ethercat_hardware: ethercat_hardware: wg014.cpp Source File

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00034 
00035 #include <ethercat_hardware/wg014.h>
00036 #include <iomanip>
00037 
00038 #include <ros/console.h>
00039 
00040 PLUGINLIB_DECLARE_CLASS(ethercat_hardware, 6805014, WG014, EthercatDevice);
00041 
00042 void WG014::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   fw_major_ = (sh->get_revision() >> 8) & 0xff;
00049   fw_minor_ = sh->get_revision() & 0xff;
00050   board_major_ = ((sh->get_revision() >> 24) & 0xff) - 1;
00051   board_minor_ = (sh->get_revision() >> 16) & 0xff;
00052 }
00053 
00054 WG014::~WG014()
00055 {
00056   delete sh_->get_fmmu_config();
00057   delete sh_->get_pd_config();
00058 }
00059 
00060 int WG014::initialize(pr2_hardware_interface::HardwareInterface *, bool)
00061 {
00062   ROS_DEBUG("Device #%02d: WG014 (%#08x)", sh_->get_ring_position(), sh_->get_product_code());
00063   return 0;
00064 }
00065 
00066 void WG014::diagnostics(diagnostic_updater::DiagnosticStatusWrapper &d, unsigned char *)
00067 {
00068   stringstream str;
00069   str << "EtherCAT Device #" << setw(2) << setfill('0') << sh_->get_ring_position() << " (WG014)";
00070   d.name = str.str();
00071   d.summary(0, "OK");
00072   char serial[32];
00073   snprintf(serial, sizeof(serial), "%d-%05d-%05d", sh_->get_product_code()/ 100000 , sh_->get_product_code() % 100000, sh_->get_serial());
00074   d.hardware_id = serial;
00075 
00076   d.clear();
00077   d.addf("Product code", "WG014 (%d), Ports %s, PCB Revision %c.%02d",
00078          sh_->get_product_code(), 
00079          ((fw_minor_==1) ? "J1-J3" : // WG014 has two ET1100 devices...
00080           (fw_minor_==2) ? "J4-J6" : // One ET1100 handles port J1 to J3. The other, J4 to J6.
00081           "J?-J?"),                  // The firmware minor revision deferentiates the two.
00082          'A' + board_major_, board_minor_);
00083   d.addf("Serial Number", "%s", serial);
00084 
00085   EthercatDevice::ethercatDiagnostics(d, 4); // WG014 has 4 ports
00086 }