CO_epoll_interface.h

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#ifndef CO_EPOLL_INTERFACE_H
#define CO_EPOLL_INTERFACE_H
 
#include "CANopen.h"
 
#include <sys/epoll.h>
#include <sys/eventfd.h>
#include <sys/timerfd.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef struct {
    int epoll_fd;               
    int event_fd;               
    int timer_fd;               
    uint32_t timerInterval_us;  
    uint32_t timeDifference_us; 
    uint32_t timerNext_us;      
    bool_t timerEvent;          
    uint64_t previousTime_us;   
    struct itimerspec tm;       
    struct epoll_event ev;      
    bool_t epoll_new;           
} CO_epoll_t;
 
CO_ReturnError_t CO_epoll_create(CO_epoll_t* ep, uint32_t timerInterval_us);
 
void CO_epoll_close(CO_epoll_t* ep);
 
void CO_epoll_wait(CO_epoll_t* ep);
 
void CO_epoll_processLast(CO_epoll_t* ep);
 
void CO_epoll_initCANopenMain(CO_epoll_t* ep, CO_t* co);
 
void CO_epoll_processMain(CO_epoll_t* ep, CO_t* co, bool_t enableGateway, CO_NMT_reset_cmd_t* reset);
 
void CO_epoll_processRT(CO_epoll_t* ep, CO_t* co, bool_t realtime);
 
#if ((CO_CONFIG_GTW)&CO_CONFIG_GTW_ASCII) || defined CO_DOXYGEN
typedef enum {
    CO_COMMAND_IF_DISABLED = -100,
    CO_COMMAND_IF_STDIO = -2,
    CO_COMMAND_IF_LOCAL_SOCKET = -1,
    CO_COMMAND_IF_TCP_SOCKET_MIN = 0,
    CO_COMMAND_IF_TCP_SOCKET_MAX = 0xFFFF
} CO_commandInterface_t;
 
typedef struct {
    int epoll_fd;                 
    int32_t commandInterface;     
    uint32_t socketTimeout_us;    
    uint32_t socketTimeoutTmr_us; 
    char* localSocketPath;        
    int gtwa_fdSocket;            
    int gtwa_fd;                  
    bool_t freshCommand;          
} CO_epoll_gtw_t;
 
CO_ReturnError_t CO_epoll_createGtw(CO_epoll_gtw_t* epGtw, int epoll_fd, int32_t commandInterface,
                                    uint32_t socketTimeout_ms, char* localSocketPath);
 
void CO_epoll_closeGtw(CO_epoll_gtw_t* epGtw);
 
void CO_epoll_initCANopenGtw(CO_epoll_gtw_t* epGtw, CO_t* co);
 
void CO_epoll_processGtw(CO_epoll_gtw_t* epGtw, CO_t* co, CO_epoll_t* ep);
#endif /* (CO_CONFIG_GTW) & CO_CONFIG_GTW_ASCII */
 
#ifdef __cplusplus
}
#endif /* __cplusplus */
 
#endif /* CO_EPOLL_INTERFACE_H */