ethercat_hardware: ethercat_hardware: ethercat

00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2008, Willow Garage, Inc.
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00007  *  Redistribution and use in source and binary forms, with or without
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00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
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00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00034 
00035 #ifndef ETHERCAT_COM_H
00036 #define ETHERCAT_COM_H
00037 
00038 #include <al/ethercat_AL.h>
00039 #include <al/ethercat_master.h>
00040 #include <al/ethercat_slave_handler.h>
00041 #include <dll/ethercat_dll.h>
00042 #include <pthread.h>
00043 
00044 class EthercatCom 
00045 {
00046 protected:
00047   EthercatCom() { }
00048   
00049 public:
00050   virtual bool txandrx(struct EtherCAT_Frame * frame)=0;
00051   virtual bool txandrx_once(struct EtherCAT_Frame * frame)=0;
00052 
00053   virtual ~EthercatCom() { }
00054 };
00055 
00056 
00057 class EthercatDirectCom : public EthercatCom 
00058 {
00059 public:
00060   EthercatDirectCom(EtherCAT_DataLinkLayer *dll);
00061   ~EthercatDirectCom();
00062   
00063   bool txandrx(struct EtherCAT_Frame * frame);  
00064   bool txandrx_once(struct EtherCAT_Frame * frame);
00065 
00066 protected:
00067   EtherCAT_DataLinkLayer *dll_;
00068 };
00069 
00070 class EthercatOobCom : public EthercatCom 
00071 {
00072 public:
00073   EthercatOobCom(struct netif *ni);
00074   ~EthercatOobCom();
00075   
00076   bool txandrx(struct EtherCAT_Frame * frame);
00077   bool txandrx_once(struct EtherCAT_Frame * frame);
00078   
00079   void tx();
00080 protected:
00081   bool lock(unsigned line);
00082   bool trylock(unsigned line);
00083   bool unlock(unsigned line);
00084   
00085   struct netif *ni_;
00086   pthread_mutex_t mutex_;
00087   pthread_cond_t share_cond_;
00088   pthread_cond_t busy_cond_;
00089   enum {IDLE=0, READY_TO_SEND=1, WAITING_TO_RECV=2} state_;
00090   EtherCAT_Frame *frame_;
00091   int handle_;
00092   unsigned line_;
00093 };
00094 
00095 
00096 #endif /* ETHERCAT_COM_H */
ethercat_com.h
