rlcanopendaemon.h

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/***************************************************************************
                          rlcanopen.cpp  -  description
                             -------------------
    begin     : Tue March 03 2004
    copyright : (C) 2004 by Marc Bräutigam, Christian Wilmes, R. Lehrig
    email     : lehrig@t-online.de
 ***************************************************************************/

/***************************************************************************
 *                                                                         *
 *   This library 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                             *
 *                                                                         *
 ***************************************************************************/
#ifndef DAEMON
#define DAEMON

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "rlthread.h"
#include "rlcutil.h"
#include "rlsocket.h"
#include "rlwthread.h"
#include "rlcanopen.h"


  enum rl_msg {
    MSG_SEND      = 0,
    MSG_RECEIVE   = 1,
    MSG_SDO_READ = 0,
    MSG_SDO_WRITE = 1,
    MSG_PDO_RECEIVE = 3,
    MSG_CONNECT = 5,
    MSG_DISCONNECT = 6,
    MSG_PDO_TRANSMIT = 4,
    MSG_NMT_TRANSMIT = 7,
    MSG_RESTART_BOARD = 8,
    MSG_GET_NODE_STATE = 9
  };



class rlCanOpenDaemon{
  public:
  
  rlCanOpenDaemon();                                
  
  rlCanOpenDaemon(int _port, char* _iniFileName=0);
  
  ~rlCanOpenDaemon();
  
  int getPort();                      
  
  void start();
  
  rlCanOpen* nodes;                                                             
  
  rlThread daemon_thread;  

  private:
  int port;

};

// parameter struct for passing parameters to handler thread
struct THREADTRANSFER
{
  int socketdescr; // socket descriptor identifying the new connection
  rlCanOpenDaemon* daemonptr; // pointer to daemon object
};






#endif