EtherCAT Router component. More...

#include <ethercat_router.h>

Public Member Functions
	EtherCAT_Router (EtherCAT_AL _m_al_instance, EC_Logic _m_logic_instance, EtherCAT_DataLinkLayer *_m_dll_instance)
bool	is_running () const
	Router running?
void	route (void) const
	Actual routing code.
void	start ()
	Start routing.
void	stop ()
	Stop routing.
Public Attributes
EtherCAT_AL *	m_al_instance
	Pointer to AL instance.
Private Member Functions
bool	check_mbx (const EtherCAT_SlaveHandler *sh) const
	Check and deliver post from slave.
bool	post_mbxmsg (EtherCAT_MbxMsg msg, const EtherCAT_SlaveHandler from_sh) const
	Post a msg from a certain slave.
Private Attributes
EtherCAT_DataLinkLayer *	m_dll_instance
	Pointer to DLL instance.
bool	m_is_running
	Usage counter.
EC_Logic *	m_logic_instance
	Pointer to EC_Logic.

Detailed Description

EtherCAT Router component.

Definition at line 46 of file ethercat_router.h.

Constructor & Destructor Documentation

EtherCAT_Router::EtherCAT_Router	(	EtherCAT_AL *	_m_al_instance,
		EC_Logic *	_m_logic_instance,
		EtherCAT_DataLinkLayer *	_m_dll_instance
	)

Member Function Documentation

bool EtherCAT_Router::check_mbx ( const EtherCAT_SlaveHandler * sh ) const [private]

Check and deliver post from slave.

Check if slave posted something in its mailbox and if positive, deliver msgs to destination.

Parameters:

sh	Slave Handler to query

Returns:: true if nothing went wrong (i.e. nothing was posted, or no error occurred during routing

bool EtherCAT_Router::is_running ( ) const [inline]

Router running?

Definition at line 57 of file ethercat_router.h.

bool EtherCAT_Router::post_mbxmsg	(	EtherCAT_MbxMsg *	msg,
		const EtherCAT_SlaveHandler *	from_sh
	)		const `[private]`

Post a msg from a certain slave.

Parameters:

msg	mbx_msg to be posted
from_sh	"poster" of the msg (The EtherCAT protocol does not provide a From: header in its messages)

Returns:: true if everything went fine

void EtherCAT_Router::route ( void ) const

Actual routing code.

Todo:

This method should not be public, but since it is used in a C-function and I don't know how I could declare a C-function to be a friend of a class...

The current implementation simply polls the sync manager data area of each slave and checks if wkc is incremented. Another solution is to configure FMMU's of each slave and query the slaves with one logical EtherCAT msg. This has the advantage of only using one message per slave, but it "sacrifices" an extra FMMU per slave, which might not always be possible. In that case, the master would---during the start_mbx_communication() call of slaves---configure an FMMU of the slave which listens to the written bit of sync manager 0.

void EtherCAT_Router::start ( )

Start routing.

void EtherCAT_Router::stop ( )

Stop routing.