ethercat_process_data.h
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00001 // $Id: ethercat_process_data.h,v 1.8 2006/02/20 15:57:33 kgad Exp $
00002 //===========================================================================
00003 //      This file is part of "EtherCAT Master Library".
00004 //      Copyright (C) 2005 FMTC vzw, Diamant Building, A. Reyerslaan 80,
00005 //      B-1030 Brussels, Belgium.
00006 //
00007 //      EtherCAT Master Library is free software; you can redistribute it
00008 //      and/or modify it under the terms of the GNU General Public License
00009 //      as published by the Free Software Foundation; either version 2 or
00010 //      (at your option) any later version.
00011 //
00012 //      EtherCAT Master Code is distributed in the hope that it will be
00013 //      useful, but WITHOUT ANY WARRANTY; without even the implied
00014 //      warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
00015 //      PURPOSE. See the GNU General Public License for more details.
00016 //
00017 //      You should have received a copy of the GNU General Public License
00018 //      along with the EtherCAT Master Library; if not, write to the Free
00019 //      Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA
00020 //      02111-1307 USA.
00021 //
00022 //      EtherCAT, the EtherCAT trade name and logo are the intellectual
00023 //      property of, and protected by Beckhoff. You can use "EtherCAT
00024 //      Master Library" for creating and/or selling or otherwise
00025 //      distributing an EtherCAT network master under the terms of the
00026 //      EtherCAT Master License.
00027 //
00028 //      You should have received a copy of the EtherCAT Master License
00029 //      along with the EtherCAT Master Library; if not, write to Beckhoff
00030 //      Automation GmbH, Eiserstrasse 5, D-33415 Verl, Germany.
00031 //===========================================================================
00032 
00033 
00034 #ifndef __ethercat_pd__
00035 #define __ethercat_pd__
00036 
00037 // forward declarations
00038 class EC_Logic;
00039 class EtherCAT_DataLinkLayer;
00040 
00041 #include "ros_ethercat_eml/ethercat_logical_addressed_telegram.h"
00042 #include "ros_ethercat_eml/ethercat_frame.h"
00043 
00045 
00054 class EtherCAT_PD_Buffer
00055 {
00056   friend class EC_ESM_Ops;
00057 
00058 public:
00060   static EtherCAT_PD_Buffer * instance();
00061 
00063 
00069   bool txandrx(size_t datalen, unsigned char * data);
00070 
00071 protected:
00073   void start();
00075   void stop();
00076 
00078   EtherCAT_PD_Buffer();
00079   virtual ~EtherCAT_PD_Buffer();
00080 
00081 private:
00083   EC_Logic * m_logic_instance;
00085   EtherCAT_DataLinkLayer * m_dll_instance;
00087   static EtherCAT_PD_Buffer * m_instance;
00088 
00090   unsigned int m_is_running;
00091 
00094   static const unsigned MAX_CHUNKS = 4;
00095   static const unsigned CHUNK_SIZE = 1486;
00096 
00098   LRW_Telegram *m_lrw_telegram[MAX_CHUNKS];
00100   EC_Ethernet_Frame *m_lrw_frame[MAX_CHUNKS];
00101 };
00102 
00103 #endif


ros_ethercat_eml
Author(s): Tom Panis, Klaas Gadeyne, Bob Koninckx, Austin Hendrix, Manos Nikolaidis
autogenerated on Thu Aug 27 2015 14:47:07