mirror of
https://git.rwth-aachen.de/acs/public/villas/node/
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802f86090b
The `ethercat_config.hpp` header was included from `ethercat.hpp`
after opening the `villas::node` namespace. This made all definitions
originating from that header including the transitive definitions
from ethercat's `ecrt.h` part of the `villas::node` namespace.
The especially problematic part was that `ecrt.h` itself has an
`#include <netinet/in.h>` introduced in [1]. This caused the libc
definitions for `sa_familt_t`, `sockaddr_in` and `sockaddr_in6` to be
moved into the `villas::node` namespace, causing build error on recent
`ethercat` versions.
[1]: c2f9baf96a
Signed-off-by: Philipp Jungkamp <philipp.jungkamp@rwth-aachen.de>
89 lines
2.1 KiB
C++
89 lines
2.1 KiB
C++
/* Node type: ethercat.
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*
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* Author: Niklas Eiling <niklas.eiling@eonerc.rwth-aachen.de>
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* Author: Steffen Vogel <post@steffenvogel.de>
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* Author: Divya Laxetti <divya.laxetti@rwth-aachen.de>
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* SPDX-FileCopyrightText: 2018-2020 Institute for Automation of Complex Power Systems, RWTH Aachen University
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* SPDX-License-Identifier: Apache-2.0
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*/
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#pragma once
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#include <thread>
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#include <villas/common.hpp>
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#include <villas/config.hpp>
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#include <villas/format.hpp>
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#include <villas/pool.hpp>
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#include <villas/queue_signalled.h>
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#include <villas/task.hpp>
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// Include hard-coded Ethercat Bus configuration
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#include <villas/nodes/ethercat_config.hpp>
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#define DEFAULT_ETHERCAT_QUEUE_LENGTH (DEFAULT_QUEUE_LENGTH * 64)
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namespace villas::node {
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// Forward declarations
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class NodeCompat;
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class SuperNode;
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// Internal data per ethercat node
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struct ethercat {
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// Settings
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double rate;
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struct {
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unsigned num_channels;
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double range;
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unsigned position;
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unsigned product_code; // Product ID of EtherCAT slave
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unsigned vendor_id; // Vendor ID of EtherCAT slave
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ec_slave_config_t *sc;
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unsigned *offsets; // Offsets for PDO entries
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} in, out;
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ec_domain_t *domain;
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ec_pdo_entry_reg_t *domain_regs;
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uint8_t *domain_pd; // Process data
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std::thread thread; // Cyclic task thread
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struct Task task; // Periodic timer
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struct Pool pool;
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struct CQueueSignalled
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queue; // For samples which are received from WebSockets
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std::atomic<struct Sample *> send; // Last sample to be sent via EtherCAT
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};
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// Internal datastructures
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int ethercat_type_start(SuperNode *sn);
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int ethercat_type_stop();
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int ethercat_init(NodeCompat *n);
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int ethercat_destroy(NodeCompat *n);
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int ethercat_parse(NodeCompat *n, json_t *json);
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int ethercat_check(NodeCompat *n);
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int ethercat_prepare(NodeCompat *n);
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int ethercat_start(NodeCompat *n);
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int ethercat_stop(NodeCompat *n);
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int ethercat_poll_fds(NodeCompat *n, int fds[]);
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char *ethercat_print(NodeCompat *n);
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int ethercat_read(NodeCompat *n, struct Sample *const smps[], unsigned cnt);
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int ethercat_write(NodeCompat *n, struct Sample *const smps[], unsigned cnt);
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} // namespace villas::node
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