ethercat_com.h
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00034 
00035 #ifndef ETHERCAT_COM_H
00036 #define ETHERCAT_COM_H
00037 
00038 #include <ros_ethercat_eml/ethercat_AL.h>
00039 #include <ros_ethercat_eml/ethercat_master.h>
00040 #include <ros_ethercat_eml/ethercat_slave_handler.h>
00041 #include <ros_ethercat_eml/ethercat_dll.h>
00042 #include <pthread.h>
00043 
00044 class EthercatCom
00045 {
00046 protected:
00047   EthercatCom()
00048   {
00049   }
00050 
00051 public:
00052   virtual bool txandrx(struct EtherCAT_Frame * frame) = 0;
00053   virtual bool txandrx_once(struct EtherCAT_Frame * frame) = 0;
00054   virtual ~EthercatCom()
00055   {
00056   }
00057 };
00058 
00059 class EthercatDirectCom : public EthercatCom
00060 {
00061 public:
00062   EthercatDirectCom(EtherCAT_DataLinkLayer *dll) : dll_(dll)
00063   {
00064   }
00065 
00066   bool txandrx(struct EtherCAT_Frame * frame);
00067   bool txandrx_once(struct EtherCAT_Frame * frame);
00068 
00069 protected:
00070   EtherCAT_DataLinkLayer *dll_;
00071 };
00072 
00073 class EthercatOobCom : public EthercatCom
00074 {
00075 public:
00076   EthercatOobCom(struct netif *ni);
00077 
00078   bool txandrx(struct EtherCAT_Frame * frame);
00079   bool txandrx_once(struct EtherCAT_Frame * frame);
00080 
00081   void tx();
00082 protected:
00083   bool lock(unsigned line);
00084   bool trylock(unsigned line);
00085   bool unlock(unsigned line);
00086 
00087   struct netif *ni_;
00088   pthread_mutex_t mutex_;
00089   pthread_cond_t share_cond_;
00090   pthread_cond_t busy_cond_;
00091 
00092   enum
00093   {
00094     IDLE = 0, READY_TO_SEND = 1, WAITING_TO_RECV = 2
00095   } state_;
00096   EtherCAT_Frame *frame_;
00097   int handle_;
00098   unsigned line_;
00099 };
00100 
00101 #endif /* ETHERCAT_COM_H */


ros_ethercat_hardware
Author(s): Rob Wheeler , Derek King , Manos Nikolaidis
autogenerated on Thu Jul 4 2019 20:01:53