{"action":"created","comment":{"url":"https://api.github.com/repos/ros-industrial/siemens_experimental/pulls/comments/33901576","id":33901576,"diff_hunk":"@@ -0,0 +1,380 @@\n+/*********************************************************************************************//**\n+* @file cp1616_io_device.h\n+*\n+* Main cp1616_io_device node\n+*\n+* Copyright {2015} {Frantisek Durovsky}\n+*\n+*  Licensed under the Apache License, Version 2.0 (the \"License\");\n+*  you may not use this file except in compliance with the License.\n+*  You may obtain a copy of the License at\n+\n+*      http://www.apache.org/licenses/LICENSE-2.0\n+\n+*  Unless required by applicable law or agreed to in writing, software\n+*  distributed under the License is distributed on an \"AS IS\" BASIS,\n+*  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+*  See the License for the specific language governing permissions and\n+*  limitations under the License.\n+\n+* *********************************************************************************************/\n+#ifndef CP1616_IO_DEVICE_H\n+#define CP1616_IO_DEVICE_H\n+\n+//CP 1616 Annotations\n+#define ANNOT_NAME       \"StarterKit\"      /* device type (String 25) */\n+#define ANNOT_ORDERID    \"6GK1 161-6AA00\"  /* Order Id    (String 20) */\n+#define ANNOT_HW_REV     0                 /* HwRevision  (short)     */\n+#define ANNOT_SW_PREFIX  'V'               /* SwRevisionPrefix (char) */\n+#define ANNOT_SW_REV_1   2                 /* SwRevision1 (short)     */\n+#define ANNOT_SW_REV_2   6                 /* SwRevision2 (short)     */\n+#define ANNOT_SW_REV_3   0                 /* SwRevision3 (short)     */\n+\n+//Known Diagnose alarms for this device\n+#define CH_ERR_INVAL_LINKUP     0x0100\n+#define CH_ERR_INVAL_LINKDOWN   0x0101\n+#define CH_ERR_NO_REDUND_PS     0x0200\n+#define CH_ERR_NO_CPLUG         0x0201\n+#define CH_ERR_CPLUG_ERROR      0x0202\n+\n+//Values for PNIO_device_open\n+#define NUMOF_SLOTS \t\t    2\t       /* DAP module + 1 slot*/\n+#define NUMOF_SUBSLOTS          2          /* Number of subslots */\n+#define NUMOF_BYTES_PER_SUBSLOT 256        /* Maximum data length as configured in the sample */\n+#define VENDOR_ID    0x002a\n+#define DEVICE_ID    0x0003\n+#define INSTANCE_ID  0x0001\n+\n+#define DEVICE_DATA_ENTRIES 2      /* The total number of members of DEVICE_DATA structure  */\n+#define MAX_COUNT 500\t           /* Max counter value for PNIO_cbf_prm_end_ind() callback */\n+\n+#include <ros/ros.h>\n+\n+//IO Base headers\n+#include \"pniobase.h\"\n+#include \"pniousrd.h\"\n+#include \"pnioerrx.h\"\n+\n+\n+struct device_data_t\n+{\n+  int slot;\n+  int subslot;\n+  PNIO_UINT32 modId;\n+  PNIO_UINT32 subslotId;\n+  PNIO_UINT32 api;\n+  PNIO_UINT16 maxSubslots;\n+  int modState;\n+  int subState;\n+  int dir;\n+};\n+\n+/**\n+ * \\brief This class defines ROS-Profinet IO Device implementation for communication processor Siemens CP1616\n+ */\n+\n+class Cp1616IODevice\n+{\n+public:\n+  /**\n+   * \\brief Public instance accesssor\n+   */\n+          static Cp1616IODevice* getDeviceInstance();\n+  /**\n+   * \\brief Destructs an IOController object\n+   */\n+          ~Cp1616IODevice();\n+\n+  /**\n+   * \\brief Initializes and starts IO Device\n+   *\n+   * \\return error_code (see pnioerrx.h for detailed description)\n+   */\n+          int init();\n+\n+  /**\n+   * \\brief Closes and uninitializes IO Device\n+   *\n+   * \\return error_code (see pnioerrx.h for detailed description)\n+   */\n+          int uinit();\n+\n+  /**\n+   * \\brief Initializes Device data structures\n+   */\n+          void configureDeviceData();\n+\n+  /**\n+   * \\brief Adds associated Api\n+   *\n+   * \\return error_code (see pnioerrx.h for detailed description)\n+   */\n+          int addApi();\n+\n+  /**\n+   * \\brief Removes associated Api\n+   *\n+   * \\return error_code (see pnioerrx.h for detailed description)\n+   */\n+          int removeApi();\n+\n+  /**\n+   * \\brief Adds