ethercat_device_addressed_telegram.h

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// $Id: ethercat_device_addressed_telegram.h,v 1.11 2006/02/20 15:57:33 kgad Exp $
//===========================================================================
//      This file is part of "EtherCAT Master Library".
//      Copyright (C) 2005 FMTC vzw, Diamant Building, A. Reyerslaan 80,
//      B-1030 Brussels, Belgium.
//
//      EtherCAT Master Library 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 or
//      (at your option) any later version.
//
//      EtherCAT Master Code 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 EtherCAT Master Library; if not, write to the Free
//      Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA
//      02111-1307 USA.
//
//      EtherCAT, the EtherCAT trade name and logo are the intellectual
//      property of, and protected by Beckhoff. You can use "EtherCAT
//      Master Library" for creating and/or selling or otherwise
//      distributing an EtherCAT network master under the terms of the
//      EtherCAT Master License.
//
//      You should have received a copy of the EtherCAT Master License
//      along with the EtherCAT Master Library; if not, write to Beckhoff
//      Automation GmbH, Eiserstrasse 5, D-33415 Verl, Germany.
//===========================================================================

#ifndef __ethercat_device_addressed_telegram_h__
#define __ethercat_device_addressed_telegram_h__

#include "ros_ethercat_eml/ethercat_telegram.h"


class Device_Addressing_Telegram : public EC_Telegram
{
public:

  Device_Addressing_Telegram(uint8_t a_idx = 0x00,
                             uint16_t a_adp = 0x0000,
                             uint16_t a_ado = 0x0000,
                             uint16_t a_wkc = 0x0000,
                             uint16_t a_datalen = 0x0000,
                             const unsigned char * a_data = NULL);
  virtual ~Device_Addressing_Telegram()
  {
  }

  void set_adp(uint16_t a_adp)
  {
    m_adp = a_adp;
  }
  void set_ado(uint16_t a_ado)
  {
    m_ado = a_ado;
  }
  uint16_t get_adp() const
  {
    return m_adp;
  }
  uint16_t get_ado() const
  {
    return m_ado;
  }

protected:
  virtual unsigned char * dump_header_head(unsigned char * a_buffer) const;
  virtual unsigned char * dump_command_field(unsigned char * a_buffer) const = 0;

  virtual const unsigned char * build_header_head(const unsigned char * a_buffer);
  virtual const unsigned char * build_command_field(const unsigned char * a_buffer) = 0;

private:
  uint16_t m_adp;
  uint16_t m_ado;
};


class APRD_Telegram : public Device_Addressing_Telegram
{
public:

  APRD_Telegram(uint8_t a_idx, uint16_t a_adp,
                uint16_t a_ado,
                uint16_t a_wkc,
                uint16_t a_datalen,
                const unsigned char * a_data);

  // APRD_Telegram(const unsigned char * a_telegram);

protected:
  virtual unsigned char * dump_command_field(unsigned char * a_buffer) const;
  virtual const unsigned char * build_command_field(const unsigned char * a_buffer);
};


class APWR_Telegram : public Device_Addressing_Telegram
{
public:

  APWR_Telegram(uint8_t a_idx, uint16_t a_adp,
                uint16_t a_ado,
                uint16_t a_wkc,
                uint16_t a_datalen,
                const unsigned char * a_data);

protected:
  virtual unsigned char * dump_command_field(unsigned char * a_buffer) const;
  virtual const unsigned char * build_command_field(const unsigned char * a_buffer);
};


class APRW_Telegram : public Device_Addressing_Telegram
{
public:

  APRW_Telegram(uint8_t a_idx, uint16_t a_adp,
                uint16_t a_ado,
                uint16_t a_wkc,
                uint16_t a_datalen,
                const unsigned char * a_data);

protected:
  virtual unsigned char * dump_command_field(unsigned char * a_buffer) const;
  virtual const unsigned char * build_command_field(const unsigned char * a_buffer);
};


class BWR_Telegram : public Device_Addressing_Telegram
{
public:

  BWR_Telegram(uint8_t a_idx, uint16_t a_ado,
               uint16_t a_wkc,
               uint16_t a_datalen,
               const unsigned char * a_data);

protected:
  virtual unsigned char * dump_command_field(unsigned char * a_buffer) const;
  virtual const unsigned char * build_command_field(const unsigned char * a_buffer);
};


class BRD_Telegram : public Device_Addressing_Telegram
{
public:

  BRD_Telegram(uint8_t a_idx, uint16_t a_ado,
               uint16_t a_wkc,
               uint16_t a_datalen,
               const unsigned char * a_data);

protected:
  virtual unsigned char * dump_command_field(unsigned char * a_buffer) const;
  virtual const unsigned char * build_command_field(const unsigned char * a_buffer);
};


class NPWR_Telegram : public Device_Addressing_Telegram
{
public:

  NPWR_Telegram(uint8_t a_idx, uint16_t a_adp,
                uint16_t a_ado,
                uint16_t a_wkc,
                uint16_t a_datalen,
                const unsigned char * a_data);

protected:
  virtual unsigned char * dump_command_field(unsigned char * a_buffer) const;
  virtual const unsigned char * build_command_field(const unsigned char * a_buffer);
};


class NPRW_Telegram : public Device_Addressing_Telegram
{
public:

  NPRW_Telegram(uint8_t a_idx, uint16_t a_adp,
                uint16_t a_ado,
                uint16_t a_wkc,
                uint16_t a_datalen,
                const unsigned char * a_data);

protected:
  virtual unsigned char * dump_command_field(unsigned char * a_buffer) const;
  virtual const unsigned char * build_command_field(const unsigned char * a_buffer);
};


class NPRD_Telegram : public Device_Addressing_Telegram
{
public:

  NPRD_Telegram(uint8_t a_idx, uint16_t a_adp,
                uint16_t a_ado,
                uint16_t a_wkc,
                uint16_t a_datalen,
                const unsigned char * a_data);

protected:
  virtual unsigned char * dump_command_field(unsigned char * a_buffer) const;
  virtual const unsigned char * build_command_field(const unsigned char * a_buffer);
};


class ARMW_Telegram : public Device_Addressing_Telegram
{
public:

  ARMW_Telegram(uint8_t a_idx, uint16_t a_adp,
                uint16_t a_ado,
                uint16_t a_wkc,
                uint16_t a_datalen,
                const unsigned char * a_data);

protected:
  virtual unsigned char * dump_command_field(unsigned char * a_buffer) const;
  virtual const unsigned char * build_command_field(const unsigned char * a_buffer);
};

#endif // __ethercat_device_addressed_telegram_h__