ec_slave.hpp

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// Copyright 2022 ICUBE Laboratory, University of Strasbourg
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef ETHERCAT_INTERFACE__EC_SLAVE_HPP_
#define ETHERCAT_INTERFACE__EC_SLAVE_HPP_
 
#include <ecrt.h>
#include <map>
#include <vector>
#include <unordered_map>
#include <iostream>
#include <cmath>
#include <string>
 
#include "ethercat_interface/ec_sdo_manager.hpp"
 
namespace ethercat_interface
{
 
class EcSlave
{
public:
  EcSlave(uint32_t vendor_id, uint32_t product_id)
  : vendor_id_(vendor_id),
    product_id_(product_id) {}
  virtual ~EcSlave() {}
  virtual void processData(size_t /*index*/, uint8_t * /*domain_address*/) {}
  virtual const ec_sync_info_t * syncs() {return NULL;}
  virtual bool initialized() {return true;}
  virtual void set_state_is_operational(bool value) {is_operational_ = value;}
  virtual int assign_activate_dc_sync() {return 0x00;}
  virtual size_t syncSize() {return 0;}
  virtual const ec_pdo_entry_info_t * channels() {return NULL;}
  typedef std::map<unsigned int, std::vector<unsigned int>> DomainMap;
  virtual void domains(DomainMap & /*domains*/) const {}
  virtual bool setupSlave(
    std::unordered_map<std::string, std::string> slave_paramters,
    std::vector<double> * state_interface,
    std::vector<double> * command_interface)
  {
    state_interface_ptr_ = state_interface;
    command_interface_ptr_ = command_interface;
    paramters_ = slave_paramters;
    return true;
  }
  uint32_t vendor_id_;
  uint32_t product_id_;
 
  std::vector<SdoConfigEntry> sdo_config;
 
protected:
  std::vector<double> * state_interface_ptr_;
  std::vector<double> * command_interface_ptr_;
  std::unordered_map<std::string, std::string> paramters_;
  bool is_operational_ = false;
};
}  // namespace ethercat_interface
#endif  // ETHERCAT_INTERFACE__EC_SLAVE_HPP_