55 lines
1.2 KiB
C++
55 lines
1.2 KiB
C++
/*
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* eth_ecat_telegram.hpp
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*
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* Created on: Jun 5, 2023
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* Author: algin
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*/
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#ifndef FREE_RTOS_ETHERNET_INDUSTRY_ETH_ECAT_TELEGRAM_HPP_
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#define FREE_RTOS_ETHERNET_INDUSTRY_ETH_ECAT_TELEGRAM_HPP_
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#include "ethernet/eth.hpp"
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#include "ethernet_industry/eth_ecat_datagram.hpp"
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namespace free_rtos {
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namespace telegram {
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class EcatTelegram : public Handler {
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public:
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EcatTelegram(Eth& eth)
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: eth_{eth}
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, eth_stack_{*eth.getEthStackPtr()} { }
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virtual int32_t Process(uint8_t *p_data, uint32_t len) override;
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virtual uint32_t Sender(uint8_t *p_data, size_t scatter_segment) override;
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void init(TEthMacPorts port_id) {
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port_id_ = port_id;
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eth_.getEthStackPtr()->Register(ETH_PROT_ECAT_LE, this);
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}
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void transfer(datagram::IEcatDatagram& next);
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//void transfer(queue::Queue<datagram::IEcatDatagram>& next);
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private:
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Eth& eth_;
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EthStackIface& eth_stack_;
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TEthMacPorts port_id_;
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free_rtos::Semaphore rx_sem_;
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queue::Queue<datagram::IEcatDatagram> datagram_queue_;
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uint8_t* pack(uint8_t *raw);
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uint8_t* unpack(uint8_t *raw);
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};
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}
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}
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#endif /* FREE_RTOS_ETHERNET_INDUSTRY_ETH_ECAT_TELEGRAM_HPP_ */
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