ethercat_com.h
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34 
35 #ifndef ETHERCAT_COM_H
36 #define ETHERCAT_COM_H
37 
38 #include <al/ethercat_AL.h>
39 #include <al/ethercat_master.h>
40 #include <al/ethercat_slave_handler.h>
41 #include <dll/ethercat_dll.h>
42 #include <pthread.h>
43 
45 {
46 protected:
48 
49 public:
50  virtual bool txandrx(struct EtherCAT_Frame * frame)=0;
51  virtual bool txandrx_once(struct EtherCAT_Frame * frame)=0;
52 
53  virtual ~EthercatCom() { }
54 };
55 
56 
58 {
59 public:
60  EthercatDirectCom(EtherCAT_DataLinkLayer *dll);
62 
63  bool txandrx(struct EtherCAT_Frame * frame);
64  bool txandrx_once(struct EtherCAT_Frame * frame);
65 
66 protected:
67  EtherCAT_DataLinkLayer *dll_;
68 };
69 
70 class EthercatOobCom : public EthercatCom
71 {
72 public:
73  EthercatOobCom(struct netif *ni);
74  ~EthercatOobCom();
75 
76  bool txandrx(struct EtherCAT_Frame * frame);
77  bool txandrx_once(struct EtherCAT_Frame * frame);
78 
79  void tx();
80 protected:
81  bool lock(unsigned line);
82  bool trylock(unsigned line);
83  bool unlock(unsigned line);
84 
85  struct netif *ni_;
86  pthread_mutex_t mutex_;
87  pthread_cond_t share_cond_;
88  pthread_cond_t busy_cond_;
89  enum {IDLE=0, READY_TO_SEND=1, WAITING_TO_RECV=2} state_;
90  EtherCAT_Frame *frame_;
91  int handle_;
92  unsigned line_;
93 };
94 
95 
96 #endif /* ETHERCAT_COM_H */
unsigned line_
Definition: ethercat_com.h:92
struct netif * ni_
Definition: ethercat_com.h:85
EtherCAT_DataLinkLayer * dll_
Definition: ethercat_com.h:67
pthread_mutex_t mutex_
Definition: ethercat_com.h:86
virtual bool txandrx_once(struct EtherCAT_Frame *frame)=0
pthread_cond_t busy_cond_
Definition: ethercat_com.h:88
virtual ~EthercatCom()
Definition: ethercat_com.h:53
pthread_cond_t share_cond_
Definition: ethercat_com.h:87
EtherCAT_Frame * frame_
Definition: ethercat_com.h:90
virtual bool txandrx(struct EtherCAT_Frame *frame)=0


ethercat_hardware
Author(s): Rob Wheeler , Derek King
autogenerated on Tue Mar 28 2023 02:10:20