ethercat_slave_conf.h

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// $Id: ethercat_slave_conf.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_slave_conf__
#define __ethercat_slave_conf__

#include "ros_ethercat_eml/ethercat_defs.h"
#include "ros_ethercat_eml/ethercat_slave_memory.h"


class EtherCAT_FMMU_Config
{
public:

  EtherCAT_FMMU_Config(unsigned int a_num_used_fmmus);
  ~EtherCAT_FMMU_Config()
  {
    delete[] fmmus;
  }


  unsigned int get_num_used_fmmus() const
  {
    return m_num_used_fmmus;
  }


  EC_FMMU & operator[](unsigned int i);

  const EC_FMMU & operator[](unsigned int i) const;

protected:
  EC_FMMU * fmmus;
  unsigned int m_num_used_fmmus;
};


class EtherCAT_PD_Config
{
public:

  EtherCAT_PD_Config(unsigned int a_num_used_sms);
  ~EtherCAT_PD_Config()
  {
    delete[] sms;
  }


  unsigned int get_num_used_sms() const
  {
    return m_num_used_sms;
  }


  EC_SyncMan & operator[](unsigned int i);

  const EC_SyncMan & operator[](unsigned int i) const;

protected:
  EC_SyncMan * sms;
  unsigned int m_num_used_sms;
};


typedef struct
{
  EC_SyncMan SM0;
  EC_SyncMan SM1;
} EtherCAT_MbxConfig;


class EtherCAT_SlaveConfig
{
public:

  EtherCAT_SlaveConfig(uint32_t a_product_code,
                       uint32_t a_revision,
                       EC_FixedStationAddress a_station_address,
                       EtherCAT_FMMU_Config * a_fmmu_config,
                       EtherCAT_PD_Config * a_pd_config,
                       EtherCAT_MbxConfig * a_mbx_config = NULL);

public:
  bool is_complex(void) const
  {
    return m_complex;
  }
  ;
  uint32_t get_product_code() const
  {
    return m_product_code;
  }
  uint32_t get_revision() const
  {
    return m_revision;
  }
  EC_FixedStationAddress get_station_address() const
  {
    return m_station_address;
  }
  const EtherCAT_FMMU_Config * get_fmmu_config() const
  {
    return m_fmmu_config;
  }
  void set_fmmu_config(EtherCAT_FMMU_Config *new_config)
  {
    m_fmmu_config = new_config;
  }
  const EtherCAT_PD_Config * get_pd_config() const
  {
    return m_pd_config;
  }
  void set_pd_config(EtherCAT_PD_Config *new_config)
  {
    m_pd_config = new_config;
  }

  const EtherCAT_MbxConfig * get_mbx_config() const
  {
    return m_mbx_config;
  }
  void set_mbx_config(EtherCAT_MbxConfig *new_config);
  bool is_used()
  {
    return used;
  }
  void set_used()
  {
    used = true;
  }

protected:
  uint32_t m_product_code;
  uint32_t m_revision;
  EC_FixedStationAddress m_station_address;
  EtherCAT_FMMU_Config * m_fmmu_config;
  EtherCAT_PD_Config * m_pd_config; 

  EtherCAT_MbxConfig * m_mbx_config;

  bool m_complex;
  bool used;
};


class EtherCAT_SlaveDb
{
public:
  static EtherCAT_SlaveDb * instance(unsigned int num_slaves = 0);
  ~EtherCAT_SlaveDb()
  {
    delete[] m_sc;
  }

  EtherCAT_SlaveConfig * operator[](unsigned int i);
  const EtherCAT_SlaveConfig * operator[](unsigned int i) const;
  void set_conf(EtherCAT_SlaveConfig * conf, unsigned int i);


  const EtherCAT_SlaveConfig * find(uint32_t productcode,
                                    uint32_t revision) const;
protected:
  EtherCAT_SlaveDb(unsigned int num_slaves);

private:
  static EtherCAT_SlaveDb * m_instance;

  EtherCAT_SlaveConfig ** m_sc;
  unsigned int m_num_slaves;

};

#endif // __ethercat_slave_conf__