00001 #ifndef YOUBOT_ETHERCATMASTER_H 00002 #define YOUBOT_ETHERCATMASTER_H 00003 00004 /**************************************************************** 00005 * 00006 * Copyright (c) 2011 00007 * All rights reserved. 00008 * 00009 * Hochschule Bonn-Rhein-Sieg 00010 * University of Applied Sciences 00011 * Computer Science Department 00012 * 00013 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 00014 * 00015 * Author: 00016 * Jan Paulus, Nico Hochgeschwender, Michael Reckhaus, Azamat Shakhimardanov 00017 * Supervised by: 00018 * Gerhard K. Kraetzschmar 00019 * 00020 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 00021 * 00022 * This sofware is published under a dual-license: GNU Lesser General Public 00023 * License LGPL 2.1 and BSD license. The dual-license implies that users of this 00024 * code may choose which terms they prefer. 00025 * 00026 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 00027 * 00028 * Redistribution and use in source and binary forms, with or without 00029 * modification, are permitted provided that the following conditions are met: 00030 * 00031 * * Redistributions of source code must retain the above copyright 00032 * notice, this list of conditions and the following disclaimer. 00033 * * Redistributions in binary form must reproduce the above copyright 00034 * notice, this list of conditions and the following disclaimer in the 00035 * documentation and/or other materials provided with the distribution. 00036 * * Neither the name of the Hochschule Bonn-Rhein-Sieg nor the names of its 00037 * contributors may be used to endorse or promote products derived from 00038 * this software without specific prior written permission. 00039 * 00040 * This program is free software: you can redistribute it and/or modify 00041 * it under the terms of the GNU Lesser General Public License LGPL as 00042 * published by the Free Software Foundation, either version 2.1 of the 00043 * License, or (at your option) any later version or the BSD license. 00044 * 00045 * This program is distributed in the hope that it will be useful, 00046 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00047 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00048 * GNU Lesser General Public License LGPL and the BSD license for more details. 00049 * 00050 * You should have received a copy of the GNU Lesser General Public 00051 * License LGPL and BSD license along with this program. 00052 * 00053 ****************************************************************/ 00054 #include <vector> 00055 #include <string> 00056 #include <cstdio> 00057 #include <stdexcept> 00058 #include <iostream> 00059 #include "youbot/EthercatMasterInterface.hpp" 00060 #include "youbot/EthercatMasterWithoutThread.hpp" 00061 #include "youbot/EthercatMasterWithThread.hpp" 00062 namespace youbot { 00063 00064 /////////////////////////////////////////////////////////////////////////////// 00065 /// The Ethercat Master factory 00066 /////////////////////////////////////////////////////////////////////////////// 00067 class EthercatMaster { 00068 friend class YouBotJoint; 00069 friend class YouBotGripper; 00070 friend class YouBotGripperBar; 00071 private: 00072 static EthercatMasterInterface* instance; 00073 00074 EthercatMaster(){}; 00075 00076 EthercatMaster(const EthercatMaster& ) {}; 00077 00078 ~EthercatMaster(){}; 00079 00080 00081 public: 00082 ///creates a instance of the singleton EthercatMaster if there is none and returns a reference to it 00083 ///@param configFile configuration file name incl. the extension 00084 ///@param configFilePath the path where the configuration is located with a / at the end 00085 ///@param ethercatMasterWithThread set it to false if you want to deactivate the communication thread 00086 static EthercatMasterInterface& getInstance(const std::string configFile = "youbot-ethercat.cfg", const std::string configFilePath = "../config/", const bool ethercatMasterWithThread = true); 00087 00088 /// destroy the singleton instance by calling the destructor 00089 static void destroy(); 00090 00091 }; 00092 00093 } // namespace youbot 00094 #endif