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Added XML daemon.

This commit is contained in:
Florian Pose 2006-09-18 14:22:00 +00:00
parent 0025f96150
commit cbe03b4d82
10 changed files with 951 additions and 0 deletions
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74
xmldaemon/Makefile Normal file
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#------------------------------------------------------------------------------
#
# Makefile
#
# IgH EtherCAT master module
#
# $Id$
#
# Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
#
# This file is part of the IgH EtherCAT Master.
#
# The IgH EtherCAT Master is free software; you can redistribute it
# and/or modify it under the terms of the GNU General Public License
# as published by the Free Software Foundation; either version 2 of the
# License, or (at your option) any later version.
#
# The IgH EtherCAT Master is distributed in the hope that it will be
# useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with the IgH EtherCAT Master; if not, write to the Free Software
# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
#
# The right to use EtherCAT Technology is granted and comes free of
# charge under condition of compatibility of product made by
# Licensee. People intending to distribute/sell products based on the
# code, have to sign an agreement to guarantee that products using
# software based on IgH EtherCAT master stay compatible with the actual
# EtherCAT specification (which are released themselves as an open
# standard) as the (only) precondition to have the right to use EtherCAT
# Technology, IP and trade marks.
#
#------------------------------------------------------------------------------
INC := $(shell xml2-config --cflags)
LIB := $(shell xml2-config --libs)
EXE := ecxmld
SVNREV := $(shell svnversion . || echo "unknown")
CFLAGS += -Wall -DSVNREV="$(SVNREV)"
LDFLAGS += -Wall
CC := g++
OBJ := pdo_entry.o pdo.o sync_manager.o slave_device.o main.o
#------------------------------------------------------------------------------
all: .depend $(EXE)
$(EXE): $(OBJ)
$(CC) $(LDFLAGS) $(OBJ) $(LIB) -o $(EXE)
doc:
doxygen Doxyfile
%.o: %.cpp
$(CC) -c $(CFLAGS) $(INC) $< -o $@
.depend depend dep:
(for file in *.cpp; do $(CC) -M $(INC) $$file; done) > .depend
clean:
@rm -f *.o *~ $(EXE) .depend core
#------------------------------------------------------------------------------
ifneq ($(wildcard .depend),)
include .depend
endif
#------------------------------------------------------------------------------

