ethercat_master.h
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00001 // $Id: ethercat_master.h,v 1.25 2006/02/20 15:57:33 kgad Exp $
00002 //===========================================================================
00003 //      This file is part of "EtherCAT Master Library".
00004 //      Copyright (C) 2005 FMTC vzw, Diamant Building, A. Reyerslaan 80,
00005 //      B-1030 Brussels, Belgium.
00006 //
00007 //      EtherCAT Master Library is free software; you can redistribute it
00008 //      and/or modify it under the terms of the GNU General Public License
00009 //      as published by the Free Software Foundation; either version 2 or
00010 //      (at your option) any later version.
00011 //
00012 //      EtherCAT Master Code is distributed in the hope that it will be
00013 //      useful, but WITHOUT ANY WARRANTY; without even the implied
00014 //      warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
00015 //      PURPOSE. See the GNU General Public License for more details.
00016 //
00017 //      You should have received a copy of the GNU General Public License
00018 //      along with the EtherCAT Master Library; if not, write to the Free
00019 //      Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA
00020 //      02111-1307 USA.
00021 //
00022 //      EtherCAT, the EtherCAT trade name and logo are the intellectual
00023 //      property of, and protected by Beckhoff. You can use "EtherCAT
00024 //      Master Library" for creating and/or selling or otherwise
00025 //      distributing an EtherCAT network master under the terms of the
00026 //      EtherCAT Master License.
00027 //
00028 //      You should have received a copy of the EtherCAT Master License
00029 //      along with the EtherCAT Master Library; if not, write to Beckhoff
00030 //      Automation GmbH, Eiserstrasse 5, D-33415 Verl, Germany.
00031 //===========================================================================
00032 
00033 #ifndef __ethercat_master__
00034 #define __ethercat_master__
00035 
00036 // Forward declarations
00037 class EtherCAT_AL;
00038 class EtherCAT_SlaveHandler;
00039 class EtherCAT_Router;
00040 class EtherCAT_PD_Buffer;
00041 class EC_Logic;
00042 class EtherCAT_DataLinkLayer;
00043 
00044 #include "ros_ethercat_eml/ethercat_mbx.h"
00045 #include "ros_ethercat_eml/ethercat_process_data.h"
00046 #include "ros_ethercat_eml/ethercat_slave_memory.h"
00047 
00049 
00050 class EtherCAT_Master
00051 {
00052 public:
00054   static EtherCAT_Master * instance();
00055 
00057 
00060   EtherCAT_SlaveHandler * get_slave_handler(EC_FixedStationAddress address);
00061 
00063 
00069   bool txandrx_PD(size_t datalen,
00070                   unsigned char * data);
00071 
00072 protected:
00074   EtherCAT_Master();
00075 
00076 private:
00078   static EtherCAT_Master * m_instance;
00080   EtherCAT_AL * m_al_instance;
00082   EtherCAT_Router * m_router_instance;
00084   EtherCAT_PD_Buffer * m_pdbuf_instance;
00085 
00086   /* If master also has slave functionality, it has its own mailbox
00087    and its own address, so slaves can post msgs to it.
00088    EtherCAT_Mbx m_mbx;
00089    EC_FixedStationAddress m_address;
00090    */
00091 
00093   EC_Logic * m_logic_instance;
00095   EtherCAT_DataLinkLayer * m_dll_instance;
00096 };
00097 
00098 #endif


ros_ethercat_eml
Author(s): Tom Panis, Klaas Gadeyne, Bob Koninckx, Austin Hendrix, Manos Nikolaidis
autogenerated on Thu Aug 27 2015 14:47:07