ethercat_master.h

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// $Id: ethercat_master.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_master__
#define __ethercat_master__

// Forward declarations
class EtherCAT_AL;
class EtherCAT_SlaveHandler;
class EtherCAT_Router;
class EtherCAT_PD_Buffer;
class EC_Logic;
class EtherCAT_DataLinkLayer;

#include "ros_ethercat_eml/ethercat_mbx.h"
#include "ros_ethercat_eml/ethercat_process_data.h"
#include "ros_ethercat_eml/ethercat_slave_memory.h"


class EtherCAT_Master
{
public:
  static EtherCAT_Master * instance();


  EtherCAT_SlaveHandler * get_slave_handler(EC_FixedStationAddress address);


  bool txandrx_PD(size_t datalen,
                  unsigned char * data);

protected:
  EtherCAT_Master();

private:
  static EtherCAT_Master * m_instance;
  EtherCAT_AL * m_al_instance;
  EtherCAT_Router * m_router_instance;
  EtherCAT_PD_Buffer * m_pdbuf_instance;

  /* If master also has slave functionality, it has its own mailbox
   and its own address, so slaves can post msgs to it.
   EtherCAT_Mbx m_mbx;
   EC_FixedStationAddress m_address;
   */

  EC_Logic * m_logic_instance;
  EtherCAT_DataLinkLayer * m_dll_instance;
};

#endif