ethercat_AL.h

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// $Id: ethercat_AL.h,v 1.15 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_al__
#define __ethercat_al__

#include "ros_ethercat_eml/ethercat_defs.h"

// forward declaration
class EtherCAT_DataLinkLayer;
class EtherCAT_SlaveHandler;
class EC_FixedStationAddress;
class EtherCAT_PD_Buffer;


inline uint16_t ringpos2adp(uint16_t ringpos)
{
  return (uint16_t) (0x0000 - ringpos);
}


inline uint16_t adp2ringpos(uint16_t adp)
{
  return (uint16_t) (0x0000 - adp);
}


class EC_Logic
{
public:
  EC_Logic() : m_wkc(0), m_idx(0)
  {
  }

  uint8_t get_idx();
  uint16_t get_wkc();

  const uint16_t m_wkc;
  uint8_t m_idx;
};
inline uint8_t EC_Logic::get_idx()
{
  return m_idx++;
}
inline uint16_t EC_Logic::get_wkc()
{
  return m_wkc;
}


class EtherCAT_AL
{
  friend class EtherCAT_Router;

public:
  EtherCAT_AL(EtherCAT_DataLinkLayer *m_dll_instance, EC_Logic *m_logic_instance, EtherCAT_PD_Buffer *_pd_buffer_);
  ~EtherCAT_AL();


  EtherCAT_SlaveHandler * get_slave_handler(EC_FixedStationAddress station_address);


  unsigned int get_num_slaves()
  {
    return m_num_slaves;
  }


  EtherCAT_SlaveHandler ** get_slaves()
  {
    return m_slave_handler;
  }


  bool isReady();

  EtherCAT_DataLinkLayer * m_dll_instance;

protected:

  bool init(void);


  bool scan_slaves(void);


  bool reset_slaves(void);


  bool put_slaves_in_init(void);

private:
  EC_Logic * m_logic_instance;

  EtherCAT_SlaveHandler ** m_slave_handler;

  EtherCAT_PD_Buffer *pd_buffer_;


  bool read_SII(uint16_t slave_adp, uint32_t address, unsigned char * a_buffer);

  unsigned int m_num_slaves;

  bool m_ready;
};

#endif