Modules and submodules (to mirror STEP7 configuration)\n+   *\n+   * \\return error_code (see pnioerrx.h for detailed description)\n+   */\n+          int addModSubMod();\n+\n+  /**\n+   * \\brief Removes existing Modules and submodules\n+   *\n+   * \\return error_code (see pnioerrx.h for detailed description)\n+   */\n+          int removeModSubMod();\n+\n+  /**\n+   * \\brief Starts IO device operation\n+   *\n+   * \\return error_code (see pnioerrx.h for detailed description)\n+   */\n+          int startOperation();\n+\n+  /**\n+   * \\brief Stops IO device operation\n+   *\n+   * \\return error_code (see pnioerrx.h for detailed description)\n+   */\n+          int stopOperation();\n+\n+  /**\n+   * \\brief Updates Output (from IO Controller perspective) data - read CP input data\n+   *\n+   * \\return error_code (see pnioerrx.h for detailed description)\n+   */\n+          int updateCyclicOutputData();\n+\n+  /**\n+   * \\brief Updates Input (from IO Controller perspective) data - write CP output data\n+   *\n+   * \\return error_code (see pnioerrx.h for detailed description)\n+   */\n+          int updateCyclicInputData();\n+\n+  /**\n+   * \\brief This function is called after the PNIO_cbf_prm_end_ind callback has been\n+   * called, it calls PNIO_initiate_data_write(), PNIO_initiate_data_read for the first\n+   * time and PNIO_set_appl_state_ready\n+   *\n+   * \\return error_code (see pnioerrx.h for detailed description)\n+   */\n+          int doAfterPrmEndIndCbf();\n+\n+  /**\n+   * \\brief This function is called after the PNIO_cbf_ar_indata_ind callback has been\n+   * called, it calls PNIO_initiate_data_write() and PNIO_initiate_data_read()\n+   *\n+   * \\return error_code (see pnioerrx.h for detailed description)\n+   */\n+          int doAfterIndataIndCbf();\n+\n+  /**\n+   * \\brief This function returns the index in the IO data array for the given submodule.\n+   *\n+   * \\return index for given submodule\n+   */\n+          int GetSubmodNum(PNIO_UINT32 mod, PNIO_UINT32 sub);\n+\n+  /**\n+   * \\brief Data encapsulation for ar_info_ind_flag_\n+   *\n+   * \\param value\n+   */\n+          void setArInfoIndFlag(int value);\n+\n+  /**\n+   * \\brief Data encapsulation for ar_info_ind_flag_\n+   *\n+   * \\return ar_info_ind_flag_\n+   */\n+          int  getArInfoIndFlag();\n+\n+  /**\n+   * \\brief Data encapsulation for prm_end_ind_flag_\n+   *\n+   * \\param value\n+   */\n+          void setPrmEndIndFlag(int value);\n+\n+  /**\n+   * \\brief Data encapsulation for ar_info_ind_flag_\n+   *\n+   * \\return prm_end_ind_flag_\n+   */\n+         int  getPrmEndIndFlag();\n+\n+  /**\n+   * \\brief Data encapsulation for indata_ind_flag_\n+   *\n+   * \\param value\n+   */\n+          void setIndataIndFlag(int value);\n+\n+  /**\n+   * \\brief Data encapsulation for indata_ind_flag_\n+   *\n+   * \\return indata_ind_flag\n+   */\n+          int getIndataIndFlag();\n+\n+  /**\n+   * \\brief Data encapsulation for offline_ind_flag_\n+   *\n+   * \\param value\n+   */\n+          void setOfflineIndFlag(int value);\n+\n+  /**\n+   * \\brief Data encapsulation for offline_ind_flag_\n+   *\n+   * \\return offline_ind_flag_\n+   */\n+          int  getOfflineIndFlag();\n+\n+  /**\n+   * \\brief Data encapsulation for cp_session_key_\n+   *\n+   * \\param value\n+   */\n+          void setCpSessionKey(PNIO_UINT16 value);\n+\n+  /**\n+   * \\brief Data encapsulation for cp_session_key_\n+   *\n+   * \\return cp_session_key_\n+   */\n+          PNIO_UINT16 getCpSessionKey();\n+\n+  /**\n+   * \\brief Data encapsulation for cp_ar_number_\n+   *\n+   * \\param value\n+   */\n+          void setCpArNumber(PNIO_UINT16 value);\n+\n+   /**\n+    * \\brief Data encapsulation for cp_ar_number_\n+    *\n+    * \\return cp_ar_number_\n+    */\n+          PNIO_UINT16 getCpArNumber();\n+\n+\n+  /**\n+   * \\brief CP handle obtained by init() function\n+   */\n+          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