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 */