ethercat_telegram.h

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// $Id: ethercat_telegram.h,v 1.28 2005/06/17 13:12:38 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_telegram_h__
#define __ethercat_telegram_h__

#include "ros_ethercat_eml/ethercat_defs.h"
#include "ros_ethercat_eml/ethercat_datastruct.h"

// Header size of telegram expressed as a number of bytes
static const size_t ETHERCAT_TELEGRAM_HEADER_SIZE = 10;
// Tail size of telegram expressed as a number of bytes
static const size_t ETHERCAT_TELEGRAM_WKC_SIZE = 2;


class EC_Telegram : public EC_DataStruct
{
public:
  // redefine pure virtual
  unsigned char * dump(unsigned char * a_buffer) const;
  const unsigned char * build(const unsigned char * a_buffer);

  void set_wkc(uint16_t a_wkc)
  {
    m_wkc = a_wkc;
  }
  void set_idx(uint8_t a_idx)
  {
    m_idx = a_idx;
  }
  uint16_t get_wkc(void) const
  {
    return m_wkc;
  }
  uint8_t get_idx(void) const
  {
    return m_idx;
  }
  const unsigned char * get_data(void) const
  {
    return m_data;
  }
  void set_data(const unsigned char * a_data)
  {
    m_data = a_data;
  }
  size_t get_datalen(void) const
  {
    return (length() -
            ETHERCAT_TELEGRAM_HEADER_SIZE -
            ETHERCAT_TELEGRAM_WKC_SIZE);
  }
  void set_datalen(size_t len)
  {
    m_data_length = len +
      ETHERCAT_TELEGRAM_HEADER_SIZE +
      ETHERCAT_TELEGRAM_WKC_SIZE;
  }

  void attach(EC_Telegram *a_telegram);

  EC_Telegram * next;
  EC_Telegram * previous;

protected:
  EC_Telegram(size_t a_datasize = 0, const unsigned char * a_data = NULL);
  EC_Telegram(uint8_t a_idx, uint16_t a_wkc);
  EC_Telegram(size_t a_datasize, const unsigned char * a_data,
              uint8_t a_idx,
              uint16_t a_wkc);

  EC_Telegram(const EC_Telegram& a_telegram);


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

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

  virtual bool check_index(const unsigned char * buffer) const;
  virtual bool check_lennext(const unsigned char * buffer) const;

protected:
  const unsigned char * m_data;
  // Length of data field
  //  size_t                  m_datalength;
  uint8_t m_idx;
  uint16_t m_wkc;
  static const uint16_t m_irq;
  virtual size_t header_length(void) const
  {
    return ETHERCAT_TELEGRAM_HEADER_SIZE;
  }
  virtual size_t tail_length(void) const
  {
    return ETHERCAT_TELEGRAM_WKC_SIZE;
  }

private:
  virtual const unsigned char * build_body(const unsigned char * a_buffer);
};

#endif // __ethercat_telegram_h__