ethercat_al.h

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#ifndef RIQ_HAND_ETHERCAT_HARDWARE__ETHERCAT_AL_H
#define RIQ_HAND_ETHERCAT_HARDWARE__ETHERCAT_AL_H

#include "ethercat_hardware/ethercat_device.h"
#include "riq_msgs/RIQHandCommand.h"
#include <boost/thread/mutex.hpp>

namespace riq_hand_ethercat_hardware
{


struct ECatStates
{
  enum {INIT=0,BOOTSTRAP=3,PREOP=2,SAFEOP=4,OP=8};
  static const char* stateString(unsigned state);
};

struct ECatALStatus
{
  union {
    uint16_t raw_;
    struct {
      uint16_t state_ : 4;
      uint16_t error_ : 1;
      uint16_t res_   : 11;
    } __attribute__ ((__packed__));
  } __attribute__ ((__packed__));

  const char* stateString() const {return ECatStates::stateString(state_);}
  
  static const unsigned BASE_ADDR = 0x130;
} __attribute__ ((__packed__));


struct ECatALStatusCode
{
  uint16_t error_code_;

  static const char* errorCodeString(unsigned code);  
  const char* errorCodeString() const {return errorCodeString(error_code_);}

  enum {NO_ERROR=0, SYNC_MANAGER_WATCHDOG=0x1b};

  static const unsigned BASE_ADDR = 0x134;
} __attribute__ ((__packed__));


struct ECatALStatusAll
{
  static const unsigned BASE_ADDR = 0x130;
  ECatALStatus      status_;
  uint16_t          unused_;
  ECatALStatusCode  status_code_;

  bool readData(EthercatCom *com, EtherCAT_SlaveHandler *sh);

  static void sizeAssert();
} __attribute__ ((__packed__));


struct ECatALControl
{
  union {
    uint16_t raw_;
    struct {
      uint16_t state_ : 4;
      uint16_t ack_error_ : 1;
      uint16_t res_ : 11;
    } __attribute__ ((__packed__));
  } __attribute__ ((__packed__));

  static const unsigned BASE_ADDR = 0x120;
    
  bool writeData(EthercatCom *com, EtherCAT_SlaveHandler *sh) const;

  static void sizeAssert();
} __attribute__ ((__packed__));


}; //namespace riq_hand_ethercat_hardware

#endif /* RIQ_HAND_ETHERCAT_HARDWARE__ETHERCAT_AL_H */