ethercat_manager.h

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#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 robotiq_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;

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

  const std::string ifname_;
  boost::scoped_array<uint8_t> iomap_;
  boost::thread cycle_thread_;
  mutable boost::mutex iomap_mutex_;
  bool stop_flag_;
};

}

#endif