00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 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 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 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 */