ethercat_slave_handler.h

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// $Id: ethercat_slave_handler.h,v 1.25 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_slave_handler__
#define __ethercat_slave_handler__

#include "ros_ethercat_eml/ethercat_FSM.h"
#include "ros_ethercat_eml/ethercat_slave_conf.h"

// forward declaration
class EtherCAT_AL;


class EtherCAT_SlaveHandler : public EC_ESM, public EtherCAT_SlaveConfig
{
  // Being friendly
  friend class EC_ESM_Ops;
  friend class EtherCAT_Router;
  friend class EtherCAT_AL;

public:

  EtherCAT_SlaveHandler(uint16_t a_ring_position,
                        uint32_t a_product_code,
                        uint32_t a_revision,
                        uint32_t a_serial,
                        EC_FixedStationAddress a_station_address,
                        EtherCAT_FMMU_Config * a_fmmu_config,
                        EtherCAT_PD_Config * a_pd_config,
                        EtherCAT_MbxConfig * a_mbx_config,
                        EtherCAT_DataLinkLayer *_m_dll_instance,
                        EC_Logic *_m_logic_instance,
                        EtherCAT_PD_Buffer *_m_pdbuf_instance);
  EtherCAT_SlaveHandler(uint16_t a_ring_position,
                        EtherCAT_SlaveConfig * a_sconf,
                        uint32_t a_serial,
                        EtherCAT_DataLinkLayer *_m_dll_instance,
                        EC_Logic *_m_logic_instance,
                        EtherCAT_PD_Buffer *_m_pdbuf_instance);

  uint16_t get_ring_position() const
  {
    return m_ring_position;
  }
  uint32_t get_serial() const
  {
    return m_serial;
  }

  uint8_t get_mbx_counter();
protected:

  uint16_t m_ring_position;

  uint32_t m_serial;

  uint8_t m_mbx_counter;
};

#endif //  __ethercat_slave_handler__