos;
-
- if (copy_to_user(buf, test_str + *f_pos, count)) return -EFAULT;
-
- *f_pos += count;
-
- return count;
-}
-
-/*****************************************************************************/
-
-ssize_t ecxmldev_write(struct file *filp,
- const char __user *buf,
- size_t count,
- loff_t *f_pos)
-{
- return -EFAULT;
-}
-
-/** \endcond */
-
-/*****************************************************************************/
--- a/master/xmldev.h Thu May 29 08:22:27 2008 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,77 +0,0 @@
-/******************************************************************************
- *
- * $Id$
- *
- * 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 device.
-*/
-
-/*****************************************************************************/
-
-#ifndef __EC_XMLDEV_H__
-#define __EC_XMLDEV_H__
-
-#include <linux/fs.h>
-#include <linux/cdev.h>
-
-#include "globals.h"
-#include "../include/ecrt.h"
-
-/*****************************************************************************/
-
-/**
- EtherCAT XML character device.
-*/
-
-typedef struct
-{
- ec_master_t *master; /**< master owning the device */
- struct cdev cdev; /**< character device */
- atomic_t available; /**< allow only one open() */
-}
-ec_xmldev_t;
-
-/*****************************************************************************/
-
-/** \cond */
-
-int ec_xmldev_init(ec_xmldev_t *, ec_master_t *, dev_t);
-void ec_xmldev_clear(ec_xmldev_t *);
-
-int ec_xmldev_request(ec_xmldev_t *, uint32_t, uint32_t);
-
-/** \endcond */
-
-/*****************************************************************************/
-
-#endif
--- a/xmldaemon/Makefile Thu May 29 08:22:27 2008 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,74 +0,0 @@
-#------------------------------------------------------------------------------
-#
-# 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
--- a/xmldaemon/main.cpp Thu May 29 08:22:27 2008 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,312 +0,0 @@
-/******************************************************************************
- *
- * $Id$
- *
- * 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 <signal.h>
-#include <sys/stat.h>
-#include <dirent.h>
-#include <syslog.h>
-
-#include <libxml/parser.h>
-
-#include <iostream>
-#include <list>
-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<SlaveDevice> 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;
- }
-}
-
-/*****************************************************************************/
--- a/xmldaemon/pdo.cpp Thu May 29 08:22:27 2008 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,80 +0,0 @@
-/******************************************************************************
- *
- * $Id$
- *
- * 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 <iostream>
-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;
- }
-}
-
-/*****************************************************************************/
--- a/xmldaemon/pdo.hpp Thu May 29 08:22:27 2008 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,69 +0,0 @@
-/******************************************************************************
- *
- * $Id$
- *
- * 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 <stdint.h>
-
-#include <libxml/parser.h>
-
-#include <list>
-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<PdoEntry> entries;
-};
-
-/*****************************************************************************/
--- a/xmldaemon/pdo_entry.cpp Thu May 29 08:22:27 2008 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,76 +0,0 @@
-/******************************************************************************
- *
- * $Id$
- *
- * 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 <iostream>
-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;
- }
-}
-
-/*****************************************************************************/
--- a/xmldaemon/pdo_entry.hpp Thu May 29 08:22:27 2008 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,65 +0,0 @@
-/******************************************************************************
- *
- * $Id$
- *
- * 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 <libxml/parser.h>
-
-#include <string>
-using namespace std;
-
-#include <stdint.h>
-
-/*****************************************************************************/
-
-class PdoEntry
-{
-public:
- PdoEntry();
- ~PdoEntry();
-
- void fromXml(xmlDocPtr, xmlNodePtr);
-
-private:
- uint16_t index;
- uint8_t subIndex;
- uint16_t bitLength;
- string name;
-};
-
-/*****************************************************************************/
--- a/xmldaemon/slave_device.cpp Thu May 29 08:22:27 2008 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,91 +0,0 @@
-/******************************************************************************
- *
- * $Id$
- *
- * 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;
- }
-}
-
-/*****************************************************************************/
--- a/xmldaemon/slave_device.hpp Thu May 29 08:22:27 2008 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,73 +0,0 @@
-/******************************************************************************
- *
- * $Id$
- *
- * 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 <stdint.h>
-
-#include <libxml/parser.h>
-
-#include <iostream>
-#include <list>
-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<SyncManager> syncManagers;
- list<Pdo> pdos;
-};
-
-/*****************************************************************************/
--- a/xmldaemon/sync_manager.cpp Thu May 29 08:22:27 2008 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,54 +0,0 @@
-/******************************************************************************
- *
- * $Id$
- *
- * 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()
-{
-}
-
-/*****************************************************************************/
--- a/xmldaemon/sync_manager.hpp Thu May 29 08:22:27 2008 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,57 +0,0 @@
-/******************************************************************************
- *
- * $Id$
- *
- * 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 <stdint.h>
-
-/*****************************************************************************/
-
-class SyncManager
-{
-public:
- SyncManager();
- ~SyncManager();
-
- uint16_t defaultSize;
- uint16_t startAddress;
- uint8_t controlByte;
- bool enable;
-};
-
-/*****************************************************************************/