async_loop.h

 
/*
 * This file is part of libethercat.
 *
 * libethercat is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 3 of the License, or (at your option) any later version.
 * 
 * libethercat 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
 * Lesser General Public License for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public 
 * License along with libethercat (LICENSE.LGPL-V3); if not, write 
 * to the Free Software Foundation, Inc., 51 Franklin Street, Fifth 
 * Floor, Boston, MA  02110-1301, USA.
 * 
 * Please note that the use of the EtherCAT technology, the EtherCAT 
 * brand name and the EtherCAT logo is only permitted if the property 
 * rights of Beckhoff Automation GmbH are observed. For further 
 * information please contact Beckhoff Automation GmbH & Co. KG, 
 * Hülshorstweg 20, D-33415 Verl, Germany (www.beckhoff.com) or the 
 * EtherCAT Technology Group, Ostendstraße 196, D-90482 Nuremberg, 
 * Germany (ETG, www.ethercat.org).
 *
 */
 
#ifndef LIBETHERCAT_MESSAGE_POOL_H
#define LIBETHERCAT_MESSAGE_POOL_H
 
#include <libosal/queue.h>
 
#include <libosal/types.h>
#include <libosal/mutex.h>
#include <libosal/semaphore.h>
 
#include "libethercat/common.h"
 
struct ec;
 
typedef enum ec_async_message_id {
    EC_MSG_CHECK_GROUP,             
    EC_MSG_CHECK_SLAVE,             
    EC_MSG_CHECK_ALL,               
    EC_MSG_CHECK_DCSOFFSET          
} ec_async_message_id_t;
    
typedef osal_uint32_t ec_async_message_payload_t;
 
typedef struct ec_message {
    ec_async_message_id_t id;       
    ec_async_message_payload_t payload;
} ec_message_t;
 
typedef struct ec_message_entry {
    TAILQ_ENTRY(ec_message_entry) qh;
    
    ec_message_t msg;               
} ec_message_entry_t;
 
TAILQ_HEAD(ec_message_pool_queue, ec_message_entry);
typedef struct ec_message_pool_queue ec_message_pool_queue_t;
 
typedef struct ec_message_pool {
    ec_message_pool_queue_t queue;  
    osal_semaphore_t avail_cnt;     
    osal_mutex_t lock;              
} ec_message_pool_t;
 
#define EC_ASYNC_MESSAGE_LOOP_COUNT 100
typedef struct ec_async_loop {
    ec_message_entry_t entries[EC_ASYNC_MESSAGE_LOOP_COUNT];
 
    ec_message_pool_t avail;        
    ec_message_pool_t exec;         
 
    int loop_running;               
    osal_task_t loop_tid;           
    struct ec *pec;                 
 
    osal_timer_t next_check_group;
} ec_async_loop_t;
 
#ifdef __cplusplus
extern "C" {
#endif
 
 
int ec_async_loop_create(ec_async_loop_t *paml, struct ec *pec);
 
 
int ec_async_loop_destroy(ec_async_loop_t *paml);
 
 
void ec_async_check_group(ec_async_loop_t *paml, osal_uint16_t gid);
 
 
void ec_async_check_all(ec_async_loop_t *paml);
 
 
void ec_async_check_dcsoffset(ec_async_loop_t *paml, osal_int32_t correction_value);
 
// Execute one async check step.
void ec_async_loop_step(ec_async_loop_t *paml, osal_timer_t *to);
 
#ifdef __cplusplus
}
#endif
 
#endif // LIBETHERCAT_ASYNC_MESSAGE_LOOP_H