ethercat_logical_addressed_telegram.h

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// $Id: ethercat_logical_addressed_telegram.h,v 1.8 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_logical_addressed_telegram_h__
#define __ethercat_logical_addressed_telegram_h__

#include "ros_ethercat_eml/ethercat_telegram.h"


class Logical_Addressing_Telegram : public EC_Telegram
{
public:

  Logical_Addressing_Telegram(uint8_t a_idx = 0x00,
                              uint32_t a_adr = 0x00000000,
                              uint16_t a_wkc = 0x0000,
                              uint16_t a_datalen = 0x0000,
                              const unsigned char * a_data = NULL);


  void set_adr(uint32_t a_adr)
  {
    m_adr = a_adr;
  }

  uint32_t get_adr() const
  {
    return m_adr;
  }

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:
  uint32_t m_adr;
};


class LRD_Telegram : public Logical_Addressing_Telegram
{
public:

  LRD_Telegram(uint8_t a_idx, uint32_t a_adr,
               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 LWR_Telegram : public Logical_Addressing_Telegram
{
public:

  LWR_Telegram(uint8_t a_idx, uint32_t a_adr,
               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 LRW_Telegram : public Logical_Addressing_Telegram
{
public:

  LRW_Telegram(uint8_t a_idx, uint32_t a_adr,
               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_logical_addressed_telegram_h__