EthercatIO.hpp

#ifndef ETHERCAT_IO_HPP
#define ETHERCAT_IO_HPP

#include "dev/DigitalEtherCATOutputDevice.hpp"
#include "dev/DigitalEtherCATInputDevice.hpp"
#include "dev/AnalogEtherCATOutputDevice.hpp"
#include "dev/AnalogEtherCATInputDevice.hpp"
#include "dev/EtherCATEncoder.hpp"

#include <vector>
#include <rtt/RTT.hpp>

#include <rtt/TaskContext.hpp>
#include <rtt/Ports.hpp>
#include <rtt/Event.hpp>
#include <rtt/Properties.hpp>
#include <rtt/Command.hpp>

#include <rtt/dev/AnalogOutput.hpp>
#include <rtt/dev/DigitalOutput.hpp>

#include <ocl/OCL.hpp>

struct netif;

namespace OCL
{
    class EthercatIO : public RTT::TaskContext
    {

    Property<std::string> rteth;
    Method <int(void)> get_pos;
    Method <void(int)> set_pos;
    Method <int(void)> get_turn;
    Method <void(int)> set_turn;
    Method <bool(void)> upcounting;
    int mget_pos(void);
    void mset_pos(int);
    int mget_turn(void);
    void mset_turn(int);
    bool mupcounting(void);
    struct netif *ni;
    int cnt_dig;
    unsigned char* fmmu_buffer;
    DigitalEtherCATOutputDevice digoutputs;
    DigitalEtherCATOutputDevice digoutputs2;
    DigitalEtherCATInputDevice diginputs;
    AnalogEtherCATOutputDevice anaoutputs;
    AnalogEtherCATInputDevice anainputs;
    EtherCATEncoder enc;
    double prevvoltage;
    //bool ones;


    public:
        EthercatIO(std::string name);
            ~EthercatIO();

            DigitalInInterface* getDigitalIn() { return &diginputs;}
            DigitalOutInterface* getDigitalOut() { return &digoutputs;}
            AnalogInInterface* getAnalogIn() { return &anainputs;}
            AnalogOutInterface* getAnalogOut() { return &anaoutputs;}

        virtual bool startup();

        virtual void update();

        virtual void shutdown();

    };//class EthercatDemoIO
}//namespace Orocos
#endif // EthercatDemoIO

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