--- /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
--- /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 <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;
+ }
+}
+
+/*****************************************************************************/
--- /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 <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;
+ }
+}
+
+/*****************************************************************************/
--- /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 <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;
+};
+
+/*****************************************************************************/
--- /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 <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;
+ }
+}
+
+/*****************************************************************************/
--- /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 <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;
+};
+
+/*****************************************************************************/
--- /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;
+ }
+}
+
+/*****************************************************************************/
--- /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 <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;
+};
+
+/*****************************************************************************/
--- /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()
+{
+}
+
+/*****************************************************************************/
--- /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 <stdint.h>
+
+/*****************************************************************************/
+
+class SyncManager
+{
+public:
+ SyncManager();
+ ~SyncManager();
+
+ uint16_t defaultSize;
+ uint16_t startAddress;
+ uint8_t controlByte;
+ bool enable;
+};
+
+/*****************************************************************************/