ethercat_cli.hpp

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#pragma once
#ifndef XCORESDK_SRC_MANAGED_ETHERCAT_CLI_HPP_
#define XCORESDK_SRC_MANAGED_ETHERCAT_CLI_HPP_
 
#include "data_types_cli.hpp"
 
namespace rokae {
    class BaseEthercat;
}
 
namespace rokae::clr {
 
    public ref class BaseEthercat {
    private:
        ::rokae::BaseEthercat* raw_;
 
    public:
        BaseEthercat(::rokae::BaseEthercat&& src);
        ~BaseEthercat();
        !BaseEthercat();
 
        bool ReadSDO(int slave_addr, int index, int sub_index, int length, array<Byte>^% data, int over_time,
            [System::Runtime::InteropServices::Out] ErrorCode^% ec);
        bool WriteSDO(int slave_addr, int index, int sub_index, int length, array<Byte>^ data, int over_time,
            [System::Runtime::InteropServices::Out] ErrorCode^% ec);
        bool WriteMultiSDO(System::UInt16 slave_addr, List<SDOData^>^ items,
            [System::Runtime::InteropServices::Out] ErrorCode^% ec);
        int GetSlaveCount([System::Runtime::InteropServices::Out] ErrorCode^% ec);
        SlaveInfo GetSlaveInfo(int slave_addr, [System::Runtime::InteropServices::Out] ErrorCode^% ec);
        List<SlaveInfo>^ GetSlavesInfo([System::Runtime::InteropServices::Out] ErrorCode^% ec);
        bool SetSlavesState(System::UInt16 state, [System::Runtime::InteropServices::Out] ErrorCode^% ec);
        System::UInt16 GetSlaveState(int slave_addr, [System::Runtime::InteropServices::Out] ErrorCode^% ec);
        bool ReadPDO(int slave_addr, int offset, int size, array<Byte>^% data,
            [System::Runtime::InteropServices::Out] ErrorCode^% ec);
        bool WritePDO(int slave_addr, int offset, int size, array<Byte>^ data,
            [System::Runtime::InteropServices::Out] ErrorCode^% ec);
    };
}
 
#endif