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/***************************************************************************** |
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* |
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* This file is part of the ecapp library (EtherCAT application devices). |
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* |
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* Copyright (C) 2026 Florian Pose <fp@igh.de> |
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* |
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* The ecapp library is free software: you can redistribute it and/or |
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* modify it under the terms of the GNU Lesser General Public License |
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* as published by the Free Software Foundation, version 3 of the |
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* License. |
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* |
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* The ecapp library is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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* Lesser General Public License for more details. |
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* |
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* You should have received a copy of the GNU Lesser General Public |
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* License along with the ecapp library. If not, see |
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* <https://www.gnu.org/licenses/>. |
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* |
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****************************************************************************/ |
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#ifndef ECAPP_DOMAIN_H |
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#define ECAPP_DOMAIN_H |
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/****************************************************************************/ |
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#include "ecapp_export.h" |
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#include <ecrt.h> // EtherCAT realtime interface |
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#include <memory> |
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#include <pdserv.h> |
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#include <stdint.h> |
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#include <string> |
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/****************************************************************************/ |
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namespace EcApp { |
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class Master; |
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class SubDevice; |
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class ECAPP_EXPORT Domain |
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{ |
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public: |
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Domain(pdserv *, pdtask *, const std::string &prefix, Master *); |
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~Domain(); |
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void updateDataPointer(); |
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void process(bool); |
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void queue(); |
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ec_domain_t *getDomain(); |
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uint8_t *getData() const; |
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bool isValid() const; |
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/** Registration for the SubDevice(s) plugged into this domain -- |
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* called from SubDevice's own constructor/destructor (see |
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* ecapp/SubDevice.h), not meant to be called directly. */ |
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void addInputDevice(SubDevice *); |
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void removeInputDevice(SubDevice *); |
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void addOutputDevice(SubDevice *); |
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void removeOutputDevice(SubDevice *); |
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/** Calls updateInputs()/updateOutputs() on every SubDevice |
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* currently registered with this domain (in registration order), |
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* so the application needs to call these instead of walking its |
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* own list of devices. domainIn and domainOut may be the same |
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* Domain -- each keeps its own registration, so calling both |
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* updateInputs() and updateOutputs() on it runs every device's |
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* corresponding method exactly once. */ |
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void updateInputs(); |
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void updateOutputs(); |
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private: |
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struct Impl; |
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std::unique_ptr<Impl> impl; |
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}; |
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} // namespace EcApp |
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#endif // ECAPP_DOMAIN_H |
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/****************************************************************************/ |
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