ethercat_manager.h

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/*
 * Copyright (C) 2015, Jonathan Meyer
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *   * Redistributions of source code must retain the above copyright notice,
 *     this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above copyright
 *     notice, this list of conditions and the following disclaimer in the
 *     documentation and/or other materials provided with the distribution.
 *   * Neither the names of Tokyo Opensource Robotics Kyokai Association. nor the names of its
 *     contributors may be used to endorse or promote products derived from
 *     this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

// copied from https://github.com/ros-industrial/robotiq/blob/jade-devel/robotiq_ethercat/src/ethercat_manager.cpp

#ifndef ETHERCAT_MANAGER_H
#define ETHERCAT_MANAGER_H

#include <stdexcept>
#include <string>

#include <stdint.h>

#include <boost/scoped_array.hpp>
#include <boost/thread.hpp>
#include <boost/thread/mutex.hpp>

namespace ethercat {

class EtherCatError : public std::runtime_error
{
public:
  explicit EtherCatError(const std::string& what)
    : std::runtime_error(what)
  {}
};

class EtherCatManager
{
public:
  EtherCatManager(const std::string& ifname);
  
  ~EtherCatManager();

  void write(int slave_no, uint8_t channel, uint8_t value);

  uint8_t readInput(int slave_no, uint8_t channel) const;

  uint8_t readOutput(int slave_no, uint8_t channel) const;

  template <typename T>
  uint8_t writeSDO(int slave_no, uint16_t index, uint8_t subidx, T value) const;

  template <typename T>
  T readSDO(int slave_no, uint16_t index, uint8_t subidx) const;

  int getNumClinets() const;

  void getStatus(int slave_no, std::string &name, int &eep_man, int &eep_id, int &eep_rev, int &obits, int &ibits, int &state, int &pdelay, int &hasdc, int &activeports, int &configadr) const;

private:
  bool initSoem(const std::string& ifname);

  const std::string ifname_;
  uint8_t iomap_[4096];
  int num_clients_;
  boost::thread cycle_thread_;
  mutable boost::mutex iomap_mutex_;
  bool stop_flag_;
};

}

#endif