ethercat_frame.h
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00001 // $Id: ethercat_frame.h,v 1.21 2006/02/20 15:57:33 kgad Exp $
00002 //===========================================================================
00003 //      This file is part of "EtherCAT Master Library".
00004 //      Copyright (C) 2005 FMTC vzw, Diamant Building, A. Reyerslaan 80,
00005 //      B-1030 Brussels, Belgium.
00006 //
00007 //      EtherCAT Master Library is free software; you can redistribute it
00008 //      and/or modify it under the terms of the GNU General Public License
00009 //      as published by the Free Software Foundation; either version 2 or
00010 //      (at your option) any later version.
00011 //
00012 //      EtherCAT Master Code is distributed in the hope that it will be
00013 //      useful, but WITHOUT ANY WARRANTY; without even the implied
00014 //      warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
00015 //      PURPOSE. See the GNU General Public License for more details.
00016 //
00017 //      You should have received a copy of the GNU General Public License
00018 //      along with the EtherCAT Master Library; if not, write to the Free
00019 //      Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA
00020 //      02111-1307 USA.
00021 //
00022 //      EtherCAT, the EtherCAT trade name and logo are the intellectual
00023 //      property of, and protected by Beckhoff. You can use "EtherCAT
00024 //      Master Library" for creating and/or selling or otherwise
00025 //      distributing an EtherCAT network master under the terms of the
00026 //      EtherCAT Master License.
00027 //
00028 //      You should have received a copy of the EtherCAT Master License
00029 //      along with the EtherCAT Master Library; if not, write to Beckhoff
00030 //      Automation GmbH, Eiserstrasse 5, D-33415 Verl, Germany.
00031 //===========================================================================
00032 
00033 #ifndef __ethercat_frame_h__
00034 #define __ethercat_frame_h__
00035 
00036 #include "ros_ethercat_eml/ethercat_telegram.h"
00037 #include "ros_ethercat_eml/netif.h"
00038 
00048 int framedump(const struct EtherCAT_Frame * frame,
00049               unsigned char * buffer,
00050               size_t bufferlength);
00051 
00058 int framebuild(struct EtherCAT_Frame * frame,
00059                const unsigned char * buffer);
00060 
00062 
00066 typedef struct EtherCAT_Frame
00067 {
00068   virtual ~EtherCAT_Frame()
00069   {
00070   }
00072   virtual size_t length(void) const = 0;
00073 
00075   virtual unsigned char * dump(unsigned char * a_buffer) const = 0;
00076 
00078 
00081   virtual int build(const unsigned char * a_buffer) = 0;
00082 
00084   virtual EC_Telegram * get_telegram() const = 0;
00085 
00086 } ECFrame;
00087 
00089 
00094 class EC_Frame : public ECFrame
00095 {
00096 public:
00098 
00100   size_t length(void) const
00101   {
00102     return header_length() + body_length();
00103   }
00104 
00106   virtual unsigned char * dump(unsigned char * a_buffer) const;
00107 
00109   virtual int build(const unsigned char * a_buffer);
00110 
00112   EC_Telegram * get_telegram() const
00113   {
00114     return m_telegram;
00115   }
00116 
00117 protected:
00119   EC_Frame();
00120   EC_Frame(const EC_Frame & a_frame);
00121   EC_Frame(EC_Telegram * a_telegram);
00122 
00124   EC_Telegram * m_telegram;
00125 
00127   virtual unsigned char * dump_header(unsigned char * a_buffer) const = 0;
00129   virtual bool check_header(const unsigned char * a_buffer) const = 0;
00130 
00132   virtual size_t header_length(void) const = 0;
00134   virtual size_t body_length(void) const;
00135 
00136 };
00137 
00139 static const size_t ETHERCAT_ETHERNET_FRAME_HEADER_SIZE = 2;
00140 
00142 
00143 class EC_Ethernet_Frame : public EC_Frame
00144 {
00145 public:
00147 
00148   EC_Ethernet_Frame(EC_Telegram * a_telegram);
00149 
00150 protected:
00151   virtual size_t header_length(void) const
00152   {
00153     return ETHERCAT_ETHERNET_FRAME_HEADER_SIZE;
00154   }
00155 
00156   virtual unsigned char * dump_header(unsigned char * a_buffer) const;
00157 
00158   virtual bool check_header(const unsigned char * a_buffer) const;
00159 };
00160 
00162 // FIXME TO BE IMPLEMENTED
00163 // class EC_UDP_Frame : public EC_Ethernet_Frame
00164 // redefine virtual header_length() function and
00165 
00166 #endif // __ethercat_frame_h__


ros_ethercat_eml
Author(s): Tom Panis, Klaas Gadeyne, Bob Koninckx, Austin Hendrix, Manos Nikolaidis
autogenerated on Thu Jul 4 2019 20:01:49