soem_master.h

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#include <map>
#include <memory>
#include <string>
 
#include "ethercat_master.h"
#include "ethercat_slave.h"
#include "notifier.h"
 
class SoemMaster : public EthercatMaster {
  Notifier& notifier_;
  const std::string& ifname_;
  std::atomic_bool running_;
  bool pdo_communication_possible_ = false;
 
 public:
  static std::map<uint16_t, std::unique_ptr<EthercatSlave>> slaveMap;
  explicit SoemMaster(Notifier& notifier, const std::string& ifname);
  ~SoemMaster() override;
  size_t start() override;
  void stop() override;
  size_t restart() override;
  int32_t execute(uint64_t pending_signals) override;
  bool is_running() override;
  int get_slaves_responding() override;
  std::list<VirtualDevice*> get_slaves() override;
  bool disable_all_slaves() override;
  static void wait_for_slaves(Notifier& notifier, const std::string& ifname);
  int roundtrip();
  void checkstate();
};