ecat_node.hpp

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/******************************************************************************
 *
 *  $Id$
 *
 *  Copyright (C) 2021 Veysi ADIN, UST KIST
 *
 *  This file is part of the Wrapped IgH EtherCAT master userspace program 
 * for control applications.
 *
 *  The Wrapped IgH EtherCAT master userspace program for control application
 *  in userspace is free software; you canredistribute it and/or modify it 
 * under the terms of the GNU General Public License as published by the 
 * Free Software Foundation; version 2 of the License.
 *
 *  The Wrapped IgH EtherCAT master userspace program for control application
 *  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 Wrapped IgH EtherCAT master userspace program for control application. 
 * If not, see <http://www.gnu.org/licenses/>.
 *
 *  ---
 *
 *  The license mentioned above concerns the source code only. Using the
 *  EtherCAT technology and brand is only permitted in compliance with the
 *  industrial property and similar rights of Beckhoff Automation GmbH.
 *
 *  Contact information: veysi.adin@kist.re.kr
 *****************************************************************************/
/******************************************************************************
 *  \file   ecat_node.hpp
 *  \brief  IgH EtherCAT library functionality wrapper class header file.
 * 
 *   This header file contains blueprint of EthercatNode class which will be 
 *   responsible for encapsulating IgH EtherCAT library's functionality.
 *******************************************************************************/
#pragma once
/******************************************************************************/
#include "ecat_globals.hpp"
/******************************************************************************/
// Forward declaration of EthercatSlave class.
class EthercatSlave ;
#include "ecat_slave.hpp"
/******************************************************************************/
 
namespace EthercatCommunication
{
class EthercatNode
{
    public:
        EthercatNode();
        ~EthercatNode();
    EthercatSlave slaves_[NUM_OF_SLAVES];
    int  ConfigureMaster();
    void SetCustomSlave(EthercatSlave c_slave, int position);
    int  ConfigureSlaves();
    int  SetProfilePositionParameters(ProfilePosParam& P , int position);
    int SetProfilePositionParametersAll(ProfilePosParam& P);
    int SetProfileVelocityParameters(ProfileVelocityParam& P,int position);
    int SetProfileVelocityParametersAll(ProfileVelocityParam& P);
    int SetCyclicSyncPositionModeParameters(CSPositionModeParam& P, int position);
    int SetCyclicSyncPositionModeParametersAll(CSPositionModeParam &P);
 
    int SetCyclicSyncVelocityModeParameters(CSVelocityModeParam& P, int position);
    int SetCyclicSyncVelocityModeParametersAll(CSVelocityModeParam &P);
 
    int SetCyclicSyncTorqueModeParameters(CSTorqueModeParam& P, int position);
 
    int SetCyclicSyncTorqueModeParametersAll(CSTorqueModeParam &P);
 
 
    int MapDefaultPdos();
    int MapCustomPdos(EthercatSlave c_slave, int position);
    void ConfigDcSyncDefault();
    void ConfigDcSync(uint16_t assign_activate, int position);
    void CheckSlaveConfigurationState();
    int  CheckMasterState();
    void CheckMasterDomainState();
    int  ActivateMaster();
    int  RegisterDomain();
    int  WaitForOperationalMode();
 
    int OpenEthercatMaster();
    int GetNumberOfConnectedSlaves();
    void GetAllSlaveInformation();
 
    void DeactivateCommunication();
    void ReleaseMaster();
    int ShutDownEthercatMaster();
    uint8_t SdoRead(SDO_data &pack);
    uint8_t SdoWrite(SDO_data &pack);
    private:
    int  fd;
    
};
}