ethercat_hardware: ethercat_hardware: ek1122.cpp Source File

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00034 
00035 #include <ethercat_hardware/ek1122.h>
00036 #include <iomanip>
00037 
00038 #include <ros/console.h>
00039 
00040 PLUGINLIB_DECLARE_CLASS(ethercat_hardware, 73542738, EK1122, EthercatDevice);
00041 
00042 void EK1122::construct(EtherCAT_SlaveHandler *sh, int &start_address)
00043 {
00044   EthercatDevice::construct(sh, start_address);
00045   sh->set_fmmu_config( new EtherCAT_FMMU_Config(0) );
00046   sh->set_pd_config( new EtherCAT_PD_Config(0) );
00047 }
00048 
00049 EK1122::~EK1122()
00050 {
00051   delete sh_->get_fmmu_config();
00052   delete sh_->get_pd_config();
00053 }
00054 
00055 int EK1122::initialize(pr2_hardware_interface::HardwareInterface *, bool)
00056 {
00057   ROS_DEBUG("Device #%02d: EK1122 (%#08x)", sh_->get_ring_position(), sh_->get_product_code());
00058   return 0;
00059 }
00060 void EK1122::diagnostics(diagnostic_updater::DiagnosticStatusWrapper &d, unsigned char *)
00061 {
00062   stringstream str;
00063   str << "EtherCAT Device #" << setw(2) << setfill('0') << sh_->get_ring_position() << " (EK1122)";
00064   d.name = str.str();
00065   d.summary(0, "OK");
00066   char serial[32];
00067   snprintf(serial, sizeof(serial), "%d-%05d-%05d", sh_->get_product_code()/ 100000 , sh_->get_product_code() % 100000, sh_->get_serial());
00068   d.hardware_id = serial;
00069 
00070   d.clear();
00071   d.addf("Product code", "EK1122 (%u)", sh_->get_product_code());
00072 
00073   EthercatDevice::ethercatDiagnostics(d, 4); // EK1122 has 4 ports (2 ethernet and 2 lvds)
00074 }