soem_master.h

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#include <chrono>
#include <map>
#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;
 
  std::chrono::time_point<std::chrono::steady_clock> start_;
 
  // The slaveMap is static because other parts of the code, such as
  // ParameterValueRefresher, might hold a raw pointer to an instance of
  // SoemSlave (see SoemMaster::get_slaves()). If slaveMap were a member
  // variable, it would be destroyed when the SoemMaster instance goes out of
  // scope. Since it's a unique pointer, this destruction would also delete
  // the slaves and OD entries, leading to ParameterValueRefresher potentially
  // accessing an invalid memory location.
 
 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;
  void abort_all_client_requests() override {};
  static void wait_for_slaves(Notifier &notifier, const std::string &ifname);
  int roundtrip();
  void checkstate();
};