EthercatDemoIO.hpp

#ifndef ETHERCAT_DEMO_IO_HPP
#define ETHERCAT_DEMO_IO_HPP

#include <vector>
#include <rtt/RTT.hpp>

#include <rtt/TaskContext.hpp>
#include <rtt/Ports.hpp>
#include <rtt/Event.hpp>
#include <rtt/Properties.hpp>
#include <rtt/Command.hpp>

#include <rtt/dev/AnalogOutput.hpp>
#include <rtt/dev/DigitalOutput.hpp>

#include <ocl/OCL.hpp>

struct netif;

namespace OCL
{
    class EthercatDemoIO : public RTT::TaskContext
    {

    Property<std::string> rteth;
    Method <bool(double)> gen_sin;
    bool mgen_sin(double);
    Method <void(void)> stop_master;
    void mstop_master(void);
    struct netif *ni;
    int cnt, cnt_dig;
    int voltage_i;
    float voltage_f, time, sinus_freq;



    public:
        EthercatDemoIO(std::string name);
            ~EthercatDemoIO();

        virtual bool startup();

        virtual void update();

        virtual void shutdown();

    };//class EthercatDemoIO
}//namespace Orocos
#endif // EthercatDemoIO

---