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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_IOLINKMASTER_H |
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#define ECAPP_IOLINKMASTER_H |
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/****************************************************************************/ |
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#include "ecapp/Capability.h" |
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#include "ecapp_export.h" |
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#include <string> |
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/****************************************************************************/ |
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namespace EcApp { |
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class SubDevice; |
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/** Capability interface for IO-Link master terminals (e.g. EL6224). |
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* Unlike every other capability in ecapp, a device implementing this |
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* has channels that are not fully known until setPortDevice() and |
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* applyPortConfig() have run -- each port can have a different IO-Link |
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* device plugged in, discovered/assigned at configuration time, not |
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* baked into the terminal type the way an EL2008's 8 outputs are. |
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* |
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* A port's plugged device is itself a full SubDevice (see |
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* IoLinkDevice); this interface only adds port assignment/ |
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* configuration and access to that per-port SubDevice -- the actual |
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* channel values are read/written through the returned SubDevice via |
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* the usual getInput()/readInput<T>()/bindInput<T>() etc., not through |
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* anything declared here. */ |
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class ECAPP_EXPORT IoLinkMaster |
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{ |
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public: |
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virtual ~IoLinkMaster() = default; |
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virtual unsigned int numPorts() const = 0; |
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/** Assigns a driver (see createIoLinkDevice(), whose name this |
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* forwards to) to a port. Must be followed by |
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* applyPortConfig() before the master is activated. |
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* |
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* `alias`, if given, replaces the port's bare numeric path |
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* segment (e.g. "/EtherCAT/Slave17/2/Flow") with a plant-specific |
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* tag (e.g. "/EtherCAT/Slave17/I1_FI-1120/Flow") for every |
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* channel this port ends up publishing to pdserv -- the port-level |
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* counterpart of SubDevice::setAlias()'s per-channel aliasing, |
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* needed because renaming a pdserv path after the fact isn't |
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* possible (pdserv has no rename operation, only |
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* pdserv_set_alias() on an already-registered single variable); |
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* unlike setAlias(), this must therefore be decided before the |
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* assigned driver is even constructed, not called later on |
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* port()'s returned SubDevice. Left empty, the default, the port |
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* keeps its bare index as before. */ |
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virtual void setPortDevice( |
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unsigned int port, |
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const std::string &deviceName, |
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const std::string &alias = "") = 0; |
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/** Pushes the dynamic PDO/SDO configuration for every assigned |
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* port to the slave, and rebuilds each assigned port's channel |
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* list to match. Must be called once, before the master is |
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* activated. Before this has run, port() still returns a |
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* valid SubDevice for an assigned port, just with an empty |
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* channel list. */ |
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virtual void applyPortConfig() = 0; |
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/** Throws UnknownChannel if port is out of range. Never null, |
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* regardless of whether a device has been assigned to it yet |
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* -- an assigned-but-not-yet-configured or unassigned port |
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* simply has no channels. */ |
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virtual SubDevice &port(unsigned int port) = 0; |
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virtual const SubDevice &port(unsigned int port) const = 0; |
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}; |
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} // namespace EcApp |
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#endif // ECAPP_IOLINKMASTER_H |
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/****************************************************************************/ |
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