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/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2 of the
* License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* The right to use EtherCAT Technology is granted and comes free of
* charge under condition of compatibility of product made by
* Licensee. People intending to distribute/sell products based on the
* code, have to sign an agreement to guarantee that products using
* software based on IgH EtherCAT master stay compatible with the actual
* EtherCAT specification (which are released themselves as an open
* standard) as the (only) precondition to have the right to use EtherCAT
* Technology, IP and trade marks.
*
*****************************************************************************/
/**
\file
EtherCAT XML Daemon.
*/
/*****************************************************************************/
#include <signal.h>
#include <sys/stat.h>
#include <dirent.h>
#include <syslog.h>
#include <libxml/parser.h>
#include <iostream>
#include <list>
using namespace std;
#include "slave_device.hpp"
/*****************************************************************************/
unsigned int sig_int_term = 0;
unsigned int sig_hangup = 0;
string xml_dir;
bool become_daemon = true;
list<SlaveDevice> slaveDevices;
/*****************************************************************************/
void parse_xml_file(const char *);
void parse_info(xmlDocPtr, xmlNodePtr);
void parse_descriptions(xmlDocPtr, xmlNodePtr);
void parse_devices(xmlDocPtr, xmlNodePtr);
void read_xml_dir();
void set_signal_handlers();
void get_options(int, char *[]);
void print_usage();
void signal_handler(int);
void init_daemon();
/*****************************************************************************/
int main(int argc, char *argv[])
{
set_signal_handlers();
get_options(argc, argv);
read_xml_dir();
if (become_daemon) init_daemon();
openlog("ecxmld", LOG_PID, LOG_DAEMON);
syslog(LOG_INFO, "EtherCAT XML daemon starting up.");
return 0;
}
/*****************************************************************************/
void read_xml_dir()
{
DIR *dir;
struct dirent *dir_ent;
string entry;
if (!(dir = opendir(xml_dir.c_str()))) {
cerr << "ERROR: Failed to open XML directory \"" << xml_dir << "\"!"
<< endl;
exit(1);
}
while ((dir_ent = readdir(dir))) {
entry = dir_ent->d_name;
if (entry.size() < 4
|| entry.substr(entry.size() - 4) != ".xml") continue;
parse_xml_file((xml_dir + "/" + entry).c_str());
}
// Verzeichnis schliessen
closedir(dir);
}
/*****************************************************************************/
void parse_xml_file(const char *xml_file)
{
xmlDocPtr doc;
xmlNodePtr cur;
cout << xml_file << endl;
if (!(doc = xmlParseFile(xml_file))) {
cerr << "ERROR: Parse error in document!" << endl;
return;
}
if (!(cur = xmlDocGetRootElement(doc))) {
cout << "Empty document!" << endl;
xmlFreeDoc(doc);
return;
}
if (xmlStrcmp(cur->name, (const xmlChar *) "EtherCATInfo")) {
cerr << "Document of the wrong type!" << endl;
xmlFreeDoc(doc);
return;
}
parse_info(doc, cur);
xmlFreeDoc(doc);
}
/*****************************************************************************/
void parse_info(xmlDocPtr doc, xmlNodePtr cur)
{
cout << "info" << endl;
cur = cur->xmlChildrenNode;
while (cur) {
if ((!xmlStrcmp(cur->name, (const xmlChar *) "Descriptions"))) {
parse_descriptions(doc, cur);
}
cur = cur->next;
}
}
/*****************************************************************************/
void parse_descriptions(xmlDocPtr doc, xmlNodePtr cur)
{
cout << "desc" << endl;
cur = cur->xmlChildrenNode;
while (cur) {
if ((!xmlStrcmp(cur->name, (const xmlChar *) "Devices"))) {
parse_devices(doc, cur);
}
cur = cur->next;
}
}
/*****************************************************************************/
void parse_devices(xmlDocPtr doc, xmlNodePtr cur)
{
cout << "devices" << endl;
cur = cur->xmlChildrenNode;
while (cur) {
if ((!xmlStrcmp(cur->name, (const xmlChar *) "Device"))) {
slaveDevices.push_back(SlaveDevice());
slaveDevices.back().fromXml(doc, cur);
}
cur = cur->next;
}
}
/*****************************************************************************/
void get_options(int argc, char *argv[])
{
int c;
while (1) {
if ((c = getopt(argc, argv, "d:kh")) == -1) break;
switch (c) {
case 'd':
xml_dir = optarg;
break;
case 'k':
become_daemon = false;
break;
case 'h':
print_usage();
exit(0);
default:
print_usage();
exit(1);
}
}
if (optind < argc) {
cerr << "ERROR: Too many arguments!" << endl;
print_usage();
exit(1);
}
if (xml_dir == "") {
cerr << "ERROR: XML directory not set!" << endl;
print_usage();
exit(1);
}
}
/*****************************************************************************/
void print_usage()
{
cout << "Usage: ecxmld [OPTIONS]" << endl
<< " -d DIR Set XML directory (MANDATORY)." << endl
<< " -k Do not detach from console." << endl
<< " -h Show this help." << endl;
}
/*****************************************************************************/
void signal_handler(int sig)
{
if (sig == SIGHUP) {
sig_hangup++;
}
else if (sig == SIGINT || sig == SIGTERM) {
sig_int_term++;
}
}
/*****************************************************************************/
void set_signal_handlers()
{
struct sigaction action;
action.sa_handler = signal_handler;
sigemptyset(&action.sa_mask);
action.sa_flags = 0;
sigaction(SIGHUP, &action, 0);
sigaction(SIGINT, &action, 0);
sigaction(SIGTERM, &action, 0);
}
/*****************************************************************************/
void init_daemon()
{
pid_t pid;
if ((pid = fork()) < 0) {
cerr << endl << "ERROR: fork() failed!" << endl << endl;
exit(1);
}
if (pid) exit(0);
if (setsid() == -1) {
cerr << "ERROR: Failed to become session leader!" << endl;
exit(1);
}
if (chdir("/") < 0) {
cerr << "ERROR: Failed to change to file root!" << endl;
exit(1);
}
umask(0);
if (close(0) < 0) {
cerr << "WARNING: Failed to close STDIN!" << endl;
}
if (close(1) < 0) {
cerr << "WARNING: Failed to close STDOUT!" << endl;
}
if (close(2) < 0) {
cerr << "WARNING: Failed to close STDERR!" << endl;
}
}
/*****************************************************************************/

