wg0x.cpp File Reference

#include <iomanip>
#include <math.h>
#include <stddef.h>
#include <ethercat_hardware/wg0x.h>
#include <dll/ethercat_dll.h>
#include <al/ethercat_AL.h>
#include <dll/ethercat_device_addressed_telegram.h>
#include <dll/ethercat_frame.h>
#include <boost/crc.hpp>
#include <boost/static_assert.hpp>

Include dependency graph for wg0x.cpp:

Go to the source code of this file.

Defines
#define	CHECK_SAFETY_BIT(bit)
#define	ERR_MODE   "\033[41m"
#define	ERROR_HDR   "\033[41mERROR\033[0m"
#define	GET_ATTR(a)
#define	GOOD_MODE   "\033[42m"
#define	INFO_MODE   "\033[44m"
#define	STD_MODE   "\033[0m"
#define	WARN_HDR   "\033[43mERROR\033[0m"
#define	WARN_MODE   "\033[43m"
Functions
static unsigned	computeChecksum (void const *data, unsigned length)
	PLUGINLIB_REGISTER_CLASS (6805021, WG021, EthercatDevice)
	PLUGINLIB_REGISTER_CLASS (6805006, WG06, EthercatDevice)
	PLUGINLIB_REGISTER_CLASS (6805005, WG05, EthercatDevice)
static unsigned int	rotateRight8 (unsigned in)
int	safe_clock_gettime (clockid_t clk_id, timespec *time)
	error checking wrapper around clock_gettime
void	safe_usleep (uint32_t usec)
	safe version of usleep.
int	timediff_ms (const timespec &current, const timespec &start)
	Find differece between two timespec values.
void	updateIndexAndWkc (EC_Telegram *tg, EC_Logic *logic)

---

Define Documentation

#define CHECK_SAFETY_BIT

(

bit

)

Value:

do { if (status & SAFETY_##bit) { \
    str += prefix + #bit; \
    prefix = ", "; \
  } } while(0)

Definition at line 2346 of file wg0x.cpp.

#define ERR_MODE   "\033[41m"

Definition at line 56 of file wg0x.cpp.

#define ERROR_HDR   "\033[41mERROR\033[0m"

Definition at line 62 of file wg0x.cpp.

#define GET_ATTR

(

a

)

Value:

{ \
  TiXmlElement *c; \
  attr = elt->Attribute((a)); \
  if (!attr) { \
    c = elt->FirstChildElement((a)); \
    if (!c || !(attr = c->GetText())) { \
      ROS_FATAL("Actuator is missing the attribute "#a); \
      exit(EXIT_FAILURE); \
    } \
  } \
}

Definition at line 698 of file wg0x.cpp.

#define GOOD_MODE   "\033[42m"

Definition at line 59 of file wg0x.cpp.

#define INFO_MODE   "\033[44m"

Definition at line 60 of file wg0x.cpp.

#define STD_MODE   "\033[0m"

Definition at line 57 of file wg0x.cpp.

#define WARN_HDR   "\033[43mERROR\033[0m"

Definition at line 63 of file wg0x.cpp.

#define WARN_MODE   "\033[43m"

Definition at line 58 of file wg0x.cpp.

---

Function Documentation

static unsigned computeChecksum	(	void const *	data,
		unsigned	length
	)			[static]

Definition at line 74 of file wg0x.cpp.

PLUGINLIB_REGISTER_CLASS	(	6805021	,
		WG021	,
		EthercatDevice
	)

PLUGINLIB_REGISTER_CLASS	(	6805006	,
		WG06	,
		EthercatDevice
	)

PLUGINLIB_REGISTER_CLASS	(	6805005	,
		WG05	,
		EthercatDevice
	)

static unsigned int rotateRight8

(

unsigned

in

)

[static]

Definition at line 66 of file wg0x.cpp.

int safe_clock_gettime	(	clockid_t	clk_id,
		timespec *	time
	)

error checking wrapper around clock_gettime

Parameters:

	current	current time
	current	start time

Returns:

returns 0 for success, non-zero for failure

Definition at line 1470 of file wg0x.cpp.

void safe_usleep

(

uint32_t

usec

)

safe version of usleep.

Uses nanosleep internally. Will restart sleep after begin woken by signal.

Parameters:

usec

number of microseconds to sleep for. Must be < 1000000.

Definition at line 1489 of file wg0x.cpp.

int timediff_ms	(	const timespec &	current,
		const timespec &	start
	)

Find differece between two timespec values.

Parameters:

	current	current time
	current	start time

Returns:

returns time difference (current-start) in milliseconds

Definition at line 1455 of file wg0x.cpp.

void updateIndexAndWkc	(	EC_Telegram *	tg,
		EC_Logic *	logic
	)

Definition at line 1552 of file wg0x.cpp.