| Line |
Branch |
Exec |
Source |
| 1 |
|
|
/***************************************************************************** |
| 2 |
|
|
* |
| 3 |
|
|
* This file is part of the ecapp library (EtherCAT application devices). |
| 4 |
|
|
* |
| 5 |
|
|
* Copyright (C) 2026 Florian Pose <fp@igh.de> |
| 6 |
|
|
* |
| 7 |
|
|
* The ecapp library is free software: you can redistribute it and/or |
| 8 |
|
|
* modify it under the terms of the GNU Lesser General Public License |
| 9 |
|
|
* as published by the Free Software Foundation, version 3 of the |
| 10 |
|
|
* License. |
| 11 |
|
|
* |
| 12 |
|
|
* The ecapp library is distributed in the hope that it will be useful, |
| 13 |
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
| 14 |
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
| 15 |
|
|
* Lesser General Public License for more details. |
| 16 |
|
|
* |
| 17 |
|
|
* You should have received a copy of the GNU Lesser General Public |
| 18 |
|
|
* License along with the ecapp library. If not, see |
| 19 |
|
|
* <https://www.gnu.org/licenses/>. |
| 20 |
|
|
* |
| 21 |
|
|
****************************************************************************/ |
| 22 |
|
|
|
| 23 |
|
|
#ifndef ECAPP_DOMAIN_H |
| 24 |
|
|
#define ECAPP_DOMAIN_H |
| 25 |
|
|
|
| 26 |
|
|
/****************************************************************************/ |
| 27 |
|
|
|
| 28 |
|
|
#include "ecapp_export.h" |
| 29 |
|
|
|
| 30 |
|
|
#include <ecrt.h> // EtherCAT realtime interface |
| 31 |
|
|
#include <memory> |
| 32 |
|
|
#include <pdserv.h> |
| 33 |
|
|
#include <stdint.h> |
| 34 |
|
|
#include <string> |
| 35 |
|
|
|
| 36 |
|
|
/****************************************************************************/ |
| 37 |
|
|
|
| 38 |
|
|
namespace EcApp { |
| 39 |
|
|
|
| 40 |
|
|
class Master; |
| 41 |
|
|
|
| 42 |
|
12 |
class ECAPP_EXPORT Domain |
| 43 |
|
|
{ |
| 44 |
|
|
public: |
| 45 |
|
|
Domain(pdserv *, pdtask *, const std::string &prefix, Master *); |
| 46 |
|
|
~Domain(); |
| 47 |
|
|
|
| 48 |
|
|
void updateDataPointer(); |
| 49 |
|
|
void process(bool); |
| 50 |
|
|
void queue(); |
| 51 |
|
|
|
| 52 |
|
|
ec_domain_t *getDomain(); |
| 53 |
|
|
uint8_t *getData() const; |
| 54 |
|
|
bool isValid() const; |
| 55 |
|
|
|
| 56 |
|
|
private: |
| 57 |
|
|
struct Impl; |
| 58 |
|
|
std::unique_ptr<Impl> impl; |
| 59 |
|
|
}; |
| 60 |
|
|
|
| 61 |
|
|
} // namespace EcApp |
| 62 |
|
|
|
| 63 |
|
|
#endif // ECAPP_DOMAIN_H |
| 64 |
|
|
|
| 65 |
|
|
/****************************************************************************/ |
| 66 |
|
|
|