EtherCAT Process Data buffer. More...

Public Member Functions
bool	txandrx (size_t datalen, unsigned char *data)
	Send some process data.
Static Public Member Functions
static EtherCAT_PD_Buffer *	instance ()
	Singleton.
Protected Member Functions
	EtherCAT_PD_Buffer ()
	Constructor.
void	start ()
	Start transmitting process data.
void	stop ()
	Stop transmitting process data.
virtual	~EtherCAT_PD_Buffer ()
Private Attributes
EtherCAT_DataLinkLayer *	m_dll_instance
	Pointer to DLL instance.
unsigned int	m_is_running
	See note in class definition.
EC_Logic *	m_logic_instance
	Pointer to EC_Logic.
EC_Ethernet_Frame *	m_lrw_frame [MAX_CHUNKS]
	EtherCAT frame(s) to be sent.
LRW_Telegram *	m_lrw_telegram [MAX_CHUNKS]
	Telegram(s) to be sent.
Static Private Attributes
static const unsigned	CHUNK_SIZE = 1486
static EtherCAT_PD_Buffer *	m_instance
	This class is a singleton.
static const unsigned	MAX_CHUNKS = 4
Friends
class	EC_ESM_Ops

Detailed Description

EtherCAT Process Data buffer.

Note:: The current implementation starts passing PD as soon as *one* of the slaves indicated it arrived in its safe-operational state by using the EtherCAT_PD_Buffer::start() method. The advantage is that an application could remain running. If a slave follows the spec, it won't process PD unless it is in its SafeOp or Op state, so this should harm... Nevertheless, changing this behavior into full spec compliance only requires changing 2 lines of code. See the .cxx file.

Definition at line 54 of file ethercat_process_data.h.

Constructor & Destructor Documentation

EtherCAT_PD_Buffer::EtherCAT_PD_Buffer ( ) [protected]

Constructor.

virtual EtherCAT_PD_Buffer::~EtherCAT_PD_Buffer ( ) [protected, virtual]

static EtherCAT_PD_Buffer* EtherCAT_PD_Buffer::instance ( ) [static]

Singleton.

void EtherCAT_PD_Buffer::start ( ) [protected]

Start transmitting process data.

void EtherCAT_PD_Buffer::stop ( ) [protected]

Stop transmitting process data.

bool EtherCAT_PD_Buffer::txandrx	(	size_t	datalen,
		unsigned char *	data
	)

Send some process data.

Parameters:

datalen	number of bytes that should be set
data	pointer to data array. Data is read, transmitted, and (if the operation succeeded) the received data is put in the data array