mirror of
https://git.rwth-aachen.de/acs/public/villas/node/
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110 lines
2.9 KiB
C++
110 lines
2.9 KiB
C++
/** Node type: ethercat
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*
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* @file
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* @author Niklas Eiling <niklas.eiling@eonerc.rwth-aachen.de>
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* @author Steffen Vogel <stvogel@eonerc.rwth-aachen.de>
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* @author Divya Laxetti <divya.laxetti@rwth-aachen.de>
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* @copyright 2018-2020, Institute for Automation of Complex Power Systems, EONERC
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* @license GNU General Public License (version 3)
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*
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* VILLASnode
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* any later version.
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*
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* This program 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
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*********************************************************************************/
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#pragma once
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#include <thread>
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#include <villas/pool.hpp>
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#include <villas/task.hpp>
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#include <villas/queue_signalled.h>
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#include <villas/common.hpp>
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#include <villas/format.hpp>
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#include <villas/config.hpp>
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namespace villas {
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namespace node {
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/* Forward declarations */
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class NodeCompat;
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class SuperNode;
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/* Include hard-coded Ethercat Bus configuration */
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#include <villas/nodes/ethercat_config.hpp>
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extern "C" {
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#include <ecrt.h>
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}
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#define DEFAULT_ETHERCAT_QUEUE_LENGTH (DEFAULT_QUEUE_LENGTH * 64)
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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 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 node */
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} /* namespace villas */
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