#include <map>
#include <stdio.h>
#include <getopt.h>
#include <sys/mman.h>
#include <ethercat/ethercat_xenomai_drv.h>
#include <dll/ethercat_dll.h>
#include <al/ethercat_AL.h>
#include <al/ethercat_master.h>
#include <al/ethercat_slave_handler.h>
#include <ethercat_hardware/wg0x.h>
#include <ethercat_hardware/ethercat_device.h>
#include <ethercat_hardware/motor_model.h>
#include <realtime_tools/realtime_publisher.h>
#include <pr2_msgs/PressureState.h>
#include <pr2_msgs/AccelerometerState.h>
#include <boost/crc.hpp>
#include <boost/foreach.hpp>
#include <net/if.h>
#include <sys/ioctl.h>
#include <netinet/in.h>
Go to the source code of this file.
Classes | |
struct | Actuator |
Typedefs | |
typedef pair< string, Actuator > | ActuatorPair |
typedef pair< string, WG0XActuatorInfo > | MotorPair |
Functions | |
string | boardName (EthercatDevice *d) |
void | init (char *interface) |
int | main (int argc, char *argv[]) |
void | parseConfig (TiXmlElement *config) |
void | programDevice (int device, WG0XActuatorInfo &config, char *name, string expected_board) |
void | Usage (string msg="") |
Variables | |
map< string, Actuator > | actuators |
vector< EthercatDevice * > | devices |
struct { | |
string actuators_ | |
string board_ | |
int device_ | |
bool help_ | |
char * interface_ | |
string motor_ | |
char * name_ | |
bool program_ | |
char * program_name_ | |
} | g_options |
map< string, WG0XActuatorInfo > | motors |
typedef pair<string, Actuator> ActuatorPair |
Definition at line 62 of file motorconf.cpp.
typedef pair<string, WG0XActuatorInfo> MotorPair |
Definition at line 65 of file motorconf.cpp.
string boardName | ( | EthercatDevice * | d | ) |
Definition at line 190 of file motorconf.cpp.
void init | ( | char * | interface | ) |
Definition at line 68 of file motorconf.cpp.
int main | ( | int | argc, | |
char * | argv[] | |||
) |
Definition at line 332 of file motorconf.cpp.
void parseConfig | ( | TiXmlElement * | config | ) |
Definition at line 289 of file motorconf.cpp.
void programDevice | ( | int | device, | |
WG0XActuatorInfo & | config, | |||
char * | name, | |||
string | expected_board | |||
) |
Definition at line 202 of file motorconf.cpp.
void Usage | ( | string | msg = "" |
) |
Definition at line 254 of file motorconf.cpp.
Definition at line 63 of file motorconf.cpp.
string actuators_ |
Definition at line 250 of file motorconf.cpp.
string board_ |
Definition at line 251 of file motorconf.cpp.
int device_ |
Definition at line 248 of file motorconf.cpp.
vector<EthercatDevice *> devices |
Definition at line 56 of file motorconf.cpp.
struct { ... } g_options [static] |
bool help_ |
Definition at line 247 of file motorconf.cpp.
char* interface_ |
Definition at line 244 of file motorconf.cpp.
string motor_ |
Definition at line 249 of file motorconf.cpp.
map<string, WG0XActuatorInfo> motors |
Definition at line 66 of file motorconf.cpp.
char* name_ |
Definition at line 245 of file motorconf.cpp.
bool program_ |
Definition at line 246 of file motorconf.cpp.
char* program_name_ |
Definition at line 243 of file motorconf.cpp.