VILLASnode/include/villas/nodes/ethercat.hpp

/** Node type: ethercat
 *
 * @file
 * @author Niklas Eiling <niklas.eiling@eonerc.rwth-aachen.de>
 * @author Steffen Vogel <stvogel@eonerc.rwth-aachen.de>
 * @author Divya Laxetti <divya.laxetti@rwth-aachen.de>
 * @copyright 2018-2020, Institute for Automation of Complex Power Systems, EONERC
 * @license GNU General Public License (version 3)
 *
 * VILLASnode
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 *********************************************************************************/

/**
 * @addtogroup ethercats WebSockets node type
 * @ingroup node
 * @{
 */

#pragma once

#include <thread>

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

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

extern "C" {
	#include <ecrt.h>
}

#define DEFAULT_ETHERCAT_QUEUE_LENGTH	(DEFAULT_QUEUE_LENGTH * 64)
#define DEFAULT_ETHERCAT_SAMPLE_LENGTH	DEFAULT_SAMPLE_LENGTH

/** 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 queue_signalled queue;		/**< For samples which are received from WebSockets */

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

/* Internal datastructures */

/** @see node_type::type_start */
int ethercat_type_start(struct super_node *sn);

/** @see node_type::type_stop */
int ethercat_type_stop();

/** @see node_type::init */
int ethercat_init(struct vnode *n);

/** @see node_type::destroy */
int ethercat_destroy(struct vnode *n);

/** @see node_type::parse */
int ethercat_parse(struct vnode *n, json_t *cfg);

/** @see node_type::check */
int ethercat_check(struct vnode *n);

/** @see node_type::prepare */
int ethercat_prepare(struct vnode *n);

/** @see node_type::open */
int ethercat_start(struct vnode *n);

/** @see node_type::close */
int ethercat_stop(struct vnode *n);

/** @see node_type::read */
int ethercat_read(struct vnode *n, struct sample *smps[], unsigned cnt, unsigned *release);

/** @see node_type::write */
int ethercat_write(struct vnode *n, struct sample *smps[], unsigned cnt, unsigned *release);

/** @} */