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/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2 of the
* License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* The right to use EtherCAT Technology is granted and comes free of
* charge under condition of compatibility of product made by
* Licensee. People intending to distribute/sell products based on the
* code, have to sign an agreement to guarantee that products using
* software based on IgH EtherCAT master stay compatible with the actual
* EtherCAT specification (which are released themselves as an open
* standard) as the (only) precondition to have the right to use EtherCAT
* Technology, IP and trade marks.
*
*****************************************************************************/
/**
\file
*/
/*****************************************************************************/
#include <iostream>
using namespace std;
#include "pdo.hpp"
/*****************************************************************************/
Pdo::Pdo()
{
}
/*****************************************************************************/
Pdo::~Pdo()
{
}
/*****************************************************************************/
void Pdo::fromXml(xmlDocPtr doc, xmlNodePtr cur)
{
xmlChar *str;
cout << "txpdo" << endl;
cur = cur->xmlChildrenNode;
while (cur) {
if ((!xmlStrcmp(cur->name, (const xmlChar *) "Name"))) {
str = xmlNodeListGetString(doc, cur->xmlChildrenNode, 1);
cout << "Name: " << str << endl;
xmlFree(str);
}
else if ((!xmlStrcmp(cur->name, (const xmlChar *) "Entry"))) {
entries.push_back(PdoEntry());
entries.back().fromXml(doc, cur);
}
cur = cur->next;
}
}
/*****************************************************************************/

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/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2 of the
* License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* The right to use EtherCAT Technology is granted and comes free of
* charge under condition of compatibility of product made by
* Licensee. People intending to distribute/sell products based on the
* code, have to sign an agreement to guarantee that products using
* software based on IgH EtherCAT master stay compatible with the actual
* EtherCAT specification (which are released themselves as an open
* standard) as the (only) precondition to have the right to use EtherCAT
* Technology, IP and trade marks.
*
*****************************************************************************/
/**
\file
Slave Type.
*/
/*****************************************************************************/
#include <stdint.h>
#include <libxml/parser.h>
#include <list>
using namespace std;
#include "pdo_entry.hpp"
/*****************************************************************************/
class Pdo
{
enum {Tx, Rx};
public:
Pdo();
~Pdo();
void fromXml(xmlDocPtr, xmlNodePtr);
private:
int type;
string name;
uint16_t index;
list<PdoEntry> entries;
};
/*****************************************************************************/

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/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2 of the
* License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* The right to use EtherCAT Technology is granted and comes free of
* charge under condition of compatibility of product made by
* Licensee. People intending to distribute/sell products based on the
* code, have to sign an agreement to guarantee that products using
* software based on IgH EtherCAT master stay compatible with the actual
* EtherCAT specification (which are released themselves as an open
* standard) as the (only) precondition to have the right to use EtherCAT
* Technology, IP and trade marks.
*
*****************************************************************************/
/**
\file
*/
/*****************************************************************************/
#include <iostream>
using namespace std;
#include "pdo_entry.hpp"
/*****************************************************************************/
PdoEntry::PdoEntry()
{
}
/*****************************************************************************/
PdoEntry::~PdoEntry()
{
}
/*****************************************************************************/
void PdoEntry::fromXml(xmlDocPtr doc, xmlNodePtr cur)
{
xmlChar *str;
cout << "entry" << endl;
cur = cur->xmlChildrenNode;
while (cur) {
if ((!xmlStrcmp(cur->name, (const xmlChar *) "Name"))) {
str = xmlNodeListGetString(doc, cur->xmlChildrenNode, 1);
cout << "Name: " << str << endl;
xmlFree(str);
}
cur = cur->next;
}
}
/*****************************************************************************/

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/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2 of the
* License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* The right to use EtherCAT Technology is granted and comes free of
* charge under condition of compatibility of product made by
* Licensee. People intending to distribute/sell products based on the
* code, have to sign an agreement to guarantee that products using
* software based on IgH EtherCAT master stay compatible with the actual
* EtherCAT specification (which are released themselves as an open
* standard) as the (only) precondition to have the right to use EtherCAT
* Technology, IP and trade marks.
*
*****************************************************************************/
/**
\file
Slave Type.
*/
/*****************************************************************************/
#include <libxml/parser.h>
#include <string>
using namespace std;
#include <stdint.h>
/*****************************************************************************/
class PdoEntry
{
public:
PdoEntry();
~PdoEntry();
void fromXml(xmlDocPtr, xmlNodePtr);
private:
uint16_t index;
uint8_t subIndex;
uint16_t bitLength;
string name;
};
/*****************************************************************************/

