ethernet_slave.h

Go to the documentation of this file.

#include "comm/spoe.h"
#include "ethercat_slave.h"
#include "ethernet_od_entry.h"
 
class EthernetSlave : public EthercatSlave {
  Type type_;
  uint16_t hardware_id_;
  std::map<uint32_t, EthernetOdEntry> od_entry_map_;
 
  mm::comm::spoe::Device ed_;
 
 public:
  explicit EthernetSlave(const std::string& ipAddress, uint16_t position);
 
  ~EthernetSlave() override;
 
  mm::comm::spoe::Device& getDevice();
 
  [[nodiscard]] uint16_t get_device_id() const override;
 
  [[nodiscard]] uint16_t get_hardware_id() const override;
 
  [[nodiscard]] Type get_device_type() const override;
 
  [[nodiscard]] std::list<VirtualParameter*> get_all_virtual_parameters()
      override;
 
  [[nodiscard]] bool has_virtual_parameters() override;
 
  [[nodiscard]] VirtualParameter* get_virtual_parameter(
      uint16_t index, uint8_t subindex) override;
 
  [[nodiscard]] std::variant<MotionMasterError, std::list<std::string>>
  get_file_list() override;
 
  [[nodiscard]] std::variant<MotionMasterError, std::vector<uint8_t>> read_file(
      const std::string& file_name) override;
 
  MotionMasterError write_file(
      const std::string& file_name, const std::vector<uint8_t>& content,
      std::function<void(uint8_t)> progress_callback) override;
 
  MotionMasterError remove_file(const std::string& file_name) override;
 
  bool has_firmware() override;
 
  [[nodiscard]] bool is_operational() const override;
 
  bool is_supported();
 
  [[nodiscard]] bool has_pdos() override;
 
  [[nodiscard]] State get_state(bool force_refresh) const override;
 
  bool set_state(State state, uint32_t timeout_ms = 5000) override;
};