/*********************************************************************
 * Software License Agreement (BSD License)
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 *  Copyright (c) 2008, Willow Garage, Inc.
 *  All rights reserved.
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 *     notice, this list of conditions and the following disclaimer.
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 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
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#ifndef ETHERCAT_COM_H
#define ETHERCAT_COM_H

#include <al/ethercat_AL.h>
#include <al/ethercat_master.h>
#include <al/ethercat_slave_handler.h>
#include <dll/ethercat_dll.h>
#include <pthread.h>

class EthercatCom 
{
protected:
  EthercatCom() { }
  
public:
  virtual bool txandrx(struct EtherCAT_Frame * frame)=0;
  virtual bool txandrx_once(struct EtherCAT_Frame * frame)=0;

  virtual ~EthercatCom() { }
};


class EthercatDirectCom : public EthercatCom 
{
public:
  EthercatDirectCom(EtherCAT_DataLinkLayer *dll);
  ~EthercatDirectCom();
  
  bool txandrx(struct EtherCAT_Frame * frame);  
  bool txandrx_once(struct EtherCAT_Frame * frame);

protected:
  EtherCAT_DataLinkLayer *dll_;
};

class EthercatOobCom : public EthercatCom 
{
public:
  EthercatOobCom(struct netif *ni);
  ~EthercatOobCom();
  
  bool txandrx(struct EtherCAT_Frame * frame);
  bool txandrx_once(struct EtherCAT_Frame * frame);
  
  void tx();
protected:
  bool lock(unsigned line);
  bool trylock(unsigned line);
  bool unlock(unsigned line);
  
  struct netif *ni_;
  pthread_mutex_t mutex_;
  pthread_cond_t share_cond_;
  pthread_cond_t busy_cond_;
  enum {IDLE=0, READY_TO_SEND=1, WAITING_TO_RECV=2} state_;
  EtherCAT_Frame *frame_;
  int handle_;
  unsigned line_;
};


#endif /* ETHERCAT_COM_H */
