00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 #ifndef ETHERCAT_COM_H 00036 #define ETHERCAT_COM_H 00037 00038 #include <ros_ethercat_eml/ethercat_AL.h> 00039 #include <ros_ethercat_eml/ethercat_master.h> 00040 #include <ros_ethercat_eml/ethercat_slave_handler.h> 00041 #include <ros_ethercat_eml/ethercat_dll.h> 00042 #include <pthread.h> 00043 00044 class EthercatCom 00045 { 00046 protected: 00047 EthercatCom() 00048 { 00049 } 00050 00051 public: 00052 virtual bool txandrx(struct EtherCAT_Frame * frame) = 0; 00053 virtual bool txandrx_once(struct EtherCAT_Frame * frame) = 0; 00054 virtual ~EthercatCom() 00055 { 00056 } 00057 }; 00058 00059 class EthercatDirectCom : public EthercatCom 00060 { 00061 public: 00062 EthercatDirectCom(EtherCAT_DataLinkLayer *dll) : dll_(dll) 00063 { 00064 } 00065 00066 bool txandrx(struct EtherCAT_Frame * frame); 00067 bool txandrx_once(struct EtherCAT_Frame * frame); 00068 00069 protected: 00070 EtherCAT_DataLinkLayer *dll_; 00071 }; 00072 00073 class EthercatOobCom : public EthercatCom 00074 { 00075 public: 00076 EthercatOobCom(struct netif *ni); 00077 00078 bool txandrx(struct EtherCAT_Frame * frame); 00079 bool txandrx_once(struct EtherCAT_Frame * frame); 00080 00081 void tx(); 00082 protected: 00083 bool lock(unsigned line); 00084 bool trylock(unsigned line); 00085 bool unlock(unsigned line); 00086 00087 struct netif *ni_; 00088 pthread_mutex_t mutex_; 00089 pthread_cond_t share_cond_; 00090 pthread_cond_t busy_cond_; 00091 00092 enum 00093 { 00094 IDLE = 0, READY_TO_SEND = 1, WAITING_TO_RECV = 2 00095 } state_; 00096 EtherCAT_Frame *frame_; 00097 int handle_; 00098 unsigned line_; 00099 }; 00100 00101 #endif /* ETHERCAT_COM_H */