ethercat_frame.h

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// $Id: ethercat_frame.h,v 1.21 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_frame_h__
#define __ethercat_frame_h__

#include "ros_ethercat_eml/ethercat_telegram.h"
#include "ros_ethercat_eml/netif.h"

int framedump(const struct EtherCAT_Frame * frame,
              unsigned char * buffer,
              size_t bufferlength);

int framebuild(struct EtherCAT_Frame * frame,
               const unsigned char * buffer);


typedef struct EtherCAT_Frame
{
  virtual ~EtherCAT_Frame()
  {
  }
  virtual size_t length(void) const = 0;

  virtual unsigned char * dump(unsigned char * a_buffer) const = 0;


  virtual int build(const unsigned char * a_buffer) = 0;

  virtual EC_Telegram * get_telegram() const = 0;

} ECFrame;


class EC_Frame : public ECFrame
{
public:

  size_t length(void) const
  {
    return header_length() + body_length();
  }

  virtual unsigned char * dump(unsigned char * a_buffer) const;

  virtual int build(const unsigned char * a_buffer);

  EC_Telegram * get_telegram() const
  {
    return m_telegram;
  }

protected:
  EC_Frame();
  EC_Frame(const EC_Frame & a_frame);
  EC_Frame(EC_Telegram * a_telegram);

  EC_Telegram * m_telegram;

  virtual unsigned char * dump_header(unsigned char * a_buffer) const = 0;
  virtual bool check_header(const unsigned char * a_buffer) const = 0;

  virtual size_t header_length(void) const = 0;
  virtual size_t body_length(void) const;

};

static const size_t ETHERCAT_ETHERNET_FRAME_HEADER_SIZE = 2;


class EC_Ethernet_Frame : public EC_Frame
{
public:

  EC_Ethernet_Frame(EC_Telegram * a_telegram);

protected:
  virtual size_t header_length(void) const
  {
    return ETHERCAT_ETHERNET_FRAME_HEADER_SIZE;
  }

  virtual unsigned char * dump_header(unsigned char * a_buffer) const;

  virtual bool check_header(const unsigned char * a_buffer) const;
};

// FIXME TO BE IMPLEMENTED
// class EC_UDP_Frame : public EC_Ethernet_Frame
// redefine virtual header_length() function and

#endif // __ethercat_frame_h__