C++ EtherCAT例程

以下是一个简单的C++ EtherCAT例程，用于读取和写入EtherCAT从站的数据：

#include <iostream>
#include "ecrt.h"

int main()
{
    ec_master_t *master = ecrt_request_master(0);
    if (!master)
    {
        std::cerr << "Failed to request EtherCAT master" << std::endl;
        return -1;
    }

    if (ecrt_master_activate(master))
    {
        std::cerr << "Failed to activate EtherCAT master" << std::endl;
        ecrt_release_master(master);
        return -1;
    }

    ec_domain_t *domain = ecrt_master_create_domain(master);
    if (!domain)
    {
        std::cerr << "Failed to create domain" << std::endl;
        ecrt_release_master(master);
        return -1;
    }

    // Slave configuration
    uint16_t vendor_id = 0x1234;
    uint16_t product_code = 0xABCD;
    ec_slave_config_t *slave_config = ecrt_master_slave_config(master, 1, vendor_id, product_code);
    if (!slave_config)
    {
        std::cerr << "Failed to get slave configuration" << std::endl;
        ecrt_master_release(master);
        return -1;
    }

    if (ecrt_slave_config_pdos(slave_config, EC_END, pdos))
    {
        std::cerr << "Failed to configure slave PDOs" << std::endl;
        ecrt_master_release(master);
        return -1;
    }

    if (ecrt_master_activate(master))
    {
        std::cerr << "Failed to activate EtherCAT master" << std::endl;
        ecrt_master_release(master);
        return -1;
    }

    ec_domain_state_t domain_state;
    ecrt_domain_state(domain, &domain_state);
    std::cout << "Working counter: " << domain_state.working_counter << std::endl;
    std::cout << "Wc state: " << domain_state.wc_state << std::endl;

    // Read data from slave
    ecrt_master_receive(master);
    ecrt_domain_process(domain);
    int32_t data_read = 0;
    ecrt_sdo_read(slave_config, 0x6000, 0x01, &data_read, EC_TIMEOUTRET);
    std::cout << "Data read from slave: " << data_read << std::endl;

    // Write data to slave
    int32_t data_write = 12345;
    ecrt_sdo_write(slave_config, 0x7000, 0x01, &data_write, EC_TIMEOUTRET);
    ecrt_domain_queue(domain);
    ecrt_master_send(master);

    ecrt_master_deactivate(master);
    ecrt_release_master(master);

    return 0;
}

需要注意的是，此处的 `vendor_id` 和 `product_code` 需要替换为实际从站的 ID 和代码。另外，如果需要读取或写入的数据不在默认的 PDO 中，需要在 `ecrt_slave_config_pdos()` 中指定所需的 PDO。