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/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2 of the
* License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* The right to use EtherCAT Technology is granted and comes free of
* charge under condition of compatibility of product made by
* Licensee. People intending to distribute/sell products based on the
* code, have to sign an agreement to guarantee that products using
* software based on IgH EtherCAT master stay compatible with the actual
* EtherCAT specification (which are released themselves as an open
* standard) as the (only) precondition to have the right to use EtherCAT
* Technology, IP and trade marks.
*
*****************************************************************************/
/**
\file
Slave Type.
*/
/*****************************************************************************/
#include "slave_device.hpp"
/*****************************************************************************/
SlaveDevice::SlaveDevice()
{
}
/*****************************************************************************/
SlaveDevice::~SlaveDevice()
{
}
/*****************************************************************************/
void SlaveDevice::fromXml(xmlDocPtr doc, xmlNodePtr cur)
{
xmlChar *str;
cout << "device" << endl;
cur = cur->xmlChildrenNode;
while (cur) {
if ((!xmlStrcmp(cur->name, (const xmlChar *) "Type"))) {
str = xmlNodeListGetString(doc, cur->xmlChildrenNode, 1);
cout << "Type: " << str << endl;
xmlFree(str);
str = xmlGetProp(cur, (const xmlChar *) "ProductRevision");
cout << "ProductRevision: " << str << endl;
xmlFree(str);
}
else if ((!xmlStrcmp(cur->name, (const xmlChar *) "Name"))) {
str = xmlNodeListGetString(doc, cur->xmlChildrenNode, 1);
cout << "Name: " << str << endl;
xmlFree(str);
}
else if ((!xmlStrcmp(cur->name, (const xmlChar *) "TxPdo"))) {
pdos.push_back(Pdo());
pdos.back().fromXml(doc, cur);
}
else if ((!xmlStrcmp(cur->name, (const xmlChar *) "Sm"))) {
str = xmlNodeListGetString(doc, cur->xmlChildrenNode, 1);
cout << "Sm: " << str << endl;
xmlFree(str);
}
cur = cur->next;
}
}
/*****************************************************************************/

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/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2 of the
* License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* The right to use EtherCAT Technology is granted and comes free of
* charge under condition of compatibility of product made by
* Licensee. People intending to distribute/sell products based on the
* code, have to sign an agreement to guarantee that products using
* software based on IgH EtherCAT master stay compatible with the actual
* EtherCAT specification (which are released themselves as an open
* standard) as the (only) precondition to have the right to use EtherCAT
* Technology, IP and trade marks.
*
*****************************************************************************/
/**
\file
Slave Type.
*/
/*****************************************************************************/
#include <stdint.h>
#include <libxml/parser.h>
#include <iostream>
#include <list>
using namespace std;
/*****************************************************************************/
#include "sync_manager.hpp"
#include "pdo.hpp"
/*****************************************************************************/
class SlaveDevice
{
public:
SlaveDevice();
~SlaveDevice();
void fromXml(xmlDocPtr, xmlNodePtr);
private:
uint32_t vendorId;
uint32_t productCode;
string name;
string description;
list<SyncManager> syncManagers;
list<Pdo> pdos;
};
/*****************************************************************************/

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/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2 of the
* License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* The right to use EtherCAT Technology is granted and comes free of
* charge under condition of compatibility of product made by
* Licensee. People intending to distribute/sell products based on the
* code, have to sign an agreement to guarantee that products using
* software based on IgH EtherCAT master stay compatible with the actual
* EtherCAT specification (which are released themselves as an open
* standard) as the (only) precondition to have the right to use EtherCAT
* Technology, IP and trade marks.
*
*****************************************************************************/
/**
\file
*/
/*****************************************************************************/
#include "sync_manager.hpp"
/*****************************************************************************/
SyncManager::SyncManager()
{
}
/*****************************************************************************/
SyncManager::~SyncManager()
{
}
/*****************************************************************************/

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/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2 of the
* License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* The right to use EtherCAT Technology is granted and comes free of
* charge under condition of compatibility of product made by
* Licensee. People intending to distribute/sell products based on the
* code, have to sign an agreement to guarantee that products using
* software based on IgH EtherCAT master stay compatible with the actual
* EtherCAT specification (which are released themselves as an open
* standard) as the (only) precondition to have the right to use EtherCAT
* Technology, IP and trade marks.
*
*****************************************************************************/
/**
\file
Slave Type.
*/
/*****************************************************************************/
#include <stdint.h>
/*****************************************************************************/
class SyncManager
{
public:
SyncManager();
~SyncManager();
uint16_t defaultSize;
uint16_t startAddress;
uint8_t controlByte;
bool enable;
};
/*****************************************************************************/