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00033 #ifndef __ethercat_logical_addressed_telegram_h__
00034 #define __ethercat_logical_addressed_telegram_h__
00035
00036 #include "ros_ethercat_eml/ethercat_telegram.h"
00037
00039
00043 class Logical_Addressing_Telegram : public EC_Telegram
00044 {
00045 public:
00047
00053 Logical_Addressing_Telegram(uint8_t a_idx = 0x00,
00054 uint32_t a_adr = 0x00000000,
00055 uint16_t a_wkc = 0x0000,
00056 uint16_t a_datalen = 0x0000,
00057 const unsigned char * a_data = NULL);
00058
00060
00062 void set_adr(uint32_t a_adr)
00063 {
00064 m_adr = a_adr;
00065 }
00067
00069 uint32_t get_adr() const
00070 {
00071 return m_adr;
00072 }
00073
00074 protected:
00075 virtual unsigned char * dump_header_head(unsigned char * a_buffer) const;
00076 virtual unsigned char * dump_command_field(unsigned char * a_buffer) const = 0;
00077
00078 virtual const unsigned char * build_header_head(const unsigned char * a_buffer);
00079 virtual const unsigned char * build_command_field(const unsigned char * a_buffer) = 0;
00080
00081 private:
00082 uint32_t m_adr;
00083 };
00084
00086
00087 class LRD_Telegram : public Logical_Addressing_Telegram
00088 {
00089 public:
00091
00097 LRD_Telegram(uint8_t a_idx, uint32_t a_adr,
00098 uint16_t a_wkc,
00099 uint16_t a_datalen,
00100 const unsigned char * a_data);
00101
00102 protected:
00103 virtual unsigned char * dump_command_field(unsigned char * a_buffer) const;
00104 virtual const unsigned char * build_command_field(const unsigned char * a_buffer);
00105 };
00106
00108
00109 class LWR_Telegram : public Logical_Addressing_Telegram
00110 {
00111 public:
00113
00119 LWR_Telegram(uint8_t a_idx, uint32_t a_adr,
00120 uint16_t a_wkc,
00121 uint16_t a_datalen,
00122 const unsigned char * a_data);
00123
00124 protected:
00125 virtual unsigned char * dump_command_field(unsigned char * a_buffer) const;
00126 virtual const unsigned char * build_command_field(const unsigned char * a_buffer);
00127 };
00128
00130
00131 class LRW_Telegram : public Logical_Addressing_Telegram
00132 {
00133 public:
00135
00141 LRW_Telegram(uint8_t a_idx, uint32_t a_adr,
00142 uint16_t a_wkc,
00143 uint16_t a_datalen,
00144 const unsigned char * a_data);
00145
00146 protected:
00147 virtual unsigned char * dump_command_field(unsigned char * a_buffer) const;
00148 virtual const unsigned char * build_command_field(const unsigned char * a_buffer);
00149 };
00150
00151 #endif // __ethercat_logical_addressed_telegram_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