VILLASnode/include/villas/nodes/ethercat.hpp

/* Node type: ethercat.
 *
 * Author: Niklas Eiling <niklas.eiling@eonerc.rwth-aachen.de>
 * Author: Steffen Vogel <post@steffenvogel.de>
 * Author: Divya Laxetti <divya.laxetti@rwth-aachen.de>
 * SPDX-FileCopyrightText: 2018-2020 Institute for Automation of Complex Power Systems, RWTH Aachen University
 * SPDX-License-Identifier: Apache-2.0
 */

#pragma once

#include <thread>

#include <villas/common.hpp>
#include <villas/config.hpp>
#include <villas/format.hpp>
#include <villas/pool.hpp>
#include <villas/queue_signalled.h>
#include <villas/task.hpp>

// Include hard-coded Ethercat Bus configuration
#include <villas/nodes/ethercat_config.hpp>

#define DEFAULT_ETHERCAT_QUEUE_LENGTH (DEFAULT_QUEUE_LENGTH * 64)

namespace villas::node {

// Forward declarations
class NodeCompat;
class SuperNode;

// Internal data per ethercat node
struct ethercat {
  // Settings
  double rate;

  struct {
    unsigned num_channels;
    double range;
    unsigned position;
    unsigned product_code; // Product ID of EtherCAT slave
    unsigned vendor_id;    // Vendor ID of EtherCAT slave

    ec_slave_config_t *sc;
    unsigned *offsets; // Offsets for PDO entries
  } in, out;

  ec_domain_t *domain;
  ec_pdo_entry_reg_t *domain_regs;
  uint8_t *domain_pd; // Process data

  std::thread thread; // Cyclic task thread
  struct Task task;   // Periodic timer
  struct Pool pool;
  struct CQueueSignalled
      queue; // For samples which are received from WebSockets

  std::atomic<struct Sample *> send; // Last sample to be sent via EtherCAT
};

// Internal datastructures

int ethercat_type_start(SuperNode *sn);

int ethercat_type_stop();

int ethercat_init(NodeCompat *n);

int ethercat_destroy(NodeCompat *n);

int ethercat_parse(NodeCompat *n, json_t *json);

int ethercat_check(NodeCompat *n);

int ethercat_prepare(NodeCompat *n);

int ethercat_start(NodeCompat *n);

int ethercat_stop(NodeCompat *n);

int ethercat_poll_fds(NodeCompat *n, int fds[]);

char *ethercat_print(NodeCompat *n);

int ethercat_read(NodeCompat *n, struct Sample *const smps[], unsigned cnt);

int ethercat_write(NodeCompat *n, struct Sample *const smps[], unsigned cnt);

} // namespace villas::node