Line data    Source code

       1             : /*      File: BK1150.h
       2             :  *       This file is part of the program ethercatcpp-core
       3             :  *       Program description : EtherCAT driver libraries for UNIX
       4             :  *       Copyright (C) 2017-2024 -  Robin Passama (LIRMM / CNRS) Arnaud Meline
       5             :  * (LIRMM / CNRS) Benjamin Navarro (LIRMM / CNRS). All Right reserved.
       6             :  *
       7             :  *       This software is free software: you can redistribute it and/or modify
       8             :  *       it under the terms of the CeCILL-C license as published by
       9             :  *       the CEA CNRS INRIA, either version 1
      10             :  *       of the License, or (at your option) any later version.
      11             :  *       This software is distributed in the hope that it will be useful,
      12             :  *       but WITHOUT ANY WARRANTY without even the implied warranty of
      13             :  *       MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
      14             :  *       CeCILL-C License for more details.
      15             :  *
      16             :  *       You should have received a copy of the CeCILL-C License
      17             :  *       along with this software. If not, it can be found on the official
      18             :  * website of the CeCILL licenses family (http://www.cecill.info/index.en.html).
      19             :  */
      20             : /**
      21             :  * @file beckhoff_terminals/BK1150.h
      22             :  * @author Robin Passama
      23             :  * @brief EtherCAT driver for a generic beckhoff BK1150 device.
      24             :  * @date February 2020.
      25             :  * @ingroup ethercatcpp-core
      26             :  * @example beckhoff_BK1150_KL2284_example.cpp
      27             :  */
      28             : #pragma once
      29             : 
      30             : #include <ethercatcpp/beckhoff_terminals/KL_extensions.h>
      31             : #include <ethercatcpp/core.h>
      32             : #include <memory>
      33             : 
      34             : /*! \namespace ethercatcpp
      35             :  *
      36             :  */
      37             : namespace ethercatcpp {
      38             : 
      39             : /** @brief This class describe the EtherCAT driver for a beckhoff BK1150 slave
      40             :  *
      41             :  * @details This driver allows to communicate with a beckhoff BK1150 through an
      42             :  * EtherCAT bus. The BK1150 EtherCAT Terminal is a generic ethercat slave whose
      43             :  * capabilities depend on extensions plugged on its internal real-time BUS. It
      44             :  * can be specialized whenever a set of specific KL extensions are plugged on
      45             :  * its internal BUS or it can also be created dynamically by adding KL
      46             :  * extensions.
      47             :  * @see KLExtensionCard
      48             :  */
      49             : class BK1150 : public SlaveDevice {
      50             : public:
      51             :     /**
      52             :      * @brief Constructor of BK1150 class
      53             :      */
      54             :     BK1150();
      55           0 :     ~BK1150() = default;
      56             : 
      57             :     /**
      58             :      * @brief get the module present on BK1150 internal bus at given index
      59             :      *
      60             :      * @param index the index of the extension module
      61             :      * @return a shared pointer to the extension module
      62             :      */
      63             :     const std::shared_ptr<KLExtensionCard>& extension(unsigned int index) const;
      64             : 
      65             :     /**
      66             :      * @brief get the module present on BK1150 internal bus at given index
      67             :      * @tparam KLType the type of the module
      68             :      * @param index the index of the extension module
      69             :      * @return a shared pointer to the extension module with specialized type
      70             :      */
      71             :     template <typename KLType>
      72             :     const std::shared_ptr<KLType>& extension(unsigned int index) const {
      73             :         return (std::dynamic_pointer_cast<KLType>(extension(index)));
      74             :     }
      75             : 
      76             :     /**
      77             :      * @brief Adding an extension module to the internal bus
      78             :      *
      79             :      * @tparam Extension type of the extension module
      80             :      * @tparam Args types of arguments to pass at module construction time
      81             :      * @param args arguments to pass at module construction time
      82             :      * @return a specialized shared pointer to the extension created
      83             :      */
      84             :     template <typename Extension, typename... Args>
      85             :     std::shared_ptr<Extension> add_Extension(Args&&... args) {
      86             :         auto ext = std::make_shared<Extension>(args...);
      87             :         ext->set_holder(this, extensions_.size());
      88             :         if (ext->digital()) {
      89             :             digital_extensions_.push_back(ext);
      90             :         } else {
      91             :             non_digital_extensions_.push_back(ext);
      92             :         }
      93             :         extensions_.push_back(
      94             :             ext); // Note: usefull for end user to get extension
      95             :                   // in same order as in the physical K BUS
      96             :         return (ext);
      97             :     }
      98             : 
      99             :     /**
     100             :      * @brief initialize the internal bus.
     101             :      *
     102             :      */
     103             :     void init();
     104             : 
     105             : private:
     106             :     friend class KLExtensionCard;
     107             : 
     108             :     std::vector<std::shared_ptr<KLExtensionCard>> extensions_;
     109             :     std::vector<std::shared_ptr<KLExtensionCard>> digital_extensions_;
     110             :     std::vector<std::shared_ptr<KLExtensionCard>> non_digital_extensions_;
     111             : 
     112             :     void update_command_buffer();
     113             :     void unpack_status_buffer();
     114             : 
     115             :     uint8_t* output(uint8_t index, uint8_t& bit_shift);
     116             :     uint8_t* input(uint8_t index, uint8_t& bit_shift);
     117             : };
     118             : 
     119             : } // namespace ethercatcpp