ethercat_process_data.h

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// $Id: ethercat_process_data.h,v 1.8 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_pd__
#define __ethercat_pd__

// forward declarations
class EC_Logic;
class EtherCAT_DataLinkLayer;

#include "ros_ethercat_eml/ethercat_logical_addressed_telegram.h"
#include "ros_ethercat_eml/ethercat_frame.h"


class EtherCAT_PD_Buffer
{
  friend class EC_ESM_Ops;

public:
  EtherCAT_PD_Buffer(EC_Logic *_m_logic_instance, EtherCAT_DataLinkLayer *_m_dll_instance);
  virtual ~EtherCAT_PD_Buffer();


  bool txandrx(size_t datalen, unsigned char * data);

protected:
  void start();
  void stop();

private:
  EC_Logic * m_logic_instance;
  EtherCAT_DataLinkLayer * m_dll_instance;

  bool m_is_running;

  static const unsigned MAX_CHUNKS = 4;
  static const unsigned CHUNK_SIZE = 1486;

  LRW_Telegram *m_lrw_telegram[MAX_CHUNKS];
  EC_Ethernet_Frame *m_lrw_frame[MAX_CHUNKS];
};

#endif