master.h

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/*      File: master.h
 *       This file is part of the program ethercatcpp-core
 *       Program description : EtherCAT driver libraries for UNIX
 *       Copyright (C) 2017-2024 -  Robin Passama (LIRMM / CNRS) Arnaud Meline
 * (LIRMM / CNRS) Benjamin Navarro (LIRMM / CNRS). All Right reserved.
 *
 *       This software is free software: you can redistribute it and/or modify
 *       it under the terms of the CeCILL-C license as published by
 *       the CEA CNRS INRIA, either version 1
 *       of the License, or (at your option) any later version.
 *       This software 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
 *       CeCILL-C License for more details.
 *
 *       You should have received a copy of the CeCILL-C License
 *       along with this software. If not, it can be found on the official
 * website of the CeCILL licenses family (http://www.cecill.info/index.en.html).
 */
#pragma once
 
#include <ethercatcpp/device.h>
 
#include <string>
#include <memory>
#include <cstdint>
 
namespace ethercatcpp {
 
class Master {
public:
    Master();
    Master(Master&&) = default;
    Master(Master&) = delete;
 
    ~Master();
 
    Master& operator=(Master&&) = default;
    Master& operator=(Master&) = delete;
 
    void add(Device& device);
 
    void init();
 
    void end();
 
    void print_slave_info();
 
    void set_primary_interface(const std::string& interface_primary);
 
    void set_redundant_interface(const std::string& interface_redundant);
 
    void set_dc_compensate_shift_time(int32_t shift_time);
 
    bool next_cycle();
 
    bool is_redundant() const;
 
private:
    class Impl;
    std::unique_ptr<Impl> impl_; // PImpl to use EtherCAT soem
};
} // namespace ethercatcpp