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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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* Festo bus node (fieldbus coupler for a modular valve terminal). |
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* Unlike every other ecapp terminal, its channel count isn't fixed by |
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* a catalog type -- how many of the 32 reserved output bits an |
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* installation actually uses depends on how many valve modules are |
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* physically attached, so it is set at runtime via the |
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* ConfigurableChannelCount capability rather than baked into a Type |
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* enum. The PDO layout itself is fixed regardless (always 32 bits |
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* reserved); only vector sizes and pdserv wiring depend on the count. |
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* |
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****************************************************************************/ |
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#ifndef ECAPP_FESTO_H |
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#define ECAPP_FESTO_H |
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/****************************************************************************/ |
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#include "ecapp/Mode.h" |
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#include <ecrt.h> // EtherCAT realtime interface |
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#include <stdint.h> |
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#include <string> |
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#include <vector> |
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/****************************************************************************/ |
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namespace EcApp { |
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class Master; |
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class Domain; |
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template <Mode mode> |
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class FestoAdapter; // Festo.cpp -- the SubDevice wrapping this class, |
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// friended below so it can reach output/ |
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// enableForcing/forcedValue/toggle directly for |
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// pdserv publishing. |
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template <Mode mode> |
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class Festo |
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{ |
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friend class FestoAdapter<mode>; |
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public: |
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// 4 PDO entries of 8 bits each are reserved regardless of how |
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// many are actually used as channels. |
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static constexpr unsigned int MaxChannels = 32; |
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Festo(Master *, uint16_t, uint16_t, Domain *); |
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/** Resizes internal storage and registers pdserv signals for |
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* exactly this many channels. Throws std::out_of_range if |
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* count exceeds MaxChannels, or std::logic_error if called |
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* more than once -- pdserv does not support registering the |
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* same signal twice, so this is not idempotent. Call exactly |
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* once, before the master is activated. */ |
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void setChannelCount(unsigned int count); |
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void setOutput(unsigned int, bool); |
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bool getOutput(unsigned int) const; |
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void updateOutputs(); |
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unsigned int numChannels() const; |
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private: |
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ec_slave_config_t *sc; |
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Domain *const domainOut; |
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bool channelCountSet; |
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int offOut; |
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std::vector<uint8_t> input; // value originating from setOutput() |
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std::vector<uint8_t> prevInput; |
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std::vector<unsigned int> toggle; |
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std::vector<unsigned int> prevToggle; |
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std::vector<uint8_t> autoValue; // toggled input value |
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std::vector<uint8_t> enableForcing; |
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std::vector<uint8_t> forcedValue; |
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std::vector<uint8_t> output; // value sent to hardware |
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}; |
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} // namespace EcApp |
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#endif // ECAPP_FESTO_H |
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/****************************************************************************/ |
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