WG06 Class Reference

#include <wg06.h>

Inheritance diagram for WG06:

Public Types
enum	{ PRODUCT_CODE = 6805006 }
Public Member Functions
void	construct (EtherCAT_SlaveHandler *sh, int &start_address)
	< Construct EtherCAT device
int	initialize (pr2_hardware_interface::HardwareInterface *, bool allow_unprogrammed=true)
virtual void	multiDiagnostics (vector< diagnostic_msgs::DiagnosticStatus > &vec, unsigned char *buffer)
	For EtherCAT devices that publish more than one EtherCAT Status message. If sub-class implements multiDiagnostics() then diagnostics() is not used.
void	packCommand (unsigned char *buffer, bool halt, bool reset)
bool	unpackState (unsigned char this_buffer, unsigned char prev_buffer)
	WG06 ()
	~WG06 ()
Private Member Functions
void	diagnosticsAccel (diagnostic_updater::DiagnosticStatusWrapper &d, unsigned char *buffer)
void	diagnosticsFT (diagnostic_updater::DiagnosticStatusWrapper &d, WG06StatusWithAccelAndFT *status)
void	diagnosticsWG06 (diagnostic_updater::DiagnosticStatusWrapper &d, unsigned char *)
bool	unpackAccel (WG06StatusWithAccel status, WG06StatusWithAccel last_status)
	Unpack 3-axis accelerometer samples from realtime data.
bool	unpackFT (WG06StatusWithAccelAndFT status, WG06StatusWithAccelAndFT last_status)
	Unpack force/torque ADC samples from realtime data.
bool	unpackPressure (WG06Pressure *p)
	Unpack pressure sensor samples from realtime data.
Private Attributes
realtime_tools::RealtimePublisher < pr2_msgs::AccelerometerState > *	accel_publisher_
pr2_hardware_interface::Accelerometer	accelerometer_
unsigned	accelerometer_missed_samples_
	Total of accelerometer samples that were missed.
unsigned	accelerometer_samples_
	Number of accelerometer samples since last publish cycle.
uint64_t	diag_last_ft_sample_count_
	F/T Sample count last time diagnostics was published.
bool	first_publish_
pr2_hardware_interface::AnalogIn	ft_analog_in_
uint64_t	ft_missed_samples_
	Counts number of ft sensor samples that were missed.
FTParamsInternal	ft_params_
realtime_tools::RealtimePublisher < geometry_msgs::Wrench > *	ft_publisher_
pr2_hardware_interface::AnalogIn	ft_raw_analog_in_
	Provides raw F/T data to controllers.
uint64_t	ft_sample_count_
	Counts number of ft sensor samples.
bool	has_accel_and_ft_
	True if device has accelerometer and force/torque sensor.
uint32_t	last_pressure_time_
ros::Time	last_publish_time_
	Time diagnostics was last published.
bool	pressure_checksum_error_
	Set true where checksum error on pressure data is detected, cleared on reset.
realtime_tools::RealtimePublisher < pr2_msgs::PressureState > *	pressure_publisher_
pr2_hardware_interface::PressureSensor	pressure_sensors_ [2]
realtime_tools::RealtimePublisher < ethercat_hardware::RawFTData > *	raw_ft_publisher_
	Realtime Publisher of RAW F/T data.
Static Private Attributes
static const unsigned	MAX_FT_SAMPLES = 4
static const unsigned	NUM_FT_CHANNELS = 6
static const unsigned	PRESSURE_PHY_ADDR = 0x2200

Detailed Description

Definition at line 151 of file wg06.h.

Member Enumeration Documentation

anonymous enum

Enumerator:

PRODUCT_CODE

Definition at line 162 of file wg06.h.

Constructor & Destructor Documentation

WG06::WG06 ( )

Definition at line 52 of file wg06.cpp.

WG06::~WG06 ( )

Definition at line 68 of file wg06.cpp.

Member Function Documentation

void WG06::construct	(	EtherCAT_SlaveHandler *	sh,
		int &	start_address
	)			`[virtual]`

< Construct EtherCAT device

Construct non-EtherCAT device

Reimplemented from WG0X.

Definition at line 74 of file wg06.cpp.

void WG06::diagnosticsAccel	(	diagnostic_updater::DiagnosticStatusWrapper &	d,
		unsigned char *	buffer
	)			`[private]`

Definition at line 592 of file wg06.cpp.

void WG06::diagnosticsFT	(	diagnostic_updater::DiagnosticStatusWrapper &	d,
		WG06StatusWithAccelAndFT *	status
	)			`[private]`

Definition at line 660 of file wg06.cpp.

void WG06::diagnosticsWG06	(	diagnostic_updater::DiagnosticStatusWrapper &	d,
		unsigned char *	buffer
	)			`[private]`

Definition at line 648 of file wg06.cpp.

int WG06::initialize	(	pr2_hardware_interface::HardwareInterface *	hw,
		bool	allow_unprogrammed = `true`
	)			`[virtual]`

Reimplemented from WG0X.

Definition at line 178 of file wg06.cpp.

void WG06::multiDiagnostics	(	vector< diagnostic_msgs::DiagnosticStatus > &	vec,
		unsigned char *	buffer
	)			`[virtual]`

For EtherCAT devices that publish more than one EtherCAT Status message. If sub-class implements multiDiagnostics() then diagnostics() is not used.

Parameters:

	vec	Vector of diagnostics status messages. Slave appends one or more new diagnostic status'.
	buffer	Pointer to slave process data.

Reimplemented from EthercatDevice.

Definition at line 574 of file wg06.cpp.

void WG06::packCommand	(	unsigned char *	buffer,
		bool	halt,
		bool	reset
	)			`[virtual]`

Parameters:

	reset	when asserted this will clear diagnostic error conditions device safety disable
	halt	while asserted will disable actuator, usually by disabling H-bridge

Reimplemented from WG0X.

Definition at line 297 of file wg06.cpp.