EcSlave.h

#ifndef ECSLAVE_H
#define ECSLAVE_H

#include "EcError.h"
// #include <iostream>
// #include <sstream>
#include <vector>
#include <stdint.h>

extern "C"
{
#include <soem/ethercattype.h>
#include <soem/nicdrv.h>
#include <soem/ethercatbase.h>
#include <soem/ethercatmain.h>
#include <soem/ethercatconfig.h>
#include <soem/ethercatdc.h>
#include <soem/ethercatcoe.h>
#include <soem/ethercatprint.h>
}

#include <boost/signals2/signal.hpp>


typedef struct
{
   uint16_t   index;
   uint8_t    subindex;
   uint8_t    size;
   int      param;
   std::string   name;
   std::string   description;
} CoEparameter;

typedef struct
{
   uint16_t   idn;
   uint8_t    elementflags;
   uint8_t    size;
   int        param;
   std::string   name;
   std::string   description;
} SoEparameter;


namespace cpp4ec
{
class EcSlave
{
public:
    virtual ~EcSlave();
    
    const std::string& getName() const;

    virtual bool configure();
    
    virtual void start();
    
    virtual void update()=0;
    
    virtual void stop();

    virtual bool requestState( ec_state state);
    
    virtual bool checkState( ec_state state);
    
    virtual ec_state getState();
    
    virtual void setDC(bool active, unsigned int sync0Time, unsigned int sync0Shift);
    
    virtual void setPDOBuffer(char * input, char * output);

    boost::signals2::signal<void ()> updateMaster;


protected:
    EcSlave(ec_slavet* mem_loc);
    ec_slavet* m_datap; 
    std::string m_name; 
    unsigned int m_slave_nr; 
};
}
#endif