ethercat_router.h

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// $Id: ethercat_router.h,v 1.14 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_router__
#define __ethercat_router__

// forward declaration
class EtherCAT_AL;
class EC_Logic;
class EtherCAT_DataLinkLayer;
class EtherCAT_SlaveHandler;
class EtherCAT_MbxMsg;


class EtherCAT_Router
{
public:
  static EtherCAT_Router * instance();

  void start();
  void stop();
  bool is_running() const
  {
    return (EtherCAT_Router::m_is_running != 0);
  }


  void route(void) const;
protected:
  EtherCAT_Router();

private:
  EtherCAT_AL * m_al_instance;
  EC_Logic * m_logic_instance;
  EtherCAT_DataLinkLayer * m_dll_instance;

  static EtherCAT_Router * m_instance;
  unsigned int m_is_running;


  bool check_mbx(const EtherCAT_SlaveHandler * sh) const;


  bool post_mbxmsg(EtherCAT_MbxMsg * msg,
                   const EtherCAT_SlaveHandler * from_sh) const;

};

#endif